vii TABLE OF CONTENTS CHAPTER NO. TITLE PAGE NO. ABSTRACT LIST OF TABLES LIST OF FIGURES LIST OF SYMBOLS AND ABBREVIATIONS iii xii xiii xxi 1 INTRODUCTION 1 1.1 GENERAL 1 1.2 LITERATURE SURVEY 1 1.3 OBJECTIVES OF THE RESEARCH 21 1.4 ORGANIZATION OF THE THESIS 21 1.5 CONCLUSION 22 2 POWER FACTOR CORRECTION CONVERTERS 23 2.1 GENERAL 23 2.2 CONTROL SCHEME FOR THE PFC CONVERTER BASED PMBLDC MOTOR 27 2.3 VOLTAGE SOURCE INVERTER FED BLDC MOTOR 29 2.4 PFC CONVERTER TOPOLOGIES 32 2.4.1 Boost Converter 33 2.4.2 Flyback Converter 36 2.4.3 Forward Converter 38 2.4.4 Half Bridge Converter 39 2.4.5 Buck Boost Converter 40 2.4.6 Zeta Converter 42
viii CHAPTER NO. TITLE PAGE NO. 2.4.7 SEPIC Converter 43 2.4.8 Cuk Converter 44 2.4.9 Bridgeless Cuk Converter 45 2.5 CONCLUSION 46 3 PFC BRIDGELESS BOOST CONVERTER FED PMBLDC MOTOR 47 3.1 GENERAL 47 3.2 VSI FED BLDC MOTOR 48 3.3 PRINCIPLE OF THE BRIDGELESS TOPOLOGY 52 3.4 TYPES OF CONTROL TECHNIQUES OF PMBLDC MOTOR 52 3.5 MATHEMATICAL MODEL OF THE PMBLDC MOTOR 53 3.6 SIMULATION RESULTS 56 3.6.1 PMBLDC Motor fed from a VSI with PFC Full Bridge Converter 57 3.6.2 PMBLDC Motor fed from a VSI with Input L-Filter 60 3.6.3 PMBLDC Motor fed from a VSI with Input T-Filter 62 3.6.4 PMBLDC Motor fed from a VSI with PFC Boost Converter 65 3.6.5 PMBLDC Motor fed from a Bridgeless Boost Converter 68
ix CHAPTER NO. TITLE PAGE NO. 3.6.6 Closed Loop Controlled PMBLDC Motor fed from the PFC Bridgeless Boost Converter 69 3.7 EXPERIMENTAL RESULTS 73 3.7.1 Hardware Implementation of the VSI fed PMBLDC Motor with input T-Filter Motor with Input T-Filter 74 3.7.2 Hardware Implementation of the PFC Bridgeless Boost Converter fed BLDC Motor 75 3.8 CONCLUSION 77 4 PFC BUCK-BOOST CONVERTER FED PMBLDC MOTOR 78 4.1 GENERAL 78 4.2 MATHEMATICAL MODEL OF THE PFC BUCK-BOOST CONVERTER 80 4.3 SIMULATION RESULTS 83 4.3.1 PMBLDC Motor fed from the PFC Buck-Boost Converter 83 4.4 EXPERIMENTAL RESULTS 86 4.5 CONCLUSION 89 5 PFC ZETA CONVERTER FED PMBLDC MOTOR 90 5.1 GENERAL 90 5.2 PRINCIPLE OF THE ZETA CONVERTER TOPOLOGY 90 5.2.1 Operating Modes 91
x CHAPTER NO. TITLE PAGE NO. 5.3 MATHEMATICAL MODEL OF THE PFC ZETA CONVERTER 92 5.4 PMBLDC MOTOR FED FROM A VOLTAGE SOURCE INVERTER WITH THE PFC ZETA CONVERTER 94 5.5 SIMULATION RESULTS 95 5.5.1 Open Loop System of the Zeta Converter fed PMBLDC Motor 95 5.5.2 Closed Loop System of the Zeta Converter fed PMBLDC Motor 98 5.6 EXPERIMENTAL RESULTS 102 5.7 CONCLUSION 103 6 BRIDGELESS PFC CUK CONVERTER FED PMBLDC MOTOR 105 6.1 GENERAL 105 6.2 PRINCIPLE OF THE BRIDGELESS CUK CONVERTER TOPOLOGY 107 6.3 SIMULATION RESULTS 110 6.3.1 PMBLDC Motor fed from a bridgeless PFC Cuk Converter 111 6.4 EXPERIMENTAL RESULTS 115 6.5 CONCLUSION 118 7 CONCLUSION 119 7.1 CONCLUSION 119 7.2 PERFORMANCE OF THE PMBLDC DRIVE FED WITH PFC CONVERTERS 120
xi CHAPTER NO. TITLE PAGE NO. 7.2.1 PFC Bridgeless Boost Converter 120 7.2.2 PFC Buck-Boost Converter 121 7.2.3 PFC Zeta Converter 122 7.2.4 PFC Bridgeless Cuk Converter 123 7.3 SCOPE FOR FURTHER WORK 125 APPENDIX A 127 APPENDIX B 145 APPENDIX C 152 APPENDIX D 163 REFERENCES 166 LIST OF PUBLICATIONS 173
xii LIST OF TABLES TABLE NO. TITLE PAGE NO. 2.1 Output of the electronic commutator based on the signals from Hall Effect Sensor 28 3.1 Differences between conventional PFC and bridgeless PFC. 51 7.1 Comparison of THD of various PFC converter fed PMBLDC drives 125
xiii LIST OF FIGURES FIGURE NO. TITLE PAGE NO. 2.1 Schematic of the PFC converter fed PMBLDC drive 27 2.2 VSI fed BLDC motor 30 2.3 Input voltage and current waveforms of the VSI fed BLDC motor 30 2.4 VSI with input L-filter fed BLDC motor 31 2.5 Voltage and Current of the VSI fed PMBLDC Motor with L-Filter 31 2.6 VSI fed BLDC motor with input T-filter 32 2.7 Voltage and Current of the VSI fed PMBLDC Motor with T-Filter 32 2.8 Principle of PFC Boost Converter 34 2.9 Boost PFC Converter 35 2.10 Fly back Converter 36 2.11 Driving pulses and Input Current 37 2.12 Input V-I Characteristics 37 2.13 Forward Converter 38 2.14 Bridgeless Boost Converter 39 2.15 Input Current and Voltage Waveforms 40 2.16 PFC Buck-Boost Converter Topology 41 2.17 Input voltage and current waveforms 41 2.18 Zeta Converter 42 2.19 Source Voltage and Current waveforms of the Zeta Converter 43
xiv FIGURE NO. TITLE PAGE NO. 2.20 SEPIC Converter 43 2.21 Cuk Converter 44 2.22 Current Waveforms 44 2.23 Input V-I characteristics of the basic Cuk converter operating in DCM 45 2.24 Topology of the Bridgeless Cuk Converter 45 2.25 Input voltage and current waveforms 46 3.1 Conventional Boost Converters 50 3.2 Bridgeless Boost Converters 51 3.3 Circuit Model of the Motor 54 3.4 VSI fed BLDC motor with the capacitor filter 59 3.5 Input voltage and current waveforms of the VSI fed BLDC motor 59 3.6 Variation of the Rotor Speed 59 3.7 Line Spectrum of the Output Voltage 60 3.8 VSI fed BLDC motor with input L-filter 61 3.9 Input voltage and current waveforms 61 3.10 Speed Response 61 3.11 FFT Analysis 62 3.12 VSI fed BLDC motor with an input T-filter 63 3.13 Input current and voltage waveforms 63 3.14 Speed Response 64 3.15 Frequency Spectrum of the output Voltage 64 3.16 Closed Loop model of the PFC boost 65 converter fed PMBLDC Motor 3.17 Input voltage and current waveforms 65
xv FIGURE NO. TITLE PAGE NO. 3.18 Phase Voltages applied to the stator windings 66 3.19 Stator current waveforms 67 3.20 Back EMF 67 3.21 Step Change in Load Torque applied at t= 0.6 sec 68 3.22 Speed Response Curve 68 3.23 PFC Bridgeless boost converter fed PMBLDC motor under an Open Loop 69 3.24 Input voltage and current waveforms 69 3.25 Closed Loop Speed Control of PMBLDC Motor with PFC Half Bridge Converter 70 3.26 Input voltage and current waveforms 70 3.27 Back EMF 71 3.28 Step change in load torque applied at t=0.6 sec 71 3.29 Speed Response Curve 72 3.30 Frequency Spectrum for the Output Voltage 72 3.31 Hardware Implementation of the Drive System with the T-filter 74 3.32 Input Voltage and Current waveforms 74 3.33 Top View of the hardware 75 3.34 Experimental setup 76 3.35 Source voltage and current waveforms 76 4.1 PFC buck boost converter topology 81 4.2 Buck-boost Converter 84
xvi FIGURE NO. TITLE PAGE NO. 4.3 Closed Loop Speed Control of PMBLDC Motor with PFC buck-boost Converter 84 4.4 Input voltage and current 85 4.5 Step Change in the load torque applied at t=1 sec 85 4.6 Speed Response Curve 86 4.7 FFT Analysis of the source current 86 4.8 Top View of the hardware 87 4.9 Experimental Setup 88 4.10 Voltage and current waveforms 88 4.11 Harmonic Spectrum of the Source Voltage 89 5.1 Circuit of the zeta converter 91 5.2 Mode 1 of the Zeta converter 91 5.3 Mode 2 of the Zeta converter 91 5.4 Equivalent circuit of the Zeta converter 93 5.5 Simulation Circuit of the open loop system 95 5.6 Input voltage and current of the open loop system 96 5.7 Phase Voltage applied to the stator 96 5.8 Stator current waveforms 97 5.9 FFT Analysis of the input current 97 5.10 Simulation Circuit of the Closed loop System 98 5.11 Input voltage and current of the closed loop system 99 5.12 Waveforms of Phase Voltage applied to the stator 99
xvii FIGURE NO. TITLE PAGE NO. 5.13 Stator current Waveforms 100 5.14 Step Change in the load torque applied at t=1 sec 100 5.15 Speed Response 101 5.16 FFT Analysis of the Current 101 5.17 Top View of the hardware 102 5.18 Experimental setup 103 5.19 Input voltage and current waveforms 103 6.1 Conventional Cuk Topology 107 6.2 Bridgeless Cuk Converter topology 108 6.3 Bridgeless Cuk Converter Circuit 111 6.4 Closed Loop Speed Control of PMBLDC Motor with the Bridgeless PFC Cuk Converter 111 6.5 Input voltage and current waveforms 112 6.6 Switching pulses for bridgeless Cuk Converter 112 6.7 Step Change in load torque applied at t=1 sec 113 6.8 Speed Response 113 6.9 FFT Analysis of the source current 114 6.10 Experimental setup 115 6.11 Bridgeless Cuk converter board 116 6.12 Inverter and BLDC Drive board 116 6.13 Input Voltage and Input Current waveforms 117 6.14 Harmonic Spectrum of source voltage 117
xviii FIGURE NO. TITLE PAGE NO. 7.1 Input Voltage and Current Waveforms for the Bridgeless Boost Converter 121 7.2 FFT Analysis for the bridgeless Boost Converter 121 7.3 Input Voltage and Current Waveforms for the Buck- Boost Converter System 122 7.4 FFT Analysis of a buck-boost Converter 122 7.5 Input Voltage and Current Waveforms of the Zeta Converter System 123 7.6 FFT Analysis of a Zeta Converter 123 7.7 Input Voltage and Current Waveforms of a Bridgeless Cuk Converter 124 7.8 FFT Analysis with bridgeless Cuk Converter 124 A.1 Power circuit 127 A.2 Block Diagram of PIC16F84A 131 A.3 Pin Diagram of PIC16F84A 131 A.4 Optocouplers 139 A.5 Pin Diagram of IR2110/DIP14 141 A.6 Wiring Diagram of PIC16F84A 143 A.7 Wiring Diagram of PIC16F84 144 B.1 Data Sheet of CD4071BC 147 B.2 Data Sheet of FR301 thru FR307 148 B.3 Data Sheet of NPN Transistor 2N2222; 2N2222A 149 B.4 Data Sheet of IRF540,IRF540S 150 B.5 Data Sheet of LM324 151
xix FIGURE NO. TITLE PAGE NO. C.1 Construction and Circuit Diagram 153 C.2 Pin Diagram of MCT2/MCT2E 154 C.3 Pin Connection of MC1741 155 C.4 Simplified Outline and Symbol 157 C.5 Dual-In Line Package 158 C.6 Symbol of MOSFET 159 C.7 Comparator 161 D.1 Overall Block Diagram of buck-boost converter fed PMBLDC Drive 163 D.2 Control Board 163 D.3 Control Circuit using MCT 2E 164 D.4 Control Circuit using Op-Amp 165
xx LIST OF SYMBOLS AND ABBREVIATIONS Symbols r - Angular Velocity in rad/sec p - Derivative d/dt D - Duty Cycle B - Friction Coefficient J - Moment of Inertia M - Mutual Inductance P - Number of poles - Rotor Position in rad L - Self Inductance Abbreviations µf - microfarad µsec - microseconds A - ampere AC - Alternating Current ADC - Analog Digital Converter ANFIS - Adaptive Neuro Fuzzy Inference System ASIC - Application Specific Integrated Circuit BBC - Buck-Boost Converter BLDC - Brushless DC BLPFC - Bridgeless Power Factor Correction CCM - Continuous Conduction Mode CISC - Complex Instruction Set Computer CMOS - Complementary metal oxide semiconductor CSC - Canonical Switching Cell
xxi DC - Direct Current DCM - Discontinuous Conduction Mode e a, e b, e c - Induced EMFs in phase respectively EEPROM - Electrically Erasable Programmable Read-Only Memory EMF - Electro Motive Force EMI - Electromagnetic Interference FFT - Fast Fourier Transform GA - Genetic Algorithm i a, i b, i c - Stator Currents in phase respectively IGBT - Insulated-Gate Bipolar Transistor IGBT - Insulated-Gate Bipolar Transistor IPM-BLDC - Interior Permanent Magnet-BLDC khz - Kilohertz LED - Light Emitting Diode MATLAB - Matrix Laboratory mh - millihenry MOSFET - Metal Oxide Semiconductor Field-Effect Transistor PFC - Power Factor Correction PI - Proportional-Integral PIC - Peripheral Interface Controller PID - Proportional-Integral Derivative PLL - Phase Locked Loop PMBLDCM - Permanent Magnet Brushless DC Motor PMSM - Permanent Magnet Synchronous Motor PV array - Photovoltaic array PWM - Pulse Width Modulation RAM - Random Access Memory RISC - Reduced Instruction Set Computing RMS - Root Mean Square SEPIC - Single-Ended Primary Inductor Converter SMPS - Switching Mode Power Supply
xxii TCP/IP - Transmission Control Protocol/Internet Protocol THD - Total Harmonic Distortion TTL - Transistor-Transistor Logic V - voltage VAr - Volt Ampere reactive VSI - Voltage Source Inverter ZCS - Zero-Current Switching