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AHMAD AFIF FAHMI 2209100130
Dosen Pembimbing: Prof. Ir. Mochamad Ashari, M.Eng., Ph.D Heri Suryoatmojo, ST., MT., Ph.D.
SISTEM PENGEREMAN ELEKTRIS BRUSHLESS DC MOTOR MENGGUNAKAN BIDIRECTIONAL INVERTER UNTUK APLIKASI KENDARAAN LISTRIK
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Mobil Listrik
Inverter
Pengereman Elektris Motor BLDC
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Latar Belakang
• Energi banyak terbuang saat menggunakan pengereman mekanis
• Memanfaatkan energi regeneratif saat dilakukan pengereman elektris
• Mengubah urutan switching VSI berdasarkan sinyal sensor hall motor BLDC
• Daya tahan baterai meningkat
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Batasan Masalah
• Pengaturan kecepatan motor BLDC dilakukan dengan referensi 200 rpm sampai 1200 rpm.
• Pengaruh penggunaan kapasitas Ampere Hour baterai dianalisis dari state of charge (SOC) baterai.
• Mode regeneratif motor yang dibahas hanya pengereman elektris saja.
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Tujuan
Untuk mengetahui karakteristik kinerja bidirectional voltage source inverter serta pengaruh penggunaanya terhadap kapasitas Ampere Hour (Ah) baterai.
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Ilustrasi Kerja Sistem
A
B
Kece
pata
n
Waktu
C
1200 rpm
0 rpm
A = Kondisi Akselerasi
Mode Akselerasi Mode Regeneratif
B = Pengereman Elektris C = Motor Berhenti
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Konfigurasi Sistem
INVERTER3 FASA
BLDCMOTOR
BEBAN
PWM
Mode Selection
Current Controller
Driver Controller
Decoder
- +
HaHbHc
Brake Command
Brake Reference
Acceleration Reference
C
BateraiLithium
Kecepatan Aktual
Drive Cycle
Sistem Controlled PWM
Inverter + Decoder
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Rangkaian Ekuivalen Inverter Beserta Motor BLDC
Vbatt
ea
ea
ea
Ra
Rb
Rc
La
Lb
Lc
S1
S2
S3
S4
S5
S6
D1 D3 D5
D2 D4 D6
a
b
c
C
Switch Atas
Switch Bawah
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Perancangan Decoder
INVERTER3 FASA
PWM
Mode Selection
Current Controller
DecoderHaHbHc
Brake Command
Brake Reference
Acceleration
C
Braking Command
Input Decoder : • Sinyal sensor hall • Braking Command (SB) • Sinyal PWM Decoder berupa rangkaian logika yang disusun berdasarkan kombinasi-kombinasi komutasi
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Urutan Switching Inverter Mode Akselerasi
Armature current
Back EMF
Phase a
Phase b
Phase c
Ha
Hb
Hc
S1
S3
S5
S2
S4
S6
I II III IV V VI
Switching signals
Commutation signals
0° 30° 90° 150° 210° 270° 330° 30°
State Kombinasi H(a,b,c)
S1 & S2 S3 & S4 S5 & S6
I 101 S1 S4 -
II 100 S1 - S6
III 110 - S3 S6
IV 010 S2 S3 -
V 011 S2 - S5
VI 001 - S4 S5
Braking Command (SB) = 0
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Fase Komutasi I (101)
Aliran Arus (Mode Akselerasi)
a b
ibatt iin
Vbatt C
S1
S2
S3
S4ioff
ion D3
D4D2
D1
iabeab
S1
t
ON ON ONOFF OFF
(a)
S S4ioff 4
iabeab
S1
S4
Iin
Iab
t
t
t
t
ON
ON
ON ONOFF OFF
(a)
(b)
Saat switch S1 dan S4 ON (konduksi)
Saat switch S1 OFF sedangkan S4 ON (freewheeling)
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Urutan Switching Inverter Mode Regeneratif
Phase a
Phase b
Phase c
Ha
Hb
Hc
S1
S3
S5
S2
S4
S6
Armature current
Back EMF
Switching signals
Commutation signals
I II III IV V VI
0° 30° 90° 150° 210° 270° 330° 30°
State Kombinasi H(a,b,c)
S1 & S2 S3 & S4 S5 & S6
I 101 S2 S3 -
II 100 S2 - S5
III 110 - S4 S5
IV 010 S1 S4 -
V 011 S1 - S6
VI 001 - S3 S6
Braking Command (SB) = 1
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Fase Komutasi I (101)
Aliran Arus (Mode Regeneratif)
a b
ibatt iin
VbattC
S1
S2
S3
S4ion
ioff D3
D4D2
D1
iabeab
S3
t
ON ON ONOFF OFF
(a)
S S4ion4
iabeab
S3
S2
Iin
Iab
t
t
t
t
ON
ON
ON ONOFF OFF
ON ONOFF OFF
(a)
(b)
Saat switch S2 dan S3 ON
Saat switch S2 dan S3 OFF
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Sistem Controlled PWM
Saat SB = 0, Sinyal referensi akselerasi lebih diutamakan MUX
Saat SB = 1, Sinyal referensi pengereman lebih diutamakan MUX
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Pengaturan Kecepatan
• Sistem ini menggunakan dua macam referensi sebagai umpan balik yaitu kecepatan aktual motor dan arus output baterai.
• Output mux (mode selector) akan menjadi referensi komparator untuk menghasilkan sinyal PWM yang diinginkan.
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Simulasi Sistem
Simulasi sistem dengan kecepatan bervariasi
Simulasi sistem dengan torsi bervariasi
Simulasi sistem dengan torsi pengereman bervariasi
Simulasi kemampuan regeneratif sistem
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Simulasi Sistem dengan Kecepatan Bervariasi
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Simulasi Sistem dengan Kecepatan Bervariasi
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Parameter Simulasi Kecepatan Referensi (rpm)
1200 1000 800 400 200
Kecepatan steady state (rpm) 1201 1000 799 398 199
Kesalahan (%) 0.083 0 0.125 0.5 0.5
Waktu steady state (detik) 1,3 1,5 3 4 4,7
Osilasi respon (rmp) ± 0,4 ± 0,2 ± 0,3 ± 0,1 ± 0,2
Arus Baterai (A) 60 50,6 44 23 14
Analisis Respon Kecepatan Motor BLDC
Simulasi Sistem dengan Kecepatan Bervariasi (2)
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Simulasi Sistem dengan Torsi Bervariasi
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Simulasi Sistem dengan Torsi Bervariasi
Sempat Terjadi Penurunan Kecepatan
3,6 detik
AB
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Simulasi Sistem dengan Torsi Pengereman Bervariasi
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Simulasi Sistem dengan Torsi Pengereman Bervariasi
Mode Akselerasi Mode Regeneratif
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Arus Phasa “a”
I II III IV V VI
Am
pere
Saat Mode Akselerasi
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Arus Phasa “a”
Saat Mode Regeneratif
I II III IV V VI
Ampe
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Parameter Simulasi Sinyal Referensi Pengereman (volt)
0,1 0,2 0,3 0,4 0,5
Durasi pengereman (detik) 1,4 1,1 0,89 0,64 0,51
Torsi rata-rata sampai tepat berhenti (Nm)
3,3 14 36 75 157
Torsi rata-rata setelah berhenti (Nm)
1 2,8 8,5 16 22
Respon Kecepatan Motor dengan Variasi Torsi Pengereman
Simulasi Sistem dengan Torsi Pengereman Bervariasi (2)
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Efek bila referensi pengereman terlalu besar
Simulasi Sistem dengan Torsi Pengereman Bervariasi (3)
Motor berputar balik
Saat referensi pengereman 0,6 volt, torsi yang terbangkit mencapai - 74 Nm Saat referensi pengereman 0,7 volt, torsi yang terbangkit mencapai - 105 Nm
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Simulasi Kemampuan Regeneratif Sistem
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Simulasi Kemampuan Regeneratif Sistem
PWM bernilai 1 (∆ton) terjadi pengereman plugging dengan memberikan arus ke motor (bernilai positif)
PWM bernilai 0 (∆toff) terjadi pengereman regeneratif sehingga arus mengalir menuju baterai (bernilai negatif)
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Simulasi Kemampuan Regeneratif Sistem (2)
Aliran daya negatif saat referensi pengereman 0,3 volt
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Mode Akselerasi Mode Regeneratif back
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Kenaikkan SOC
Simulasi Kemampuan Regeneratif Sistem (3)
Mode Akselerasi Mode Regeneratif
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Minus 0,087 Ah Plus 0,00304 Ah
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Simulasi Kemampuan Regeneratif Sistem (4)
Hasil Simulasi Kemampuan Regeneratif Sistem
Parameter Simulasi
Sinyal Referensi Pengereman (volt DC) 0,1 0,2 0,3 0,4 0,5
Kenaikkan SOC (%) 4,12e-4 14,3e-4 20,25e-4 18,4e-4 7,08e-4
Kenaikkan SOC (Ah) 6,2e-4 2,14e-3 3,04e-3 2,77e-3 1,06e-3
Pulsa regeneratif terbesar (Ampere)
56 170 292 416 528
Semakin besar referensi maka pulsa arus regeneratif semakin besar namun periode (∆toff) justru semakin pendek sehingga kenaikkan SOC justru semakin kecil saat referensi semakin diperbesar.
Terbesar
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Simulasi Kemampuan Regeneratif Sistem (5)
• Semakin besar sinyal referensi maka torsi pengereman dan arus regeneratif yang dihasilkan juga semakin besar
• Untuk melindungi sistem dari torsi pengereman yang terlalu besar dan arus regeneratif yang melebihi rating arus charging baterai maka sinyal referensi perlu dibatasi lebih kecil atau sama dengan 0,3 volt.
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Kesimpulan
1. Metode regenerasi berbasis back EMF motor BLDC ini memberikan peningkatan performa pengereman motor yang lebih baik dibandingkan penggunaan pengereman mekanik.
2. Pengaturan arus regeneratif dan torsi pengereman sistem dilakukan dengan mengubah nilai sinyal referensi pengereman ( 0 < ref ≤ 0,3 volt ).
3. Penambahan Ah baterai tidak linier terhadap kenaikkan nilai referensi pengereman dimana nilai penambahan terbesar mencapai 0,00304 Ah.
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TERIMA KASIH
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TUGAS SEMINAR
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Tugas Seminar
Tunjukkan berapa daya yang dibutuhkan untuk pengereman plugging dan daya yang dikembalikan saat pengereman regeneratif ? Jawab :
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Porsi Daya Saat Sinyal Referensi Pengereman 0,3 Volt
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PReg = 2331 watt
- PPlug = 361 watt
= 1970 watt
* Daya rata-rata
1970 Ws
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PReg 645 % lebih besar dari PPlug
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Arus Saat Referensi 0,3 Volt
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PReg = 1475 watt
- PPlug = 103 watt
= 1345 watt
* Daya rata-rata
1345 Ws
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Porsi Daya Saat Sinyal Referensi Pengereman 0,2 Volt
PReg 1432 % lebih besar dari PPlug
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Arus Saat Referensi 0,2 Volt