Power quality disturbances analysis of BLDC

motor drive using wavelet transform

Cite as: AIP Conference Proceedings 2207, 020001 (2020); https://doi.org/10.1063/5.0000434
Published Online: 28 February 2020

S. Edwin Jose, and R. Lal Raja Singh

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AIP Conference Proceedings 2207, 020001 (2020); https://doi.org/10.1063/5.0000434 2207, 020001

© 2020 Author(s).
 Power Quality Disturbances Analysis of BLDC Motor Drive
Using Wavelet Transform

S. Edwin Jose1, a) and R. Lal Raja Singh2, b)

1
P.S.R Engineering College , Sivakasi - 626140, Tamil Nadu , India
2
Kalaignar Karunanidhi Institute of Technology, Coimbatore - 641402, Tamil Nadu, India
a)
Corresponding Author: syedwinjose@yahoo.com
b)
lalrajasingh@gmail.com

Abstract. This paper introduces the fault analysis of Digital Proportional Integral Controller (DPIC) and Hysteresis Current
Controller (HCC) for Brushless DC Motor (BLDCM) drive with the assistance of the Wavelet Transform (WT). In this case,
inter-turn short detection, open circuit fault, short circuit fault, phase- to- phase fault, and DC voltage such as sag and swell
variations are analyzed for BLDCM drive. An electronic circuit can identify only the open and the short circuit faults only
whereas the WT is having capability to categorize the additional faults of the BLDC system. The WT detects the faults
accurately and so the identified faults are rectified by using this designed method. The performance of DPIC and HCC for
BLDCM using a WT is validated through the MATLAB/Simulink computer simulation of the WT method at different fault
conditions. An experimental setup is developed and verified the results.

INTRODUCTION

A DC commutorless motors are the most popular types in current scenario. The BLDCMs are one kind of synchronous
motor in which the magnetic field generated by both the stator and the rotor rotate is on the same frequency. The BLDCMs
are utilized in many industrial applications, record players, tape drive for video recorders, spindle drives in hard disk for
computers, instruments and control systems [1]. The BLDCMs are electronically commutated motors, which are fueled by
a DC power source through a coordinated electronic inverter or switched-mode power supply, which produces an AC
electric signal to drive the motor. The alternating current does not infer a sinusoidal waveform, but instead a bi-directional
current with no limitation on waveforms. The extra sensors and gadgets control the inverter output magnitude and
frequency. The optical encoders and Hall Effect sensors are the most frequently utilized sensors.
Many of the BLDCMs are frequently applied in significant high performance uses. Earlier, the timely detection of
fault could permit preventive action to be performed, thus decreasing the costs of outage time and repairs. There are various
ranges of faults analyzed on the BLDCMs such as stator faults, rotor faults, and inverter faults have been well presented
[2]. However, the power quality disturbance analysis of BLDCM has not been presented using wavelet transforms. The
speed control of the conventional proportional integral derivative (PID) controller for the BLDCM at different load
variations has been discussed in [3]. However, the only speed response of the BLDCM using this controller was discussed
and also it produced more peak overshoots and long settling time during dynamic and transient regions. The rotor speed
control of the BLDCM with the assistance of the PI controller by means of, Wavelet denoised procedure has been
accounted.[4]. Still, the speedy response of this machine has produced some noise while using this method. Many of the
controllers such as PI controller and sliding mode controller (SMC) are applied for speed control of the BLDCM [7]. The
mechanical characteristics of the BLDCM have been discussed in [5]. But it has been discussed that the performance
characteristic analyses of the machine parameters in normal and abnormal conditions. The wavelet transform (WT) is a
more powerful tool to recognize the disturbances of the time varying signals [6]. From the above literatures, it is very clear

1st International Conference on Sustainable Manufacturing, Materials and Technologies

AIP Conf. Proc. 2207, 020001-1–020001-8; https://doi.org/10.1063/5.0000434
Published by AIP Publishing. 978-0-7354-1958-2/$30.00

020001-1
that the power quality issues of the BLDCM drive have still can be presented and further analyzed with the wavelet
transform.
Therefore, this article aims at analyzing the power quality problems of BLDCM drive using DPIC and HCC through the
WT. The modeling of the BLDCM is derived at first and then, the DPIC is designed. The design of HCC entirely depends
upon the bandwidth, which is selected by trial-and-error method. The various faults are analyzed for the BLDCM with the
help of controllers via. Wavelet Transform.
Organization of this article is as follows: Operation and modeling of BLDCM drive is presented in section 2. Section 3
presents the detailed analysis of Wavelet Transform. Design of DPIC and HCC is discussed in section 4. In section 5 the
simulation results of BLDCM using a controller through WT under the different faults are analyzed. The conclusions are
reported in section 6. Reference paper details are listed in section 7.

WAVELET TRANSFORM

The wavelet series is the illustration of square integral function by a certain orthonormal series produced by a wavelet.
Now-a-days, the WT is one of the most well known strategies of the time frequency transformations. The WT traces the
signal, modifies time domain and simultaneously decomposes the signal in the frequency domain. In the WT based
approach, the mother wavelet is employed for determining the wavelet coefficients of the signal, which affect the
effectiveness in identifying the disturbances present in the signal. The merit of using WT is that it does not need to assume
the stationary and periodicity of the signals [7]. WT is applied to the disturbance waveform for extracting wavelet
coefficients. For a given signal this transform is defined as the inner product of the non-stationary signal g (t) with the two
parameter scale factor a and delay τ as expressed as (1)


1
§ t W · (1)
\ W , a (t ) a 2 \¨ ¸
© a ¹

In mathematical form, the Wavelet Transform of the signal is engraved as (2)

1 f
 § t W ·
³ g (t )\ (2)
*
WT(W , a ) a 2 ¨ ¸dt
f © a ¹
Parameter, "a" characterizes the width and height of the wavelet function, "ψ". A littler scale, "a" makes ψ smaller; in
this way, the wavelet denotes quick changes and the change focuses around the higher frequency segments of the sign.
Parameter, "τ", shifts the wavelet function along the time pivot, so that the transform denotes the various areas of the sign.
Utilizing various estimations of scale, "an" and position, "τ", it can watch the sign at various positions and in various
frequency ranges.

Discrete wavelet transform(DWT) delivers enough data both the examining and blending of the signals at shorter
calculation times. DWT is the most oftentimes utilized techniques because of its simplicity and non-redundancy. DWT is
implemented by specially designed bank of high pass and low pass discrete filter units “h” and “g” as shown in Figure.1
(a) and (b).

FIGURE. 1. (a) Analysis wavelet filter banks (b) DWT Decomposition.

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 At each stage of the filters, the input signal x(n) is decomposed into low pass and high pass components through
convolution with filters g and h. The low frequency and high scale components of the signal called approximate coefficients
AJ(n) at level m=J are captured by the low pass filter. A high pass filter, however, corresponds to low scale and high
frequency and captures the details of the signal called detail coefficients dm(n), which represent the detail at levels
m=1,….,J..

(3)
Am ( n) ¦ g ( 2n  k ) A
n
m 1 (k )

d m n  ¦ h( 2n  k ) A
m 1 (k ) (4)
n

At level m, both Am(n) and dm(n) are composed of 2-m N coefficients forming a tree-like relationship between the
coefficients at successive scales.

MODEL OF BRUSHLESS DC MOTOR

The model of the brushless machine is developed by assuming the following
(i) All the electrical quantities are referred to direct and quadrature reference frames mounted on the rotor. (ii) The
inverter is a balanced three-phase voltage source.(iii) The inverter employs 180 degree six-step switching.(iv) The
fundamental frequency has a dominant effect on system dynamics.(v) The air gap is uniform.

dG
Z (5)
dt
dZ 3 pO D 1
iq  Z  TL
dt 4j J J (6)
diq r O 1
iq  Zid  Z  Vq
dt L L L (7)
did r 1
Ziq  id  Vd
dt L L (8)
2V
Vq cos I
3 (9)
2V
Vq sin I
3 (10)

Where id direct component of the stator current ,Iq quadrature component of the stator current,ω rotor speed, δ rotor
angle, r stator resistance, L self-inductance, O amplitude of the flux linkages established by the permanent magnet as
viewed from stator windings, D damping factor of the machine, J inertia constant of the machine, p number of poles,
V motor voltage.

The angle I is defined by (11)

I = Tv(0) + Tr(0) (11)

Where Tv(0) is the initial phase angle of stator voltage, Tr(0) is the initial rotor position with respect to the stator axis.
The load torque is assumed to be given by (12)

TL (t) = DZ2(t) (12)

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Where D is constant. The functional form of the load torque is set up in such a way that the direction of motion is always
opposed by the load torque. The motivation for choosing this particular function is that it is a common characteristic for
most propeller-drives like fan-type load. Taking Laplace transform from equation (9) to (14) we get

1 3pO (13)
Z(s) ( )*( i q (s)  TL (s))
sJ  D 4

1/ r (14)
i q (s) ( ) * (Vq (s)  OZ(s)  WrZ(s)i d (s))
1  sW
1/ r (15)
i d (s) ( ) * (Vq (s)  WrZ(s)i q (s))
1  sW

Using equations (13)-(15) model of 3 phase BLDCM is obtained and it is shown in Figure. 2.

FIGURE. 2. Model of 3-Phase Brushless DC Motor.

CLOSED LOOP OPERATION OF BLDC DRIVE

In the error between the actual speed and reference speed the BLDC drive operates upon by the DPIC controller to
generate iqref. Using Zeigler – Nichols tuning method the DPIC parameters like proportional gain (Kp) and integral times
(Ti) are obtained [10-11]. From this strategy, the proposed framework is to give a sustained oscillation with the ultimate
gain for stability, which can be acquired by the utilization of the Routh-Hurwitz condition (Kcr = 0.2) and its
corresponding ultimate period (Pcr = 0.12 s). Utilizing this technique the estimations of Kp = Kcr/2=0.1 and Ti =
Pcr/1.2=0.1 s are found. In the constant air gap flux mode idref = 0. This goes through Park’s transformation to generate
A, B and C phase stator reference currents. Rotor position feedback is required so as to create these flows. The current
controller attempts to constrain the real engine flows to approach the instructed qualities consistently. Current feedback
is required so as to create this current. The current controller force the actual motor flows to rise to the told qualities
consistently. Current feedback is required for the hysteresis current controller to accomplish this. Current control is
implemented by the appropriate firing of power devices T1 to T6. For speed control framework speed criticism is
likewise required. Both position and speed criticism can be procured from a resolver/signal processor mix.

Figure.3 shows the disentangled square outline of the regular controller for BLDCM. The controlling capacity of the

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controller is tried under various cases.

FIGURE. 3. Block Diagram of DPIC for BLDCM.

RESULTS AND DISCUSSION

The simulation model of the proposed fault detection method is depicted in Figure.4. The specifications of the BLDCM
are as follows: The stator resistance is 0.2 ohm, the stator inductance is 8.5e-3, flux induced by magnets is 0.175Wb,
back emf flat area (degrees) is 120, inertia J = 0.089 kg m2, friction factor F= 0.005 N m s and pairs of poles P=4.

FIGURE.4. Simulation model of BLDCM

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 Healthy Conditions
The simulated stator current of phase – a is shown in Figure .5. BLDCM drive controlled at a speed of 1500 RPM during
healthy conditions and its corresponding WT detailed coefficients. It is clearly shown that the stator current and its co-
efficient has null overshoots and fast settling time using this structured controller in normal operating condition.

FIGURE.5. Simulated responses of BLDCM phase-a stator current in normal conditions and corresponding its detailed
coefficients

Voltage swells

Figure. 6 shows that the simulated responses of the two stator phases (a and b) of the BLDCM drive are short circuited.
From this figure, it is clearly observed that the stator current of the BLDCM drive using controller has raised from 13s to
15s. Thus, the swell of the stator current is observed and its corresponding approximate and detailed coefficients are shown
in Fig.6.

FIGURE.6. Simulated stator current responses of the BLDCM drive during the two phases in short circuit conditions and its
detailed coefficients

The load is increased up to 1000 ohms. It is observed that a drop of voltage is obtained from 1s to 4s.

Thus, voltage sags is found in this period and the waveforms are as shown in Figure .7.

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 FIGURE. 7. Voltage sag and its detailed coefficients

DC Voltage Fault conditions

Fig. 8 shows that the different D.C input voltage of the inverter (100V and 1000V ) is applied for BLDCM drive using
the designed controller. From this figure it is observed that the variations of D.C input voltage of inverter are obtained from
0s to 3s for 100V and 3s to 9s for 1000V. It is clearly found that when the voltage is very high the motor takes longer time
to get the constant state. The faulty waveforms with their corresponding detailed coefficient using WT are shown in Figure
.8 (a) and (b).

FIGURE. 8. Response of the phase- a stator current of BLDCM drive for various input D.C voltage of inverter and its detailed
coefficient, (a) 100V and (b) 1000V.

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 EXPERIMENTAL SETUP
In this section the experimental verification is done. The specifications are as per the simulation setup. Figure.9. Shows
the experimental setup It consists of a controller, BLDC motor, computer and DSP processor.

FIGURE.9. Experimental setup of DSP BLDCM

CONCLUSION

In this paper, an endeavor has been made to identify the power quality disturbance using the WT method of the
BLDCM drive using the DPIC and it successfully demonstrated in computer simulations using MATLAB/Simulink and
Wave Menu Tool Box. Also, the time of different fault occurrences is found out. In addition to this, the DC voltage fault
is also detected using the BLDC motor drive. The faults are detected accurately and they are overcome by this WT method.
This method has proved to be more efficient than the conventional electronic circuit design-based fault detection methods.

REFERENCES

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speed and acceleration using Discrete Wavelet Transform Technique, SciVerse ScienceDirect, 4(2012) pp.
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International Journal of Soft Computing and Engineering, 2(1), pp.234-245(2012).
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Sensing, J Electr Eng Technol, 9(2), pp. 234-246 (2016).
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Journal of Innovative Technology and Exploring Engineering, 1(5), pp.123-127 (2010).
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Wavelet Transform and K-Means Clustering, American Journal of applied Sciences, 11(3), pp.362-370
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