All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

Title of proposal
IMPROVING DYNAMIC PERFORMANCE OF CNC MACHINE USING SENSORLESS BLDC
MOTOR CONTROLLER
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Abstract

The work is purely based on improving the dynamic performance of CNC Machine
using sensorless Field oriented control of BLDC Motor. Now-a-days to meet the most
demanding requirements of CNC machine tools, robots and transfer lines in terms of
productivity, accuracy and dynamic performance, brushless DC drives are very
widely used. These drives employ brushless torque motors which are of high torque,
low speed direct drive type taking the FOC approach yields many benefits to PMSM
motor power management. FOC improves the dynamic response of PMSM motors.
Also, FOC control technique offers the greatest cost benefit in motor control. The
performance and reliability of BLDC motor drivers can be improved by improving
the conventional control and sensing techniques with sensorless technology.
The hardware units consist of dSPACE DS1104 DSP, link board,TMS 320F
EXPERIMENTER KIT, driving circuit and PMSM. This project is proposed to design
and implement with help of Matlab-Simulink and dSPACE environment. The
expected outcome of this project is to enhance the dynamic performance of
CNC machines using sensorless FOC technique.
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Objective - Project Significance / Relevance with ongoing academic activities

High Precision Workpiece processing

Small speed ripple, within 1 revolution tolerance in full range speed, no

matter in high speed or low speed.

High precision torque for different solid materials processing.

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Project Impact -Expected outcome

Advanced closed loop vector control and field weakening control make the
VFD qualified for high speed/frequency rotation, up to 15000 revolutions
per minute

Accurate speed control with wide constant power band, in the face of torque
disturbances occurring with variations in material hardness
Improved controlling the rate of movement of tool tip.

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Literature survey on National &International scenario

Paper [1] - International Conference on Electrical Energy Systems, 2011

Application Id -

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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

PSO algorithm applied to permanent magnet synchronous motor for tuning the PID
parameter.

Global optimization and self-updating property of particle swarm makes PSO

controller quick and
intelligent in selecting the proper PI parameters.

PSO controller can also reduce the electromagnetic torque ripple.

PMSM stable and robust.

Paper [2] 12th International Carpathian Control Conference, 2011

A novel modified BF-PSO algorithm termed ABF-PSO is used in tuning a FOPI

controller for PMSM drive.

Performs better compared to that of PSO, BFO and gradient descent method.

The design specifications like percent overshoot, steady state error are very much
improved in ABF-PSO tuned FOPI controller.

Focused on implementing FOPI controller to the sensor less PMSM drive.

Paper [3] International Conference on Natural Computation,2010

PDPSO method obtains optimum gain of PID controller for DC motor.

PDPSO new variant of PSO is fast because of strong selection principle.

This approach utilizes the global and local best value to search optimal setting of the
state variable by considering security constraints.

This method is reliable and the number of required generation for convergence
decreases with increase of population size.

The performance of proposed method is better than simple PSO-PID Controller.

Paper [4]- International Conference on Industrial Mechatronics and Automation, IEEE2010

The novel method optimizes the parameters of PID controller

using IGA, and obtains the optimized parameters.

The motor's response speed is faster than before, traceability is fine,

and the control effect is improved markedly.

This also illustrates IGA is a method has practical value and good
effect to optimize the PID parameters, and also suitable for control on complex
and high
precision conditions.
Paper [5]- International Conference on Industrial Mechatronics and Automation,2010

Provides a new Particle Swarm Optimizer PID Algorithm according to the analysis of
standard Particle Swarm Optimizer PID and apply it on BLDCM.

It is showed in the simulation experiment that this algorithm successfully solves the
contradiction between contracting and expansion, avoids the premature
phenomenon.

Compared with standard PSOPID this new Particle Swarm Optimizer PID
Algorithm has higher contract accuracy and more satisfying evolution speed, and
has the
advantage of realizing simply and easily.
Following Academicians / Scientists are currently working in this area
1.
Dr. H.K. Verma,
Deputy director and Professor /EEE
Indian Institute of Technology Roorkee
2.
Prof. Anguluri Rajasekhar, Ravi Kumar Jatoth
National Institute of Technology-Warangal,
Andhra Pradesh-506021, INDIA.
3.
Dr.D.Devaraj
Dean (R & D)
Kalasalingam University, Krishnakoil, Tamilnadu
4.
Dr S.Baskar
Professor, EEE Department
Thiayagaraja college of Engineering
Tamilnadu
Application Id -

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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

Madurai 15.
Reference:
1. Dr. H.K. Verma, Miss Cheshta Jain, A Performance-Dependent PSO based Optimization of
PID Controller for DC Motor, International Conference on Electrical Energy Systems,pp.199202,2011
2. AnguluriRajasekhar, Ravi Kumar Jatoth, Ajith Abraham& Vaclav Snasel, A Novel Hybrid
ABF-PSO algorithm Based Tuning of Optimal FOPI Speed Controller for PMSM Drive, 12th
International Carpathian Control Conference, pp 320-325,2011.
3. Shaozhong Cao, JiTu and Heping Liu, PSO Algorithm-Based Robust design of PID
Controller for PMSM, International Conference on Natural Computation,pp.3513-3517,2010
4. Ren Yu, Zhao Chengyao ,Optimal PID Controller Design in PMSM Based on Improved
Genetic Algorithm , International Conference on Industrial Mechatronics and
Automation,PP.123-126,IEEE2010
5. D.Devaraj, B.Selvabala, Real-coded genetic algorithm and fuzzy logic approach for realtime tuning of proportionalintegralderivative controller in automatic voltage regulator
system, IET Gener. Transm.Distrib., vol. 3, Iss. 7, pp. 641649, 2009.
6.X.J.Cai,Z.H.Cui,J.C.Zeng and Y.Tan, Performance dependant adaptive particle swarm
optimatization International Journal of innovative computing, Information and control Vol:3,
No: 6B, Pp. 1697-1706, 2007
7. Mehdi Nasri, Hosseinmezamabadi-Pour and Malihemafhfoori, A PSO optimum design of
PID controller for a linear brushless DC motor, world academy of science Engg. and
technology 26, 2007
8. W. Karoni Bacterial foraging oriented by particle swarm optimization strategy for PID
tuning. In GECCO 2008: Proceedings of the Genetic and Evolutionary computation conf,
pages 1823-1826, Atlanta, GA, USA, July 2008. ACM
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Techno-Commercial status / Outcome / IPR / Social benefit /other

Better performance in steady state and transient state response.
Reduction of ripple in torque characteristics.
Steady state error is zero.
Minimum rise time.
Maximum Peak overshoot is zero.
Smooth Speed regulation
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Technical Consultancy / Revenue generation

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Time & activity chart (Project Duration: 36 Months)

Activity

Months(add columns as required)

First Year
1-3

4-6

7-9

Second Year
1012

1315

1518

1921

Third Year
2224

2527

2830

3133

3436

Literature study and

field visit to the
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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

industries
Simulation of PID
Controller and
identification of a
better control scheme
to tune the controller
parameters
Implementation of
PSO Algorithm, to
obtain optimal value
of Kp,Ki,Kd.
Simulation and
analysis of PSO-PID
Controller for PMSM
Procurement of
hardware components
such as dSPACE
DS1104 DSP Board,
Link board, inverter
driver circuits, PMSM
drive etc
Practical
implementation of the
prototype model in
the laboratory
Practical study on
performance of
dSPACE DS1104 with
Matlabsimulink under
various operating
conditions
Obtain
the
better
dynamic response by
tuning of PID in real
time environment
Continuing
the
practical study
Comparative study of
performance
of
various
industrial
drives
Testing the result
Preparation of final
report, Outcome of
International
publications.
& Implementing the
same in industry
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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

This is sample activity chart. Modify as needed.

Add activities/rows as required

Facilities / equipment available in the area of research proposed

Name of equipment

Make and model

Cost in Rs.

Year purchased

Digital Storage
Oscilloscope

Scientech

1,00,000

2009

Design of PID controller kit

, design of Compensator &
Process control simulator

VI Microsystem
Make

35,000

2008

PIC Microcontroller
Development Board

PIC 16F877A

20,000

2011

MATlab 7.6 (Licensed )

MATLAB R2008A

3,97,912

2009

Psim software (Licensed)

PSIM 8.0.5

1,50,000

2011

BLDC Motor ( 4000 RPM,

24V,5.16A,180W)

Powersoft

40,000

2011

ETAP ( Licensed)

ETAP 7.5

2,10,000

2011

Computer ( RAM 2GB,HDD

320GB ) 30 Nos

Pentium IV ( Core II
Duo Processor)
with LCD Monitor

8,50,000

2010

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Budget Estimates Non Recurring

Proposed expenditure
Details

a) Staff for 3 Year

Specifications

Junior Research
Fellow

Total Rs.
Cost in
Lakhs
Rs.
6.36

No of
units

Justifications

--

Salary

b) Expendables

--

1.375

--

c) Travel

--

2.50

--

d) Contingencies

--

1.00

--

e) Visiting Faculty or
Research
Consultants
f) Procured services
(other than (g)) and
metered utilities
g) Add: Institutional
overheads@15% of
(a+b+c+d+e+f)

--

Application Id -

---

.625
0.75
3.5602
5

16.17025 Lakhs

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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

only
16.170
25

h) Column Totals

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Budget Estimates Recurring

Proposed equipment/s

Total Rs.

7.5 Lakhs

Estimate for Year

1

Estimate for Year

2

Estimate for Year

3

Equipment (including
spares therefore)
&Softwares

1.00

2.00

Operation and
maintenance of
equipment

0.50

1.00

1.00

Total

1.50

3.00

3.00

2.00

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Profile of collaborating/participating Industry/s or other orginisation/s, if any.

Name

Address

Website

Contact person ,
designation,
email

Role$ in
collaborating/p
articipating

Financial
commitment#
towards
project in Rs.

Total Rs. (C)

$

Mention role of Industry/orgnisation.

Provide resume of participating personnel from Industry/orgnisation with their strength and role in the research
project.
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#
Attach copy of letters received from participating industry showing intent / financial commitment etc.

By signing this certificate, I/We undertake to

Abide by all the rules / regulations regarding utilization of amount that may be granted
to the Institute.
Submit timely progress reportsabout grant utilization.
Submit utilization certificate duly authenticated by CA on/before project period is over.
Return full/partial unutilized grant amount to the Council.

Project forwarded to AICTE

Date :

Application Id -

Signature of Head of the Institution

Institute Seal

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All India Council for Technical Education

(A Statutory body under Ministry of HRD, Govt. of India)

Important :You

need to apply on web portal using your Institute login and password. Select tab RID
application. Press New to create new application. Your application is assigned unique application Id. Fill all the
details over there. Prepare application in this proforma also. Attach PDF of it to the application on web portal.
Now press submit on web portal to submit application. Pay processing fees on web portal using appropriate
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office use only :

RPS

Application Id -

NR

Equip purchase

AMC

Consumables

Salary

Fellowship

Travel, Stay &

DA

Ptg& Stationery
/ office Exp

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