High Load Fast Startup Sensorless Control of Wheel BLDC Motor with Line-to-Line Back EMF Extraction Using Least Pth-Norm IIR Digital Filter

摘要

In this paper, an effective scheme of on-load startup with reduced current has been proposed for BLDC motor and the steady as well as dynamic performance in all four quadrants was verified. Hysteresis band-limited back EMF noise provides the starting pulses, the frequency of which depends on the threshold factor in speed proportional threshold. Scheme is quite fast, comparatively to the state-of-the art schemes of startup and less complex than time-consuming initial position detection (IPD) algorithm. Second-order least Pth-norm infinite impulse response (IIR) digital low pass filter realized in MATLAB/Simulink has been used for extraction of line-to line back EMF from line-to-line terminal voltages measured with two voltage sensors. Proposed filter has wide flexibility of online variation of cut-off frequency, gain and phase without any circuit-based modification due to variability of filter coefficients. This enables the smooth filtering with minimized phase delay in low speed range irrespective of any duty cycle and PWM frequency. Linear compensation of phase error or phase advancement for desired current profile can easily be achieved by the varying the threshold factor. In this experiment, the threshold factor of 1/1460 has been found most suitable for smooth sensorless startup without jerk, vibration and reverse rotation, as the motor operates in advanced mode with this value. First, the performance of Hall sensor-based drive was studied using open loop variable duty cycle speed control. The controller was designed in MATLAB/Simulink platform and implemented using TMS320F28069M DSP control stick with Code composer Studio V5. Later on, a complete controller for proposed sensorless scheme was developed in MATLAB/Simulink environment and was implemented using NI-PCI6221 Controller installed in PC. The proposed sensorless drive has been found capable of operating at very low speed of 50 rpm in voltage control mode and 85 rpm in current chopping PWM mode. Approximately 85 ms less time was taken by sensorless drive to reach the same speed when compared with Hall-based control for identical loading. Also less overshoots during startup was observed. Overlap time of 0.05 ms between phase currents has been achieved during commutation period.