Modeling and implementation of intelligent commutation system for BLDC motor in underwater robotic applications
01 Jul 2016-pp 1-4
TL;DR: Modeling and simulation of the BLDC motor is developed in Simulink environment and tested using the embedded dsPIC controller and inverter driver to give proper sequences of commutation to runBLDC motor smoothly.
Abstract: Now-a-days; brushless DC (BLDC) motors are becoming very popular in the field of underwater robotic propulsion systems. Since the thrusters which are being used in underwater robotic vehicles has incorporated Brushless DC motors for its propulsion system. Hence; it is very important to precise control of the speed of brushless DC motor for the underwater robotic application. It is difficult to derive the transfer function of BLDC motor because it is 3 phase non linear system. Hence; modeling and simulation of the BLDC motor is developed in Simulink environment and tested using the embedded dsPIC controller and inverter driver. It is very important to give proper sequences of commutation to run BLDC motor smoothly.
Citations
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01 Aug 2019
TL;DR: The results show that, the proposed in-wheel PM-BLDC motor model could be reliably employed as a tool for BEVs modeling.
Abstract: In this decade, modern Battery Electric Vehicles (BEVs) had witnessed the intervention of in-wheel BLDC motors which led to improved overall efficiency due to the absence of both; the mechanical power train and the brushes. In the present work, a detailed parameterized model of a PM-BLDC motor is considered to estimate its torque-speed characteristics accurately. Three differential equations are simultaneously solved to estimate the motor characteristics. Additionally, an electric drive system is fully modeled including: Li-ion battery, six-step voltage inverters and Hall sensors in the presence of disturbance load torque. For the complete motor parameters to be fed to the model, experimental system identification is implemented. The steady-state response behavior of the motor is validated. In order to control the motor's rotational speed with enhanced transient response, a PID speed controller is implemented. The controlled BLDC motor model results include the speed, back EMF, motor torque and armature phase currents. The results show that, the proposed in-wheel PM-BLDC motor model could be reliably employed as a tool for BEVs modeling.
8 citations
Additional excerpts
...According to Kirchhoff’s voltage law, the matrix representation of the electric equations of the BLDC motor phases can be represented as [6] 0 0 0 0 0 0 0 0 0 0 0 0 = + + a s a s a a...
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22 Apr 2019
TL;DR: The simulation results verified that, the selected additional frequency components, compared to the healthy condition, can be exploited for the reliable identification both of the fault severity and the defective sensor.
Abstract: In this study, Brushless DC motor drives with defective Hall-effect position sensors are investigated and a comparison of the potential fault signatures, based on the current monitoring, is presented. In case of a position sensor misplacement, increased torque ripple and reduced efficiency, due to faulty commutation instants, are observed. Therefore, the armature currents and the DC-link current are studied under the healthy condition to extract the ideal harmonic content, since the frequency-domain analysis is exploited for the diagnosis of the defective system. Nevertheless, the current controller will affect the waveforms and the frequency pattern of the investigated signals reducing the accuracy of the diagnostic method. Thus, different case studies are investigated to verify the effectiveness of the proposed method. The simulation results verified that, the selected additional frequency components, compared to the healthy condition, can be exploited for the reliable identification both of the fault severity and the defective sensor.
6 citations
Cites background from "Modeling and implementation of inte..."
...Thanks to their distinct features, BLDC motors are usually preferred in applications, such as automotive [1], HVAC [2], actuators [3], medical [4], robotics [5], and home appliances [6]....
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01 Oct 2017
TL;DR: Simulation results show that verifying the performance of BLDC motor with Mathematica software gives the more accurate values in current, torque and speed calculations.
Abstract: This paper studies the dynamic performance of BLDC motor with MatLab/Simulink, and the results of torques and speeds are verified with Mathematica software. MatLab/Simulink provides suitable environment for control application and power electronic design, whereas Mathematica is better for symbolic part and therefore it could be preferred for design and control applications for electrical motors. By integrating these programs' features provides a better dynamic analysis when predicting the precise value of torque and speed, determined by waveforms of back-emf. The simulation results show that verifying the performance of BLDC motor with Mathematica software gives the more accurate values in current, torque and speed calculations.
6 citations
Cites background from "Modeling and implementation of inte..."
...BLDC motors, which are called Permanent Magnet Direct Current (DC) Synchronous motors or electronically commuted motor, gaining popularity rapidly, mainly because of their better characteristics and performance on the other electrical motors [1]-[5]....
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01 Jul 2016
TL;DR: In this article, a first-order all-pass filter that utilizes operational transconductance amplifier as an active device is proposed, which provides the voltage-mode and current-mode output simultaneously without doing any alteration in its hardware configuration.
Abstract: This paper proposes a novel first order all pass filter that utilizes operational transconductance amplifier as an active device. The introduced filter circuit comprises of only two active device and one grounded capacitor and four resistors. It also provides the voltage-mode and current-mode output simultaneously without doing any alteration in its hardware configuration. The transfer function of the filter circuit in both the modes remains same. In Current-mode the output current is explicitly available from high impedance port, makes it better proposition for making the higher order filters without using any additional buffers. CMOS OTAs using 0.18 µm technology process parameters have been utilized to test and verify the filter circuit.
5 citations
01 Oct 2021
TL;DR: This study presents a mathematical model for a closed chain pantograph mechanism, where the boundary conditions are taken into account and shows that the model reference adaptive control has a better performance compared to the NLPID and PID controllers.
Abstract: Pantograph Robot Mechanism is considered a type of parallel manipulator which has been developed largely for industrial applications that need high accuracy and speed. Whereas, it needs a high-performance controller to track preselected trajectory planning. It is also able to carry higher weights than the open-chain mechanism with suitable accuracy and stability; this is because it consists of four active links and one passive link, instead of two links as in the open chain. This study presents a mathematical model for a closed chain pantograph mechanism, where the boundary conditions are taken into account. A complete MATLAB Simulink has been developed to simulate the dynamics of the pantograph robot mechanism. To validate the proposed mathematical model of the pantograph, the corresponding Simscape model had been developed. Also, three different tracking controllers were designed. The first control is the PID controller which had optimized by Flower Pollination (FP) optimization. The second control is an enhanced Nonlinear PID (NLPID) controller where its parameters were obtained by Flower Pollination (FP) optimization based on the effective objective function. The third control is the model reference adaptive control. A comparative study between the control techniques was accomplished. A rectangular trajectory was selected to be a position reference of the end effector of the pantograph robot. This task was done using the proposed controllers to investigate the performance. The results show that the model reference adaptive control has a better performance compared to the NLPID and PID controllers. The end effector has a less rise time and settling time with high accuracy in the case of the model reference adaptive control.
4 citations
References
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TL;DR: This paper surveys some key areas in current state-of-the-art underwater robotic technologies, by no means a complete survey but provides key references for future development.
Abstract: During the 1990s, numerous worldwide research and development activities have occurred in underwater robotics, especially in the area of autonomous underwater vehicles (AUVs). As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for and use of underwater robotic systems has become more apparent. Great efforts have been made in developing AUVs to overcome challenging scientific and engineering problems caused by the unstructured and hazardous ocean environment. In the 1990s, about 30 new AUVs have been built worldwide. With the development of new materials, advanced computing and sensory technology, as well as theoretical advancements, R&D activities in the AUV community have increased. However, this is just the beginning for more advanced, yet practical and reliable AUVs. This paper surveys some key areas in current state-of-the-art underwater robotic technologies. It is by no means a complete survey but provides key references for future development. The new millennium will bring advancements in technology that will enable the development of more practical, reliable AUVs.
636 citations
25 Apr 2012
TL;DR: In this article, an advanced introduction to the simulation and hardware implementation of brushless DC motors is presented, with the guidance of the expert author team, readers will understand the principle, modelling, design and control of BLDC motor drives.
Abstract: Description: An advanced introduction to the simulation and hardware implementation of BLDC motor drives A thorough reference on the simulation and hardware implementation of BLDC motor drives, this book covers recent advances in the control of BLDC motor drives, including intelligent control, sensorless control, torque ripple reduction and hardware implementation. With the guidance of the expert author team, readers will understand the principle, modelling, design and control of BLDC motor drives. The advanced control methods and new achievements of BLDC motor drives, of interest to more advanced readers, are also presented. Focuses on the control of PM brushless DC motors, giving readers the foundations to the topic that they can build on through more advanced reading Systematically guides readers through the subject, introducing basic operational principles before moving on to advanced control algorithms and implementations Covers special issues, such as sensorless control, intelligent control, torque ripple reduction and hardware implementation, which also have applications to other types of motors Includes presentation files with lecture notes and Matlab 7 coding on a companion website for the book
264 citations
Book•
24 Apr 2012
TL;DR: This book covers recent advances in the control of BLDC motor drives, including intelligent control, sensorless control, torque ripple reduction and hardware implementation.
198 citations
"Modeling and implementation of inte..." refers background in this paper
...All the heat dissipating circuits are on the stator, cooling is much better than in a conventional motor, so higher specific outputs can be achieved [4]....
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Journal Article•
TL;DR: In this article, an advanced simulation model for brushless dc motor drives using Matlab is presented, where the dynamic characteristics of speed and torque as well as voltages and currents of pwm inverter components can be effectively monitored and analyzed.
Abstract: An advanced simulation model for brushless dc (BLDC) motor drives using Matlab is presented. In the developed model, the dynamic characteristics of speed and torque as well as voltages and currents of pwm inverter components can be effectively monitored and analyzed. Therefore, it can be expected that the developed simulation model can be an easy-to-design tool for the development of BLDC motor drives including control algorithms and topological variations with reduced computation time and memory size.
93 citations
TL;DR: In this article, an advanced simulation model for brushless dc motor drives using Matlab is presented, where the dynamic characteristics of speed and torque as well as voltages and currents of pwm inverter components can be effectively monitored and analyzed.
Abstract: An advanced simulation model for brushless dc (BLDC) motor drives using Matlab is presented. In the developed model, the dynamic characteristics of speed and torque as well as voltages and currents of pwm inverter components can be effectively monitored and analyzed. Therefore, it can be expected that the developed simulation model can be an easy-to-design tool for the development of BLDC motor drives including control algorithms and topological variations with reduced computation time and memory size.
87 citations