A Novel Method for Sensorless Speed Detection of Brushed DC Motors
Abstract
:1. Introduction
- The observers based on the dynamic model estimate the speed using a model of the brushed dc motor. A linear model is usually used [3,4], but this type of model has the problem that the parameters used, such as resistance, inductance, and back electromotive force (back-EMF), change under different operating conditions [5,6]. In this situation, the parameters are adjusted for one specific work condition and they are not modified. Consequently, the observers work correctly when operating conditions are similar to the specified conditions, but they do not work as well when the operating conditions differ from the specified conditions. A first solution for this is to dynamically estimate the parameters of the model [7,8,9], but this generates a complex model that is usually nonlinear. A second solution is to use a nonlinear model of the brushed dc motor [10,11,12], or a technique that indirectly models the motor, such as Neural Networks [13,14] and the Kalman filter [15,16]. The problem with these solutions is that they have a high computational cost, and the estimation of the parameters used is not an easy task. A third solution is to use a method with a simple model that is only valid in a specific condition. For example, the method can model the motor only when the supply turns off [17]. The problem with this method is that the speed can only be measured if the condition is met.
- The observers based on the ripple component use a part of the ac current signal, which is called the ripple component [2,18]. This component is the result of two effects. The first effect is produced because the electromotive force induced in each coil has a sinusoidal shape, and it is not perfectly rectified by the brush-commutator system [19]. The second effect is produced because the brushes in the commutator sometimes short two adjacent commutator segments, joining the terminals of the coils connected to these commutator segments, resulting in peaks in the current [20]. Both effects produce undulations in the current. The number of undulations per second, or ripple frequency, is related to motor speed [21]. Many methods in the literature use the ripple component [2,18,22,23,24,25].
2. Spectral Components of Brushed DC Motor Current
2.1. Ripple Component
2.2. Other Spectral Components
3. Proposed Method
3.1. Buffer Block
3.2. Estimator Block
3.3. Tracking Frequency Block
3.4. Supervisor Block
3.5. Converter
4. Experimental Validation
4.1. Description of the System
4.2. Data Collection
4.3. Comparison of the Predictions with the Measurements
5. Conclusions
- (1)
- It is a novel method that cannot be classified in any of the previous existing sensorless groups; it cannot be classified in either the group of methods based on the dynamic model or the group of methods based on the ripple component. It belongs to a new sensorless group that studies the spectral components of the current and has the advantages of both existing groups.
- (2)
- It requires only the measurement of the current of the brushed dc motor for speed estimation. In contrast, other methods for brushed dc motors with a large number of coils require the measurements of both current and voltage.
- (3)
- It can be used for brushed dc motors with a large number of coils, such as integral horsepower brushed dc motors. In contrast, other methods based on the ripple component that only measure the current can only be used in brushed dc motors with a low number of coils where the ripple component is big enough.
- (4)
- It achieves a low error in speed estimation in the performed tests. Its average error is less than 1 rpm and the standard deviation error is less than 1.5 rpm for speeds between 2000 and 3000 rpm for an H-REM-120-CM motor configured as a brushed dc motor with shunt configuration.
Author Contributions
Conflicts of Interest
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Speed (rpm) | Average Error | Deviation Error | ||
---|---|---|---|---|
Absolute (rpm) | Relative (%) | Absolute (rpm) | Relative (%) | |
2004 | 0.141 | 0.007 | 0.319 | 0.016 |
2103 | 0.146 | 0.007 | 0.425 | 0.020 |
2204 | 0.159 | 0.007 | 0.402 | 0.018 |
2297 | 0.089 | 0.004 | 0.286 | 0.012 |
2400 | 0.008 | 0.001 | 0.188 | 0.008 |
2500 | 0.173 | 0.007 | 0.214 | 0.009 |
2603 | 0.241 | 0.009 | 0.371 | 0.014 |
2705 | 0.183 | 0.007 | 0.380 | 0.014 |
2803 | 0.111 | 0.004 | 0.224 | 0.008 |
2913 | 0.254 | 0.009 | 0.114 | 0.004 |
2998 | 0.336 | 0.011 | 0.112 | 0.004 |
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Vazquez-Sanchez, E.; Sottile, J.; Gomez-Gil, J. A Novel Method for Sensorless Speed Detection of Brushed DC Motors. Appl. Sci. 2017, 7, 14. https://doi.org/10.3390/app7010014
Vazquez-Sanchez E, Sottile J, Gomez-Gil J. A Novel Method for Sensorless Speed Detection of Brushed DC Motors. Applied Sciences. 2017; 7(1):14. https://doi.org/10.3390/app7010014
Chicago/Turabian StyleVazquez-Sanchez, Ernesto, Joseph Sottile, and Jaime Gomez-Gil. 2017. "A Novel Method for Sensorless Speed Detection of Brushed DC Motors" Applied Sciences 7, no. 1: 14. https://doi.org/10.3390/app7010014
APA StyleVazquez-Sanchez, E., Sottile, J., & Gomez-Gil, J. (2017). A Novel Method for Sensorless Speed Detection of Brushed DC Motors. Applied Sciences, 7(1), 14. https://doi.org/10.3390/app7010014