Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle
Purpose. Development of a brushless valve electric drive with a minimum apparatus excess for an autonomous floating vehicle. Methodology. The construction of models of an automated electric drive with a contactless DC motor and the subsequent technical implementation of such automated electric dri...
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Інститут технічних проблем магнетизму НАН України
2017
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| Назва видання: | Електротехніка і електромеханіка |
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| Цитувати: | Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle / Ya.B. Volyanskaya, S.M. Volyanskiy, O.A. Onischenko // Електротехніка і електромеханіка. — 2017. — № 4. — С. 26-33. — Бібліогр.: 20 назв. — англ. |
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irk-123456789-1475782019-02-16T01:23:31Z Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle Volyanskaya, Ya.B. Volyanskiy, S.M. Onischenko, O.A. Електротехнічні комплекси та системи. Силова електроніка Purpose. Development of a brushless valve electric drive with a minimum apparatus excess for an autonomous floating vehicle. Methodology. The construction of models of an automated electric drive with a contactless DC motor and the subsequent technical implementation of such automated electric drive under various control methods are possible using coordinate transformations of differential equations describing the electric motor under the assumed assumptions. Results. The analysis of the current state of an automated electric drive with a brushless DC motor in a special technique is carried out, possible directions for the improvement of automated electric drives are determined. A simple technical solution of an automated electric drive with a brushless DC motor was proposed and its mathematical model for an electric drive of an automatic floating vehicle with improved technical and economic parameters was developed. Model of an automated electric drive with a brushless DC motor are carried out. Originality. A simple technical solution for the construction of an automated electric drive with a brushless DC motor is proposed, which excludes the use of intermediate computation of coordinates and an expensive encoder. Practical value. Model of the proposed scheme of an automated electric drive with a minimum hardware redundancy, which confirmed the operability of the proposed solution, were carried out. Analysis of the dynamic and static characteristics of the proposed scheme of an automated asynchronous electric drive with a brushless DC motor with a simplified rotor position sensor has made it possible to determine the maximum speed control range with an allowable level of its pulsations. Предложено простое схемотехническое решение построения автоматизированного электропривода (АЭП) с бесконтактным двигателем постоянного тока (БДПТ), отличающееся исключением промежуточных программноаппаратных преобразований координат, широтно-импульсного модулятора, двух регуляторов тока и высокоразрядного энкодера. Проведено компьютерное моделирование предложенной модификации АЭП с БДПТ и показана его работоспособность в заданных диапазонах регулирования скорости. На основании результатов моделирования АЭП с БДПТ обоснована возможность его применения в автономных плавательных аппаратах. 2017 Article Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle / Ya.B. Volyanskaya, S.M. Volyanskiy, O.A. Onischenko // Електротехніка і електромеханіка. — 2017. — № 4. — С. 26-33. — Бібліогр.: 20 назв. — англ. 2074-272X DOI: https://doi.org/10.20998/2074-272X.2017.4.05 http://dspace.nbuv.gov.ua/handle/123456789/147578 62-83:629.584 en Електротехніка і електромеханіка Інститут технічних проблем магнетизму НАН України |
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Digital Library of Periodicals of National Academy of Sciences of Ukraine |
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DSpace DC |
| language |
English |
| topic |
Електротехнічні комплекси та системи. Силова електроніка Електротехнічні комплекси та системи. Силова електроніка |
| spellingShingle |
Електротехнічні комплекси та системи. Силова електроніка Електротехнічні комплекси та системи. Силова електроніка Volyanskaya, Ya.B. Volyanskiy, S.M. Onischenko, O.A. Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle Електротехніка і електромеханіка |
| description |
Purpose. Development of a brushless valve electric drive with a minimum apparatus excess for an autonomous floating vehicle.
Methodology. The construction of models of an automated electric drive with a contactless DC motor and the subsequent
technical implementation of such automated electric drive under various control methods are possible using coordinate
transformations of differential equations describing the electric motor under the assumed assumptions. Results. The analysis of
the current state of an automated electric drive with a brushless DC motor in a special technique is carried out, possible directions
for the improvement of automated electric drives are determined. A simple technical solution of an automated electric drive with a
brushless DC motor was proposed and its mathematical model for an electric drive of an automatic floating vehicle with improved
technical and economic parameters was developed. Model of an automated electric drive with a brushless DC motor are carried
out. Originality. A simple technical solution for the construction of an automated electric drive with a brushless DC motor is
proposed, which excludes the use of intermediate computation of coordinates and an expensive encoder. Practical value. Model of
the proposed scheme of an automated electric drive with a minimum hardware redundancy, which confirmed the operability of
the proposed solution, were carried out. Analysis of the dynamic and static characteristics of the proposed scheme of an
automated asynchronous electric drive with a brushless DC motor with a simplified rotor position sensor has made it possible to
determine the maximum speed control range with an allowable level of its pulsations. |
| format |
Article |
| author |
Volyanskaya, Ya.B. Volyanskiy, S.M. Onischenko, O.A. |
| author_facet |
Volyanskaya, Ya.B. Volyanskiy, S.M. Onischenko, O.A. |
| author_sort |
Volyanskaya, Ya.B. |
| title |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| title_short |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| title_full |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| title_fullStr |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| title_full_unstemmed |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| title_sort |
brushless valve electric drive with minimum equipment excess for autonomous floating vehicle |
| publisher |
Інститут технічних проблем магнетизму НАН України |
| publishDate |
2017 |
| topic_facet |
Електротехнічні комплекси та системи. Силова електроніка |
| url |
http://dspace.nbuv.gov.ua/handle/123456789/147578 |
| citation_txt |
Brushless valve electric drive with minimum equipment excess for autonomous floating vehicle / Ya.B. Volyanskaya, S.M. Volyanskiy, O.A. Onischenko // Електротехніка і електромеханіка. — 2017. — № 4. — С. 26-33. — Бібліогр.: 20 назв. — англ. |
| series |
Електротехніка і електромеханіка |
| work_keys_str_mv |
AT volyanskayayab brushlessvalveelectricdrivewithminimumequipmentexcessforautonomousfloatingvehicle AT volyanskiysm brushlessvalveelectricdrivewithminimumequipmentexcessforautonomousfloatingvehicle AT onischenkooa brushlessvalveelectricdrivewithminimumequipmentexcessforautonomousfloatingvehicle |
| first_indexed |
2025-07-11T02:14:42Z |
| last_indexed |
2025-07-11T02:14:42Z |
| _version_ |
1837314990702329856 |
| fulltext |
Електротехнічні комплекси та системи. Силова електроніка
26 ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4
© Ya.B. Volyanskaya, S.M. Volyanskiy, O.A. Onischenko
UDC 62-83:629.584 doi: 10.20998/2074-272X.2017.4.05
Ya.B. Volyanskaya, S.M. Volyanskiy, O.A. Onischenko
BRUSHLESS VALVE ELECTRIC DRIVE WITH MINIMUM EQUIPMENT EXCESS
FOR AUTONOMOUS FLOATING VEHICLE
Purpose. Development of a brushless valve electric drive with a minimum apparatus excess for an autonomous floating vehicle.
Methodology. The construction of models of an automated electric drive with a contactless DC motor and the subsequent
technical implementation of such automated electric drive under various control methods are possible using coordinate
transformations of differential equations describing the electric motor under the assumed assumptions. Results. The analysis of
the current state of an automated electric drive with a brushless DC motor in a special technique is carried out, possible directions
for the improvement of automated electric drives are determined. A simple technical solution of an automated electric drive with a
brushless DC motor was proposed and its mathematical model for an electric drive of an automatic floating vehicle with improved
technical and economic parameters was developed. Model of an automated electric drive with a brushless DC motor are carried
out. Originality. A simple technical solution for the construction of an automated electric drive with a brushless DC motor is
proposed, which excludes the use of intermediate computation of coordinates and an expensive encoder. Practical value. Model of
the proposed scheme of an automated electric drive with a minimum hardware redundancy, which confirmed the operability of
the proposed solution, were carried out. Analysis of the dynamic and static characteristics of the proposed scheme of an
automated asynchronous electric drive with a brushless DC motor with a simplified rotor position sensor has made it possible to
determine the maximum speed control range with an allowable level of its pulsations. References 20, tables 2, figures 7.
Key words: automated electric drive, autonomous floating vehicle, DC brushless motor, Hall sensor, coordinate
transformations, encoder.
Предложено простое схемотехническое решение построения автоматизированного электропривода (АЭП) с
бесконтактным двигателем постоянного тока (БДПТ), отличающееся исключением промежуточных программно-
аппаратных преобразований координат, широтно-импульсного модулятора, двух регуляторов тока и
высокоразрядного энкодера. Проведено компьютерное моделирование предложенной модификации АЭП с БДПТ и
показана его работоспособность в заданных диапазонах регулирования скорости. На основании результатов
моделирования АЭП с БДПТ обоснована возможность его применения в автономных плавательных аппаратах.
Библ. 20, табл. 2, рис. 7.
Ключевые слова: автоматизированный электропривод, автономный плавательный аппарат, бесконтактный
двигатель постоянного тока, датчик Холла, координатные преобразования, энкодер.
Introduction. Currently, in most electromechanical
systems of small-sized autonomous floating vehicle
(AFV) for various purposes, brush DC electric motors
(DCM) are used. Such motors have a significant starting
torque, excellent adjusting and dynamic characteristics
[1-3], as well as well-developed control systems. Because
brush DCM have irreparable defects (frequent
maintenance, high mechanical wear, acoustic noise,
sparking), more and more utilization in foreign samples of
the AFV have contactless DC motors (BLDCM), in other
words – Brushless DC (BLDC) motors [4-6]. Such
electric motors, due to the use of high-coercivity magnets
in the excitation system, have the best energy
characteristics in comparison with classical DC electric
motors and induction electric motors [9, 10]. The
adjusting, dynamic and static characteristics of modern
automated electric drives (AED) with vector control
methods of BLDCM are close to properties of AED based
on high-frequency pulse-width modulation (PWM) with a
brush DCM of independent excitation.
AED with BLDCM foreign production (Japan, USA,
Western Europe) are widely used in domestic aviation,
medicine, various industries. It should be noted that the
majority of mass-produced foreign AED based on
BLDCM are oriented to complex applications. These are,
for example, high-precision tracking devices, numerical
control machines, electromechanical systems where a
very high speed control range, precise positioning or
tracking modes are required. That is why such AEDs have
very high selling prices. Thus, the AED of the Mitsubishi
Electric Company MR-C10A-UE, 100W, 3000 rpm with
the speed control range D = 1000 in the middle of 2016
was released in Ukraine at a price of almost USD 600
(approximately USD 400 – a system unit, USD 200 –
BLDCM with a built-in high-speed encoder). Such
solutions of the leading manufacturers of electrical
equipment (Mitsubishi, Danfoss, ABB and others) have
very high functional and technological properties,
developed self-diagnostics and protection systems,
management capabilities over the local network and have
many other additional service functions. Despite the
relatively high cost of the BLDCM, such parameters as
reliability, a high value of the design coefficient Сm, speed
and low-speed reception allow us to consider very
promising application of AED with BLDCM in special
marine technology [7, 8] of domestic production, for
example, in experimental samples of the AFV type
«Hydrograph», Nikolaev (Table 1). If you analyze the
basic requirements for AED for devices of a similar type,
you can see that to provide the basic functions of the
AFV, it is enough to have a range of speed control
D = 3 ... 15 with the accuracy of maintaining it at the
lower control ranges of up to 10 %. At the same time,
there is no need for most internal protections, interfaces, a
high-resolution encoder is not needed.
ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4 27
In Ukraine, automated electric drives with BLDCM
are only beginning to be manufactured (LLC «Electrical
Engineering – New Technologies», Odessa), and their
circuitry base has not been fully worked out yet. Since
specialized AFVs, as dual-purpose devices, are in high
demand, and since there are no mass production of such
devices in Ukraine, the creation of an AFV with simple
and functional electromechanical systems based on the
BLDCM based on the domestic industrial base is an
important and urgent scientific and technical task.
Table 1
Some characteristics
of the experimental AFV «Hydrograph» (Nikolaev)
No. Indicator Value
1 Mass of the device 65 kg
2 Propulsion motors power, design
2250 W,
baro-
unloaded
3 Working speed range of the device 0.25…2 m/s
4 Hydropropulsion complex
Direct
transmission
5 Diameter of screws in the nozzle 250 mm
6
Performance with a step change in
the set speed
3 s
7
The accuracy of maintaining the
speed of horizontal rectilinear
displacement on the lower
characteristic of the range
0.05 m/s
8 Maximum speed overshoot 20 %
The goal of the paper is development of a
contactless valve electric drive with a minimum hardware
excess for an autonomous floating device.
Main material. It is generally known that the
BLDCM is a synchronous AC motor whose stator
windings are powered by a frequency converter that
switches the phase currents as a function of the angular
position of the rotor with an envelope frequency equal to
the number of poles of the rotor multiplied by the angular
rotational speed of the rotor. For operation of the AED
based on the BLDCM in a wide range of speed control a
high-quality (1000 or more pulses per revolution) rotor
position sensors (RPS, encoders) are needed and therefore
expensive ones are used [11, 12].
Simpler AED with BLDCM use scalar control
methods and, often, experimental BLDCM samples are
produced on the basis of serial induction motors,
replacing the short-circuited rotor with a rotor with
permanent high-coercivity magnets, using the simplest
rotor position sensors – based on Hall effects,
photoelectric or induction effects [13].
Traditionally, the development and research of the
majority of modern AED are carried out with the help of
coordinate transformations (KT). It is known that KT of
variables are valid if the basic assumptions for the
generalized electric machine are fulfilled: the sinusoidal
distribution of the MMF of the stator winding with
sinusoidal feeding of the symmetrically distributed stator
and rotor windings. Therefore, to apply KT for
investigations of AED with BLDCM and scalar control,
there are no formal conditions: relatively simple BLDCMs
are created with lumped windings and, since the stator
windings are powered from a rectangular-shaped voltage
source, their MMF is close to rectangular.
In order to increase the competitiveness of the built-
in electromechanical control systems of the AFV created
on the domestic element base, the authors carried out
investigations [14-16], which, as a result, allowed to
abandon the vector control method of the BLDCM
[17, 18]. Naturally, the use of RPS with a low number of
pulses per revolution [13] leads to a significant reduction
in the range of speed control and an increase in the
pulsations of the electromagnetic torque. Taking into
account the inertial nature of the load of the propulsion
complex [19, 20] of the AFV and its «fan» nature, and
also the not very high requirements for the range and
accuracy of maintaining the speed, according to modern
hardware capabilities, it can be assumed that there are
reserves for simplifying the circuit design basis for
constructing the AED with BLDCM for AFV.
Since in BLDCM, applied in experimental AFV
samples, the windings are symmetrically located on the
stator, then under the rectangular form of the supply
voltage, it is possible to determine the main voltage
harmonics and MMF. Since the assumptions adopted in
the model of a generalized electric machine are satisfied
for the first harmonics, then subsequently further
coordinate transformations are also valid, and the main
properties and characteristics of the BLDCM with scalar
control can be identified on the basis of two-phase
models.
The indicated approach is often used, for example,
in the analysis of the operation of induction electric
motors (IM) powered by frequency converters (FC). Note
that if the symmetry conditions for an electrical machine
are made constructively and its power is supplied from a
non-sinusoidal source, then the application of coordinate
transformations of variables will be adequate to real
physical processes only for quasi-steady dynamic modes.
In such modes, the speed and the electromagnetic torque
oscillate about the mean values, while the amplitude,
frequency, and shape of the oscillations of the variables
will be different for the two- and three-phase descriptions
of the AED.
Thus, the construction of models of AED with
BLDCM and the subsequent technical realization of such
AED under different control methods are possible using
coordinate transformations of differential equations
describing the electric motor under the assumed
assumptions. It is clear that the technical implementation
of the AED should be justified by comparing the
operation modes of the BLDCM with various control
methods to the characteristic reactive static load, which
for the AFVPA is a fan type.
In the rotating coordinate system d-q, the coordinate
transformations for the equivalent voltages of the
symmetrical winding of the BLDCM stator are related to
the phase voltages by the two systems of equations – (1)
and (2). When changing from a three-phase to a two-
phase coordinate system 3/2, the following is valid:
28 ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4
,)τ()τ()τ(
3
1
)τ(
];
3
2
τcos)τ(
3
2
τcos
)τ(τcos)τ([
3
2
)τ(
];
3
2
τsin)τ(
3
2
τsin
)(τsin)([
3
2
)τ(
0 cba
cсc
bcaq
cсc
bcad
UUUu
U
UUu
U
τUτUu
(1)
and when changing from a two-phase to a three-phase
coordinate system 2/3:
),(
3
2
cos)(
3
2
sin)()(
);(
3
2
cos)(
3
2
sin)()(
);(cos
)(sin)()(
0
0
0
τuττu
ττuτU
τuττu
ττuτU
τuτ
τuττuτU
cq
cdc
cq
cdb
c
qcda
(2)
where Ua(), Ub() and Uc() are the phase voltages of the
three-phase system; ud() and uq() are the projections of
the phase voltages on the axes of the rotating with
frequency c coordinate system d-q; u0() is the vector of
the zero sequence equal to zero at zero initial conditions
and the stator winding symmetry; = c is the angular
position of the vector in the coordinate system d-q. We
emphasize that for other variables of the BLDCM
(currents, MMF), the coordinate transformations 3/2
and 2/3 are valid.
In the case of vector single-zone control of the
BLDCM, in the most general case, the projections of the
phase voltages ud() and uq() are formed by the signals of
the high-order RPS in the function of given from the
external source along the corresponding coordinate axes
voltages. This formation is carried out, for example, by
means of a sinusoidal-cosine rotating transformer (SCRT)
having a small proper delay time п, with the geometric
angle of the RPS setting is oriented along the d axis.
Then:
.sin)(cos)()(
;sin)(cos)()(
пcdпcqq
пcqпcdd
ττuττuτu
ττuττuτu
(3)
We write the equations of the BLDCM in the
coordinate system d-q, tied to the rotational angular
frequency of the rotor.
Equations of electrical equilibrium in the operator
form:
),()()(
)()()()(
);(
)()()()(
sψssiL
ssisLsiRsu
siL
ssisLsiRsu
ecdd
cqqqsq
qq
cdddsd
(4)
where Rs is the stator phase resistance; id(s), iq(s) и Ld, Lq
are the currents and inductances by coordinate axes d-q,
respectively; e(s) = e = const is the flux linkage
determined by the coercive force of the rotor magnets.
We preliminary analyze the properties of a vector
single-band AED with a BLDCM for a single-mass
constant reactive load and a RPS functioning on the basis
of a sinusoidal-cosine rotating transformer (SCRT), i.e.
«ideal» position sensor. In this case, Ld = Lq, the equations
of motion of the AED and the electromagnetic torque will
be as follows:
)()()( ssJsMsM c ; (5)
ed
п si
pm
sM
)(
2
)( , (6)
where pп and m are the number of pole pairs and number
of phases of BLDCM; (s) = c(s)pп is the angular
frequency of the rotation of the BLDCM rotor; J is the
moment of inertia of the BLDCM rotor.
A simplified functional scheme of AED with
BLDCM functioning on the basis of PWM and using
high-rate RPS when powered from an industrial network
is shown in Fig. 1. Note that it is on the basis of such a
scheme that most foreign-made AEDs are created.
In Fig. 1 setting signals are indicated by «*», the
current stabilization circuit in coordinate d and the control
circuit for the clamp circuit (VT, RТ) are not shown, the
angular position of the rotor is defined as (s)=s(s).
SC
~5
0
H
z
KT
PWM
RPS
Angle-
code
Fig. 1. Simplified functional scheme of a single-zone vector AED for AFV based on BLDCM and high-rate RPS
ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4 29
The authors offer a simpler technical solution,
which, although it limits the functional and technological
capabilities of the electric drive, but allows the
implementation of its technical characteristics in
accordance with Table 1. Simplification is associated with
the exclusion of high-rate RPS and the installation of a
simpler RPS [13], as well as the exclusion of PWM and
the KT unit from the control system.
Let's consider an example of construction of a
contactless valve electric drive with a minimum hardware
Excess for an autonomous floating device with total
weight of 20 kg. For further analysis, let us consider the
operation of the system constructed on the basis of the
scheme shown in Fig. 1 using the experimental sample of
BLDCM with high-coercivity samarium-cobalt magnets
produced by LLC «Electrical Engineering – New
Technologies» (Odessa). The main technical parameters
of the BLDCM are given in Table 2.
Table 2
Main parameters of the BLDCM
Number of poles 8
Number of phases 3
Rated feed voltage, V 24
Rated rotated speed, rad/s 418.9
Rated torque, Nm 0.041
Maximal torque, Nm 0.17
Rated power, W 17
Phase resistance at 60 С, 1.2
Maximal permitted current, A 6.4
Phase inductance, mH 1.0
Rotor moment of inertia, kgm2 110-4
In Fig. 2,a a diagram of the power part of the
inverter is presented, and in Fig. 2,b – a functional PWM
circuit with distributor of control pulses of inverter keys is
shown. The operation of the speed controller SC and
current controllers CC corresponds to known schemes.
The coordinate converter KC is described by system (1),
BLDCM and RPS – by equations (2)-(6).
The results of simulation of the starting process with
Мr=0.04 Nm and the subsequent load shedding at time
= 0.35 s to the value Мr=0.015 Nn for the AED
corresponding to the scheme shown in Fig. 1 at generator
frequency G of PWM 8 kHz and п=0.2510-3 s are shown
in Fig. 3. The system was simulated in the
Matlab / Simulink environment.
With the help of coordinate transformations, it is
possible to simulate AED with BLDCM in natural axes
(for a three-phase model) and, if necessary, take into
account the features introduced by higher harmonics of
MMF and voltages. In the course of the investigations, it
was found that when the PWM frequency is increased by
more than 20 kHz, the time п reduced by an order of
magnitude and reducing the hysteresis loop of the
DA1-DA3 elements, a high speed control range (if
necessary, 500 and more) can be obtained with practically
zero torque pulsations. The application of a rather complex
software and hardware base of AED with BLDCM
according to the scheme shown in Fig. 1 (high-rate RPS
and microprocessor with programmable PWM, two
galvanically separated current sensors, three current
controllers) dramatically increases the cost of such AED
with excess for AFV range of speed regulation of the motor
shaft of the propulsion complex [19, 20] of AFV.
a
b
Fig. 2. The circuit of the transistor inverter (a) and PWM
(generator G, comparators DA) with a distributor
of pulses on the elements «2AND-NO» (b)
A simpler technical solution of AED with a BLDCM
is proposed, which excludes the use of intermediate
computation of coordinates and an expensive encoder
(Fig. 4).
This AED uses as RPS three geometrically offset
Hall sensors [13] and a specialized inexpensive control
microcontroller MC33035. The main function of the
microcontroller is to generate the pulse distribution (PD)
signals to the VT1, ... , VT6 keys of the inverter by the
RPS commands. Another feature of the proposed solution
is the feature of realizing negative current feedback. This
feedback is realized with the help of only one current
sensor installed in the power supply circuit, which made it
possible to apply the current controller common for the
three phases, although slightly reducing the accuracy of
its stabilization. The speed feedback signal is formed
from the impulse signals of an extremely simple RPS (6
pulses per revolution of the shaft, [13]) using an active
analog filter AF with dominant time constant of 0.015 s,
which significantly affects the dynamics of the AED.
30 ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4
, degrees
, rad/s
s
M, Nm
Fig. 3. Start of AED with BLDCM (according the scheme presented in Fig. 1) at rated Мr with a subsequent
load shedding to 0.015 Nm
PD
~5
0
H
z
RPS
Angle-
pulse
CC SC
AF
Fig. 4. Simplified functional diagram of single-zone AED for
AFV based on BLDCM with Hall RPS
Let us compare the solutions represented by the
schemes in Fig. 1 and Fig. 4.
1. Preliminary analysis of design solutions, based on
a comparison of the hardware of the AED, constructed
according to the schemes depicted in Fig. 1 and Fig. 4,
points to certain advantages of AED with BLDCM,
constructed according to the scheme shown in Fig. 4:
a) the expected reduction in the cost of the structure
in small-scale production by 18 ... 25 %;
b) decrease in the weight and dimensions of the
control board by 5 ... 7 %;
c) improving the reliability of the structure by using
a smaller number of components, by 7 ... 14 %.
It is obvious that with such a technical solution, the
torque pulsations on the motor shaft will increase, but the
cost of the technical realization of the electric drive will
be significantly less.
2. Graphs of the formation at the output of the PD of
logical signals for controlling the keys of the inverter
VT1, ..., VT6 (according to Fig. 2,a) in the function of the
RPS signals VH1, VH2 and VH3 in the mode of 50 % duty
cycle at the steady rotor speed are shown in Fig. 5. The
graphs of the change in the electric and mechanical
angular position of the BLDCM eight-pole rotor are also
shown here.
Fig. 6 presents the results of simulating the start-up
processes of AED with BLDCM, according to the scheme
shown in Fig. 4: start in the «linear» mode at speed of
20 rad/s (graphs 1) and start in the current limiting mode
(graphs 2). It is determined that the maximum value of the
speed control range in this case can reach D 30, which
is quite enough for performing any technological tasks of
the AFV. In Fig. 7 the graphs of the currents change in the
phases of the BLDCM at start-up for speed of 100 rad/s
are additionally presented confirming the efficiency of the
current control circuit with one common current sensor.
ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4 31
, degrees
geom el
Fig. 5. Formation of key control pulses of the inverter VT1, …, VT6 at the output of the PD as a function of the RPS signals
(VH1, VH2, VH3) and change in the angular position of the BLDCM eight-pole rotor
, rad/s
M,
Nm
, s
Fig. 6. Start of AED with BLDCM at Мr=0.04 Nm (according the circuit presented in Fig. 5): 1 – for small rotation speed
(till current limiting); 2 – for high rotation speed (at current limiting)
32 ISSN 2074-272X. Електротехніка і Електромеханіка. 2017. №4
, s
Fig. 7. BLDCM phase currents at start in the current limiting mode
The graphs shown in Fig. 6 and Fig. 7 were obtained
by installing the RPS with an «advance» angle aa of
45 electrical degrees, which was determined after a
number of model investigations of the proposed AED
with minimal hardware excess. The rate of increase in
speed was limited by the active filter (AF) of the second
order and the torque pulsations allowed for the BDPT.
Thus, if we compare the start-up graphs (Fig. 3 and
Fig. 7) to the frequency of 100 rad/s of two AEDs
functioning on the basis of the solutions shown in Fig. 1
and Fig. 4, then one can be convinced only of the
insignificant differences in the processes of speed
variation.
Conclusions.
1. Based on the analysis of the specified technical
characteristics of the electric drive of an autonomous
floating vehicle with a brushless DC motor («fan» load
character, speed control range 1-10 with allowable
overshoot of 20 %), the possibility of implementing an
electric drive with minimum hardware excess due to
justified rejection of PWM modulation and vector control
with a high-resolution encoder is shown.
2. Model investigations of the proposed circuit of the
electric drive in the Matlab / Simulink software
environment have been carried out, which confirmed the
operability of the proposed technical solutions and the
possibility of realizing the required static and dynamic
characteristics of the electric drive with maximum speed
control range of 1-30 at acceptable level of its pulsations
up to 10 % under inertia conditions of the load
comparable with the moment of inertia of the applied
motor.
3. The expected reduction in the cost of the structure of
the electric drive with BLDCM performed according to
the proposed circuit with minimal hardware excess, in the
small-scale production will be 18 ... 25 %, while reducing
the weight and size of the control card will be 5 ... 7 %.
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Received 01.06.2017
Ya.B. Volyanskaya1, Candidate of Technical Science, Associate
Professor,
S.M. Volyanskiy1, Candidate of Technical Science, Associate
Professor,
O.A. Onischenko2, Doctor of Technical Science, Professor,
1 Admiral Makarov National University of Shipbuilding,
9, Heroiv Ukrainy Ave., Mykolayiv, 54000, Ukraine,
phone +380 67 7981870, e-mail: yanavolyanskaya@gmail.com
2 Оdessa National Maritime Academy,
8, Didrikhson Str., Odessa, 65029,
phone +380 48 7775774, e-mail: oleganaton@gmail.com
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