Elektrikli Araç için BLDC Motorun Yük Momenti Kestirimi Yapabilen EKF Tabanlı Hız-Algılaycısız DTC'si

Abstract

Bu çalışma, MATLAB/Simulink simülasyon ortamında fırçasız DC motor (BLDC) kontrolünün model tabanlı ve doğrudan tork kontrolü (DTC) yöntemi ile genişletilmiş kalman filtresi (EKF) ile simülasyonunu sunmaktadır. Bu çalışmada, doğrusal olmayan bir BLDC motoru genişletilmiş kalman filtresi ile kontrol etmek için DTC yöntemine dayalı bir kontrol yöntemi test edilmiştir. Bu yöntemde literatürde bulunmayan yük moment tahmini sayesinde doğru bir kontrol yapılabilmektedir. Düşük ve yüksek hızlarda gerçekleştirilen testler sonucunda sistemin gerçek zamanlı sistemlere öncülük edebileceği sonucuna varılmıştır.

Keywords

• BLDC Motor
• Kalman Filtresi
• Hız-Algılaycısız Doğrudan Moment Kontrolü.

Speed-Sensorless DTC of BLDC Motor with EKF-based Estimator Capable of Load Torque Estimation for Electric Vehicle

Abstract

This study presents the simulation of brushless DC (BLDC) motor control in MATLAB/Simulink simulation environment with model-based and direct torque control (DTC) method with extended kalman filter (EKF). In this study, a control method based on DTC method is tested to control a nonlinear BLDC motor with extended kalman filter. In this method, an accurate control can be made thanks to the load moment estimation, which is not found in the literature. As a result of the tests have carried out at low and high speeds, it is concluded that the system can lead to real-time systems.

Keywords

• BLDC Motor
• Kalman Filter
• Speed-sensorless Direct Torque Control.

References

1. Giridhar Balakrishna, R., Yogananda Reddy, P. (2015). “Speed Control of Brushless DC Motor Using Microcontroller,” in International Journal of Engineering Technology, Management and Applied Sciences, vol. 3, Issue 6, ISSN 2349-4476, June 2015.
2. Anonymous. (2021). BLDC Motor nedir ve ne işe yarar? Bldc (Fırçasız) Motor çalışma prensibi ve kullanım alanları. [Online]. Available: https://www.hurriyet.com.tr/egitim/bldc-motor-nedir-ve-ne-ise-yarar-bldc-fircasiz-motor-calisma-prensibi-ve-kullanim-alanlari-41719240
3. Anonymous. (2021). BLDC (Fırçasız DC) motor nedir? [Online]. Available: https://diyot.net/bldc/.
4. Li, F., Yao, W. and Lee, K. (2019). "Quantitative Characteristic Comparison between Sensorless Six Step and Field Oriented Control Methods for Permanent Magnet Brushless DC Motors," in 2019 IEEE Energy Conversion Congress and Exposition (ECCE) pp. 1881-1885, doi: 10.1109/ECCE.2019.8912478.
5. Rekioua, T., Meibody Tabar, F. and le Doeuff, R. (1990). "A new approach for the field-oriented control of brushless, synchronous, permanent magnet machines," in 1990 Fourth International Conference on Power Electronics and Variable-Speed Drives (Conf. Publ. No. 324) pp. 46-50.
6. Gujjar M. N. and Kumar, P. (2017). "Comparative analysis of field oriented control of BLDC motor using SPWM and SVPWM techniques," in 2017 2nd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT), pp. 924-929, doi: 10.1109/RTEICT.2017.8256733.
7. Kumar, B.P. and C.M.C, K. (2016). "Comparative study of different control algorithms on Brushless DC motors," in 2016 Biennial International Conference on Power and Energy Systems: Towards Sustainable Energy (PESTSE), pp. 1-5, doi: 10.1109/PESTSE.2016.7516444.
8. Irimia, N.D., Lazar F.I. and Luchian, M. (2019). "Comparison Between Sinusoidal and Space Vector Modulation Techniques on the Resulting Electromagnetic Torque Ripple Produced by a Three-Phase BLDC Motor under Field-Oriented Control," in 2019 6th International Conference on Control, Decision and Information Technologies (CoDIT), pp. 640-645, doi: 10.1109/CoDIT.2019.8820718.

9. [9] Islam, M.A., Hossen, M.B., Banik, B. and Ghosh, B.C. (2017). "Field oriented space vector pulse width modulation control of permanent magnet brushless DC motor," in 2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC), pp. 322-327, doi: 10.1109/R10-HTC.2017.8288966. Tatar, G., Korkmaz, H., Serteller, N.F.O. and Toker, K. (2020). "LabVIEW FPGA Based BLDC Motor Control by Using Field Oriented Control Algorithm," in 2020 International Conference on Smart Energy Systems and Technologies (SEST), pp. 1-6, doi: 10.1109/SEST48500.2020.9203104.
10. Sandre-Hernandez, O., Ordaz-Oliver, P. and Cuvas-Castillo, C. (2019). "Sensorless Field Oriented Control of BLDC motor based on Sliding Mode Observer," in 2019 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), pp. 119-124, doi: 10.1109/ICMEAE.2019.00029.
11. De Almeida, T.E.P., de Paula, G.T., de Castro, A.G., Pereira, W.C.A. and de A. Monteiro, J.R.B. (2017). "Sensorless vector control for BLDC machine," in 2017 Brazilian Power Electronics Conference (COBEP), pp. 1-6, doi: 10.1109/COBEP.2017.8257380.
12. Reddy, B.P. and Murali, A. (2016). "SoC FPGA-based field oriented control of BLDC motor using low resolution Hall sensor," in IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, pp. 2941-2945, doi: 10.1109/IECON.2016.7793092.
13. Hui, T.S., Basu, K.P. and Subbiah, V. (2003). "Permanent magnet brushless motor control techniques," in Proceedings. National Power Engineering Conference, 2003. PECon 2003., pp. 133-138, doi:10.1109/pecon.2003.1437432.
14. Lee, S., Lemley, T.H. and Keohane, G. (2009). “A comparison study of the commutation methods for the three-phase permanent magnet brushless DC motor”.
15. Noroozi, M. A., Moghani, J. S., Mili Monfared, J. and Givi, H. (2012). "An improved direct torque control of brushless DC motors using twelve voltage space vectors," in 2012 3rd Power Electronics and Drive Systems Technology (PEDSTC), pp. 133-138, doi:10.1109/pedstc.2012.6183312.
16. Li, Z., Zhang, S., Zhou, S. and Ahn, J.W. (2014). “Torque Ripple Minimization in Direct Torque Control of Brushless DC Motor”, Journal of Electrical Engineering and Technology. 9. 1569-1576, http://dx.doi.org/10.5370/JEET.2014.9.5.1569.
17. Singh, J. and Singh, M. (2016). “Comparison and Analysis of Different Techniques for Speed Control of Brushless DC Motor using MATLAB Simulink”, International Journal of Engineering Trends and Technology. 38. pp. 373-379.
18. Aktas, M., Awaili, K., Ehsani, M. and Arisoy, A. (2020). “Direct torque control versus indirect field-oriented control of induction motors for electric vehicle applications”, Engineering Science and Technology, an International Journal, vol. 23, Issue 5, pp. 1134-1143, https://doi.org/10.1016/j.jestch.2020.04.002.
19. Mazaheri, A. and Radan, A. (2017). “Performance evaluation of nonlinear Kalman filtering techniques in low speed brushless DC motors driven sensor-less positioning systems”, Control Engineering Practice, Volume 60, pp. 148-156, https://doi.org/10.1016/j.conengprac.2017.01.004.
20. Kettle, P., Murray, A., and Moynihan, F. (1998). "Sensorless Control of a Brushless DC motor using an Extended Kalman estimator", PCIM’98 INTELLIGANT MOTION, May 1998 Proceedings, pp- 385-392.
21. Terzic, B. and Jadric, M. (2001). "Design and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor," in IEEE Transactions on Industrial Electronics, vol. 48, no. 6, pp. 1065-1073, Dec. 2001, doi: 10.1109/41.969385.
22. Nair, D.S., Jagadanand, G., and George, S. (2017). "Sensorless direct torque controlled BLDC motor drive with Kalman filter algorithm," in IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 2160-2165, doi: 10.1109/IECON.2017.8216363.
23. Lv, H., Wei, G. and Ding, Z. (2014). "UKF — Based for sensorless brushless DC motor control," in 2014 International Conference on Mechatronics and Control (ICMC), pp. 199-203, doi: 10.1109/ICMC.2014.7231547.
24. Ejlali, A. and Soleimani, J. (2012). "Sensorless vector control of 3-phase BLDC motor using a novel Extended Kalman," in 2012 International Conference on Advances in Power Conversion and Energy Technologies (APCET), pp. 1-6, doi: 10.1109/APCET.2012.6302062.
25. Aishwarya, V. and Jayanand, B. (2016). "Estimation and control of sensorless brushless DC motor drive using Extended Kalman Filter," in 2016 International Conference on Circuit, Power and Computing Technologies (ICCPCT), pp. 1-7, doi: 10.1109/ICCPCT.2016.7530343.
26. Karakaş, E. (2016). "Elektrikli Araçlar İçin Fırçasız Doğru Akım Motorlarının Sensörsüz Güç Geri Kazanımlı Olarak Gerçekleştirilmesi", Master Thesis, Pamukkale University Institute of Science and Technology.