DESIGN AND SIMULATION OF HYBRID ELECTRIC TRICYCLE EMPLOYING BLDC DRIVE USING POWER BOOST CONVERTER

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1 International Journal of Mechanical Engineering and Technology (IJMET) Volume 9, Issue 11, November 2018, pp , Article ID: IJMET_09_11_047 Available online at ISSN Print: and ISSN Online: IAEME Publication Scopus Indexed DESIGN AND SIMULATION OF HYBRID ELECTRIC TRICYCLE EMPLOYING BLDC DRIVE USING POWER BOOST CONVERTER S. Swapna Department of EEE, Research Scholar,Vel Tech Rangarajan Dr. Sangunthala R&D Institute of Science & Technology, Chennai, Tamil Nadu, India K. Siddappa Naidu Department of ECE, Professor, Vel Tech Rangarajan Dr. Sangunthala R&D Institute of Science & Technology, Chennai, Tamil Nadu, India ABSTRACT A hybrid electric Tricycle (HET) is a type of electric vehicle that uses BLDC motor and a conventional internal combustion engine and manual pedal for physically challenged people. This type of Tricycle is considered to have good performance and fuel economy compared to a conventional method. This paper concentrates on the design and simulation of a hybrid electric Tricycle using a DC-DC power boost converter. Three types of input sources are used: lithium-ion Battery, Two stroke petrol engine and pedal. A DC-DC power boost converter is designed in closed loop speed control of BLDC Motor which arbitrates power to the battery. The main components of the proposed hybrid electric Tricycle (HET) is: battery, two stroke petrol engine, pedal, DC-DC Boot converter, PID controller and BLDC motor. The working model of electric Tricycle is built and the performance of the battery and the power boost converter are analyzed and the results are verified in MATLAB/ simulink. Key words: Electric Tricycle, PID controller, Power Boost Converter, BLDCM, Battery. Cite this Article: S. Swapna, K. Siddappa Naidu, Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter, International Journal of Mechanical Engineering and Technology 9(11), 2018, pp INTRODUCTION A hybrid electric Tricycle (HET) is a type of hybrid vehicle that combines a conventional internal combustion engine (ICE) system such as two stroke petrol engine with an electric BLDC Motor. The presence of the electric power vehicle is intended to achieve either better fuel economy than a conventional vehicle for provide the better performance in real time application editor@iaeme.com

2 Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter Modern hybrid electric tricycle make use of efficiency as well as improving technologies such as regenerative braking system which convert the electric vehicle's kinetic energy to electric energy, which is stored in a battery of the system. Some different types of hybrid electric vehicles use their IC engine to generate electricity by rotating an electrical generator to either recharge their batteries or to directly give power to the BLDC motors. Many hybrid electric vehicles reduce idle emissions by closing down the IC engine at idle and restarting it when needed and this is called as a start-stop system. A hybrid-electric vehicle produces less emission from its IC engine vehicles. Tricycle is a mode of transportation for handicapped peoples which is safe and cheaper and it reduces the air pollution in environment. Therefore, the use of electric tricycles has increased. Conventionally, direct current motors are used but it suffers from commutation problem and it need frequent maintenance. The deployment of Brushless DC motor (BLDCM) overcomes the above problem. The Brushless DC motor is electrically commutated by power switches instead of brushes and is highly reliable since it does not have any brushes to wear out and replace in the motor. The proposed method employs the three input sources such as Pedal, Two stroke internal combustion engine and BLDC motor as shown in fig 1. In this paper we discuss only, the hybrid electric Tricycle (HET) can be run by BLDC motor with the help of PID controller circuit. The proposed method takes the Battery as the input voltage to DC-DC power boost converter. With the help of using Boost converter we can increase the amplitude of battery input voltage for getting high efficiency with low ripple content of the circuit. The speed control of the BLDC motor shall be controlled by PID controller for getting the high reliability. The load of Tricycle can be driven by BLDC motor. Figure 1 Block Diagram of Hybrid electric Tricycle From Fig1, when the motor starts rotating, then the wheel of the Tri cycle also starts to rotate. Hence the Tri cycle moves forwards with a constant speed of the BLDC motor. The speed can be varied by the means of throttle. When the rider stops accelerating the throttle, the BLDC motor stops and hence the Tri cycle also stops. 2. POWER BOOST CONVERTER OR STEP-UP CONVERTER In hybrid electric tricycle the power boost converter is used, which act as a DC to DC converter. Often, instead of direct current (DC) supply battery is used as an input source for electric tricycle. Generally boost converter is used for to increase required input voltage for driving the tricycle using brushless DC motor. For example, if input voltage is 50V, then the output of boost converter is 400V. The difficulty of using battery is heavy weight and lot of space is taken in real time application. So, if this low level of output voltage of battery shall editor@iaeme.com

3 S. Swapna, K. Siddappa Naidu be boosted back up to a required level of voltage again, by using a DC-DC power boost converter also gives the life of the battery can be extended Operation of Power Boost Converter Figure 2.1 Boost Converter Operation at Switch On Fig 2.1 shows the power boost converter operation during the initial period of the high frequency pulse signal is applied to the metal oxide semiconductor field effect transistor of gate at starting period. During this time metal oxide semiconductor field effect transistor starts conducts, forming a short circuit from the right hand side of inductor L to the negative input supply terminal source. As a result, a current I flows between the positive and negative source terminals through inductor L, which stores the energy in form of magnetic field of inductor L. so there is virtually no current I flowing in the reaming of the power boost converter circuit as the mixture of diode D, capacitor C and the load R characterize a superior impedance Z than the path directly through the totally conducting metal oxide semiconductor field effect transistor. Figure 2.2 Current Path with MOSFET Off Fig. 2.2 shows the flow of current during the low time of the switching pulse signal. As a result, the metal oxide semiconductor field effect transistor is quickly turned OFF the fast drop in current gives inductor L to produce a back electro motive force in the opposite side of polarity to the voltage across inductor L during the ON period of metal oxide semiconductor field effect transistor, to continue current flowing. As a results in two voltages of power boost converter, the supply voltage V in and the back electro motive force (V L ) across inductor L in sequence with each other. This superior voltage (V in +V L ), now there is no current flows editor@iaeme.com

4 Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter through the metal oxide semiconductor field effect transistor, forward biases D. Thus current flows through diode charges up capacitor C to V in +V L minus the little forward voltage drop across diode, and also supplies the current to the load. Figure 2.3 Current Path with MOSFET On Fig.2.3 shows the circuit diagram of power boost converter during metal oxide semiconductor field effect transistor ON time after the initial current start up. During each period of the metal oxide semiconductor field effect transistor conducts, the cathode of diode is high positive than its anode due to the charge on capacitor C. Diode is turned OFF as a result, the output of the power boost circuit is isolated from the input side, however the load R continues to be supplied with V in +V L from the charge on capacitor C. Even though the charge capacitor C drains missing through the load during this time, capacitor C is recharged each time the metal oxide semiconductor field effect transistor switches OFF, so the circuit maintaining a steady state output voltage across the load R. The simulation of boost converter and its parameters are shown in fig 2.4 and table 2.1. Figure 2.4 Simulation circuit of power boost converter Table 2.1 Simulation parameters of power Boost Converter S.NO PARAMETERS VALUES 1 Input Voltage(Vin) 50 2 Duty cycle(d) 75% 3 Switching frequency(f s ) 10kHz 4 Inductor(L) 1e-3H 5 Capacitor(C) 33e-6F 6 Resistor(R) 16Ω editor@iaeme.com

5 S. Swapna, K. Siddappa Naidu 3. PERMANENT MAGNET BRUSHLESS DC MOTOR (PMBLDCM) Brushless DC Motors are run by direct current (DC) voltage but current commutation is controlled by power electronic switches. The commutation instants of brushless direct current motor are found by the rotor position sensor. The rotor of brushless DC motor shaft position is sensed by a Hall Effect sensor, which gives signals to the respective switches of solid state device [1] and [2]. Whenever the rotor magnetic poles pass near the Hall sensors, they provide a high or low signal of BLDCM, representing either N or S pole is passing near the sensors. The numbers shown just about the peripheral of the brushless DC motor shown in fig 3.1 represent the sensor position code. Figure 3.1 BLDC Motor Star Connected. The north pole of the rotor points to the rules that are output at that rotor position of the motor. The numbers are the sensor logic levels where the most important bit is sensor C and the least important bit is sensor A. Based on the combination of these three Hall sensor signals, the exact sequence of commutation can be determined. These signals are decoded by combinational logic circuit to give the firing signals for 120 conduction on each of the three phases of BLDCM [3]. The rotor position decoder has six outputs switch which control the upper and lower phase leg metal oxide semiconductor field effect transistor (MOSFET) of fig 3.2 [2] - [4]. Figure 3.2 Equivalent Circuit of BLDCM editor@iaeme.com

6 Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter 4. PID CONTROLLER (KP, KI AND KD ) The Proportional Integral Derivative Controller (PID) provides an error correction signal that is directly proportional to the system error and proportional to the integral of the error signal. The proportional signal helps the controller respond to changes in the circuit, and the integral signal helps to reduce constant errors by integrating that signal over time. The Kp, Ki and Kd controller constants were determined by trial and error, and the tuning process simply amounted to changing the values while monitoring the magnitude of the Battery error signal as shown in fig 4.1.The proportional gain, Kp= 0.013, integral gain, Ki= 30, and derivative gain, Kd = Figure 4.1 Simulation of PID Controller 5. SIMULATION OF BLDC DRIVE FOR TRICYCLE Figure 5.1 Simulink Model of PMBLDCM for Tricycle The Permanent Magnet Brushless DC (PMBLDC) motor is the ideal choice for applications that require high starting torque, high reliability, better efficiency, and high performance. Generally talking, a BLDC motor is considered to be a high performance motor that is capable of providing large amounts of torque over a huge speed range [1]. For the proposed electric Tricycle, BLDC hub motor is chosen and the model of the PMBLDC motor editor@iaeme.com

7 S. Swapna, K. Siddappa Naidu is simulated using Matlab / Simulink, with an input of 36V as shown in fig 5.1 and the corresponding Hall sensor signals, Line Output voltages, Stator currents, Stator Back EMFs waveforms are obtained as shown in Figs The simulation results are proved that with high accuracy of speed control of BLDC motor for can be achieved for Tri cycle. Figure 5.2 Simulation result for Hall Sensor Signal performance with PID controller Figure 5.3 Simulation result for Line Voltage performance with PID controller Figure 5.4 Simulation result for Stator Current performance with PID controller editor@iaeme.com

8 Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter Figure 5.5 Simulation result for Stator Back EMFs performance with PID controller The fig 5.6 shows the simulation result for speed performance with PID controller. The simulation results are taken between reference and actual speed versus time. The simulation results show the different range of speed with respect to time period and its results are proved that whatever we are giving the reference speed that should be matched with actual speed for tricycle. Figure 5.6 Shows the simulation result for speed performance with PID controller Figure 5.7 Shows the simulation result for Torque performance with PID controller

9 S. Swapna, K. Siddappa Naidu The fig 5.7 shows the simulation result for torque performance with PID controller for Tricycle. The simulation results are taken between motor torques versus time period. The simulation results show the different range of torque with respect to time period for corresponding speed of the brushless direct current motor. The electromagnetic torque rises up to 18N-m for without load and after applying the load to the brushless direct current motor becomes constant at 13N-m. 6. BATTERY Battery-Operated Tricycles are extensively demanded by physically challenged people owing to its stylish design, easy operation with high reliability, long functional life and consistent performance. Fig 6.1 shows the simulation result for Lithium-ion input battery performance with PID controller for Tricycle. To Calculating how extended duration a battery will last at a given rate of discharge is not as simple as "amp-hours if battery capacity decreases as the rate of discharge time increases. Table 6.1 shows the various speed ranges for three set of input battery voltages (50V, 70V & 100V) respective of boost converter voltage along with motor torque with battery input parameters. Figure 6.1 (a) State of Charge (SOC) Response Characteristics (b)battery Current Response Characteristics (c) Battery Voltage Response Characteristics with PID controller. Table 6.1 Output performance of Tricycle S:N O BATTERY INPUT VOLTAG E(V) BOOST CONVER TER VOLTAG E(V) REFERA NCE SPEED(rp m) ACTUAL SPEED(r pm) TORQUE( Nm) STATE OF CHARGE(S OC) BATTER Y OUTPUT CURREN T(A) BATTERY OUTPUT VOLTAG E(V) editor@iaeme.com

10 Design and Simulation of Hybrid Electric Tricycle Employing BLDC Drive using Power Boost Converter 7. CONCLUSIONS The speed control of a three-phase BLDC motor for Tricycle is achieved through MATLAB/SIMULINK during no-load and on-load conditions using PID controller is discussed. The proposed work gives a hybrid storage system which increases the run time of Tricycle, making the system cost-effective and easy operation with high reliability. Power boost converter with its simple circuit, less switching losses, low ripple content is chosen for the hardware implementation. For an input voltage of 36V, the tricycle runs at the speed of 25km/hr. Thus by using this hybrid powered electric tricycle has pollution less environment. REFERENCES [1] C. S. Joice, Dr. S. R. Paranjothi, and Dr. V. J. S. Kumar, Practical implementation of four quadrant operation of three phase Brushless DC motor using dspic, in Proc. IConRAEeCE 2011, 2011, pp ,IEEE. [2] P. Yedamale, Microchip Technology Inc., Brushless DC (BLDC) motor fundamentals, 2003, AN885. [3] C. S. Joice, Dr. S. R. Paranjothi, and Dr. V. J. S. Kumar, Digital Control Strategy for Four Quadrant Operation of Three Phase BLDC Motor With Load Variations IEEE Transactions On Industrial Informatics, Vol. 9, NO. 2, MAY [4] S. Swapna, Dr. Joseph Henry, Dr. K. Siddappa Naidu, Speed Response Of Brushless Dc Motor Using Fuzzy Tuned PID Based Controller Under Different Load Condition International Journal of Mechanical Engineering and Technology,Volume 8, Issue 11, November [5] S. Swapna, Dr. Joseph Henry, Dr. K. Siddappa Naidu, Adaptive Nonlinear Speed Regulation for BLDC Motor Using Back Propagation Neural Network Model Jour of Adv Research in Dynamical & Control Systems, Vol. 9, No. 5, [6] Burke, A.F., Batteries and super capacitors for electric, hybrid, and fuel cell vehicles, Proc. IEEE, vol. 95, no. 4, pp , [7] Nikhil Hatwar ; Anurag Bisen ; Haren Dodke ; Akshay Junghare and Milind Khanapurkar, Design Approach for Electric Bikes Using Battery and Super Capacitor For Performance Improvement, 16th International IEEE Annual Conference on Intelligent Transportation Systems, The Hague, The Netherlands, [8] Pay, S.; Baghzouz, Y., Effectiveness of battery-super capacitor combination in electric vehicles, Power Tech Conference Proceedings, IEEE Bologna, vol.3, no., pp. 6 pp. Vol.3, 23-26, [9] Khaligh, A. and Zhihao, L., Battery, super capacitor, fuel cell, and hybrid energy storage systems for electric, hybrid electric, fuel cell, and plug-in hybrid electric vehicles: Stateof-the art, IEEE Trans. Veh. Technol, vol. 59, no. 6, pp , [10] Solero, L.; Lidozzi, A.; Pomilo, J.A. (2005) Design of multiple-input power converter for hybrid vehicles, IEEE Trans. Power Electron., vol. 20, no. 5, pp , editor@iaeme.com