Modelling and Implementation of Torque, Speed and Position Control Of BLDC and Stepper

Abstract

The aim of this thesis is to simulate two different types of motor-Stepper and BLDC Motor for speed, position and torque control. Currently SAC-ISRO is working on one of the project that is designing of motors for the upcoming payloads. This project is to be used in the gimbal mechanism of upcoming payloads that are used in various satellites. Stepper motors are more commonly used for robotic systems and in positioning applications. Stepper motor is considered as an ideal choice for positioning applications because of its durability, low cost as well as low maintenance requirement. The open loop microstepping of a stepper motor has been simulated in this project using MATLAB-SIMULINK. Apart from Simulink, Fixed point converter, Embedded C coder, HDL coder and verifier are other tools used for the modeling and simulation. Brushless motors mostly have the capability of developing good speed response drive along with high torque. A three-phase brushless DC motor model is designed using Simulink along with PI controller. Apart from designing brushless DC motor using PI controller, a new model has been designed for brushless DC motor using Boost converter along with PWM. This model is designed for comparison and analyzes to identify which model gives better performance and accuracy. The PI block of designed brushless DC motor is further converted to C and VHDL code using Embedded C coder and HDL coder and verifier tool of Simulink respectively. The Speed-Torque characteristics of BLDC motor and Speed- Position characteristics of Stepper motor are analyzed.