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Frontiers of Electrical and Electronic Engineering

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CN 10-1028/TM

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Front Elect Electr Eng    2012, Vol. 7 Issue (4) : 467-476    https://doi.org/10.1007/s11460-012-0210-2
RESEARCH ARTICLE
Modified sliding mode observer for wide speed range operation of brushless DC motor
A. DEENADAYALAN(), Chintala DHANANJAI, G. SARAVANA ILANGO
Power Converters Research Laboratory, Department of Electrical and Electronics Engineering, National Institute of Technology Tiruchirappalli, Tamilnadu, India
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Abstract

This paper describes an adaptive gain sliding mode observer for brushless DC motor for large variations in speed. Sensorless brushless DC motor based on sliding mode observer exhibits multiple zero crossing in back electromotive force (EMF) which leads to commutation problems at low speed. In this paper, a modified sliding mode observer incorporating a speed component in the estimation of back EMF is proposed. It is found that after incorporating the speed component in the back EMF observer gain, multiple zero crossings at low speeds and phase shift at higher speeds are eliminated. The trapezoidal back EMF observer is implemented experimentally on a digital signal processor (DSP) board. The effectiveness of the proposed method is demonstrated through simulations and experiments.
Keywords brushless DC (BLDC)      back electromotive force (EMF)      sliding mode observer     
Corresponding Author(s): DEENADAYALAN A.,Email:dayalanbe@gmail.com   
Issue Date: 05 December 2012
 Cite this article:   
A. DEENADAYALAN,Chintala DHANANJAI,G. SARAVANA ILANGO. Modified sliding mode observer for wide speed range operation of brushless DC motor[J]. Front Elect Electr Eng, 2012, 7(4): 467-476.
 URL:  
https://academic.hep.com.cn/fee/EN/10.1007/s11460-012-0210-2
https://academic.hep.com.cn/fee/EN/Y2012/V7/I4/467
Fig.1  BLDC motor drive with inverter
Fig.1  BLDC motor drive with inverter
Fig.1  BLDC motor drive with inverter
Fig.1  BLDC motor drive with inverter
Fig.1  BLDC motor drive with inverter
Fig.2  Conventional sliding mode observer
Fig.2  Conventional sliding mode observer
Fig.2  Conventional sliding mode observer
Fig.2  Conventional sliding mode observer
Fig.2  Conventional sliding mode observer
Fig.3  The proposed sliding mode observer
Fig.3  The proposed sliding mode observer
Fig.3  The proposed sliding mode observer
Fig.3  The proposed sliding mode observer
Fig.3  The proposed sliding mode observer
Fig.4  Block diagram of the experimental set-up
Fig.4  Block diagram of the experimental set-up
Fig.4  Block diagram of the experimental set-up
Fig.4  Block diagram of the experimental set-up
Fig.4  Block diagram of the experimental set-up
parametersymbolvalue
resistanceRs5.25 Ω
inductanceLs21 mH
back EMF constantλf0.34 V / rpm
moment of inertiaJ0.00012 kg·m2
viscous damping coefficientB0.00006 N·m/(rad/sec)
nominal voltageVn380 V
nominal frequencyFn50 Hz
Tab.1  BLDC motor parameters
Fig.5  Sliding mode observer with low observer gain ( = 25). (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.5  Sliding mode observer with low observer gain ( = 25). (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.5  Sliding mode observer with low observer gain ( = 25). (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.5  Sliding mode observer with low observer gain ( = 25). (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.5  Sliding mode observer with low observer gain ( = 25). (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.6  Sliding mode observer with medium observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.6  Sliding mode observer with medium observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.6  Sliding mode observer with medium observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.6  Sliding mode observer with medium observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.6  Sliding mode observer with medium observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.02 s/div)
Fig.7  Sliding mode observer with high observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div ; -axis: time, 0.02 s/div)
Fig.7  Sliding mode observer with high observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div ; -axis: time, 0.02 s/div)
Fig.7  Sliding mode observer with high observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div ; -axis: time, 0.02 s/div)
Fig.7  Sliding mode observer with high observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div ; -axis: time, 0.02 s/div)
Fig.7  Sliding mode observer with high observer gain. (a) Simulation result at low speed ( = 500 rpm); (b) experimental result at low speed ( = 500 rpm); (c) simulation result at medium speed ( = 1500 rpm); (d) experimental result at medium speed ( = 1500 rpm); (e) simulation result at high speed ( = 2500 rpm); (f) experimental result at high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div ; -axis: time, 0.02 s/div)
Fig.8  Experimental results of the proposed method ( = 150). (a) Variation of speed from low speed ( = 350 rpm) to high speed ( = 2500 rpm); (b) performance of proposed method under low speed ( = 500 rpm); (c) performance of proposed method under medium speed ( = 1500 rpm); (d) performance of proposed method under high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.2 s/div)
Fig.8  Experimental results of the proposed method ( = 150). (a) Variation of speed from low speed ( = 350 rpm) to high speed ( = 2500 rpm); (b) performance of proposed method under low speed ( = 500 rpm); (c) performance of proposed method under medium speed ( = 1500 rpm); (d) performance of proposed method under high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.2 s/div)
Fig.8  Experimental results of the proposed method ( = 150). (a) Variation of speed from low speed ( = 350 rpm) to high speed ( = 2500 rpm); (b) performance of proposed method under low speed ( = 500 rpm); (c) performance of proposed method under medium speed ( = 1500 rpm); (d) performance of proposed method under high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.2 s/div)
Fig.8  Experimental results of the proposed method ( = 150). (a) Variation of speed from low speed ( = 350 rpm) to high speed ( = 2500 rpm); (b) performance of proposed method under low speed ( = 500 rpm); (c) performance of proposed method under medium speed ( = 1500 rpm); (d) performance of proposed method under high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.2 s/div)
Fig.8  Experimental results of the proposed method ( = 150). (a) Variation of speed from low speed ( = 350 rpm) to high speed ( = 2500 rpm); (b) performance of proposed method under low speed ( = 500 rpm); (c) performance of proposed method under medium speed ( = 1500 rpm); (d) performance of proposed method under high speed ( = 2500 rpm) (-axis: back EMF, 200 mV/div; zero crossing of back EMF: 5 V/div; Hall sensor output: 5 V/div; speed: 20 mV/div; -axis: time, 0.2 s/div)
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