Simulation and control of Torpedo

Submitted in Partial Fulfilment of the Requirements for the Degree

of

BACHELOR OF TECHNOLOGY
IN

ELECTRICAL ENGINEERING

By
Vinay Sankhat(14BEE168)
Kuldeep Rathod (14BEE166)

Under the Guidance of

Prof. Sarika Kanojia

DEPARTMENT OF ELECTRICAL ENGINEERING

INSTITUTE OF TECHNOLOGY
NIRMA UNIVERSITY
Ahmedabad 382 481
November 2016
 INSTITUTE OF TECHNOLOGY
NIRMA UNIVERSITY
DEPARTMENT OF ELECTRICAL ENGINEERING
AHMEDABAD 382481

CERTIFICATE

This is to certify that the Minor Project report entitled Simulation and control of
Torpedo submitted by Mr. Vinay Sankhat (I4BEE168) towards the partial
fulfillment of the requirements for the award of the degree in
Bachelor of Technology (Electrical Engineering) of Nirma University is the record of work
carried out by him/her under my/our supervision and guidance. The work submitted has
in our opinion reached a level required for being accepted for examination.

DATE:21/11/2016

NAME AND SIGNATURE OF HOD(EE)

GUIDE
 INSTITUTE OF TECHNOLOGY
NIRMA UNIVERSITY
DEPARTMENT OF ELECTRICAL ENGINEERING
AHMEDABAD 382481

CERTIFICATE

This is to certify that the Minor Project report entitled Simulation and control of
Torpedo submitted by Mr. Kuldeep Rathod (I4BEE166) towards the partial
fulfillment of the requirements for the award of the degree in
Bachelor of Technology (Electrical Engineering) of Nirma University is the record of work
carried out by him/her under my/our supervision and guidance. The work submitted has
in our opinion reached a level required for being accepted for examination.

DATE:21/11/2016

NAME AND SIGNATURE OF HOD(EE)

GUIDE
 CONTENTS
ACKNOWLEDGEMENT ( I)
ABSTRACT (II)
LIST OF FIGURES/TABLES (III)
NOMENCLATURE/ABBREVIATIONS (IV)
CONTENTS
CHAPTER 1: Torpedo 1
1.1 Introduction
1.2 Construction of torpedo

CHAPTER 2: Permanent Magnet Brushless D.C motor 2.1 INVERTER

2.2 SENSORED CONTROL VERSUS SENSORLESS CONTROL

2.3 Generating and Sensing BEMF

2.4 Limitation with sensor drive

2.5 Advantages
CHAPTER 3: DESIGN OF PMBLDC MOTOR FOR TORPEDO.

REFERENCES
APPENDIX
 ACKNOWLEDGEMENT

First and foremost, we would like to thank our project guide, Prof. Sarika Kanojiya for her
valuable guidance and advice. Her Besides, we would like to thank the authority of our institute
for providing us a good environment and facilities to complete this project. Mere thanks in few
words would be highly for our classmates and friends for their constant moral support.
We are extremely grateful to the people who knowingly or unknowingly helped us a lot that mostly
includes our parents and teachers.

Vinay Sankhat(14BEE168)
 Abstract

In this era the defence plays an important role in any country for the development human kind has
suffer a lot during the previous era so this type of condition do not produced due to the un
miserable behaviour of some humans thus the nations are developing their ware fares for the future
and to protect their country rather this project deals with the efficient way to control the defending
system in this mini project the missile launcher are packed by the modern controller method and
Pulse Width Modulation is used for control the variable speed drives are increasingly applied in
many carriers the applications that require superior performance. In this project we have also used
the magnet software to solve the problem.
 Nomenclature

Po power
V .... Supply voltage in volt
I Supply current in ampere
Nr Speed in rpm
Ps . Number of stator pole
Pr ............. Number of rotor pole

S. Number of stator pole arc

R Number of rotor pole arc

E Desired efficiency
D .......... Stator diameter
L ........Stack length
Do .. Outer diameter
K2 ... Constant
As . Specific electric loading
Ur Permeability of magnetic material core
Dsh Rotor shaft diameter
J Current density
Kg Ratio of rotor pole pitch to air gap length

Ics ............... Gap left between two adjacent coils

de . Density of material
Ig Air gap length
Tph . Number of turns per pole

hc Height of stator coil

Ics Width of stator coil
 Abbreviations

SRM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Switched Reluctance Motor

CAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Computer Aided

Design

FEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Finite Element

Method

FEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Finite Element

Analysis
Chapter 1:
Torpedo

1.1Introduction

The modern torpedo is a self-propelled weapon with an explosive warhead, launched above
or below the water surface, propelled underwater towards a target, and designed to detonate
either on contact with its target or in proximity to it. It was powered by a cable from an external
power source, as batteries of the time had insufficient capacity.

In this project we have used the PMBLDC motor because of high torque and high speed with
less input energy, since 1980 is new, prototype concept of permanent magnet brushless motors
has been built. The Permanent magnet brushless motors are categorized into two kinds
depending upon the back EMF waveform, Brushless AC (PMBLAC) and Permanent Magnet
Brushless DC (PMBLDC) motors. PMBLDC motors have trapezoidal back EMF and quasi-
rectangular current waveform. PMBLDC motors are quickly becoming famous in industries
like HVAC industry, military equipment, medical Appliances, electric traction, automotive,
aircrafts, disk drive, industrial drives and instrumentation because of their high efficiency,
silent operation, high power factor, reliability, compact, low maintenance and high power
density. In the event of replacing the function of alternators and brushes, the PMBLDC motor
requires an inverter and a position sensor that exposes rotor position for appropriate alternation
of current. The rotation of the PMBLDC motor is built on the feedback of rotor position that
is gained from the hall sensors. PMBLDC motor generally utilizes three hall sensors for
deciding the commutation sequence.

In PMBLDC motor, the power losses are in the stator where heat can be easily shifted through
the frame or cooling systems are utilized in massive machines. PMBLDC motors have many
benefits over induction motors and DC motors. Some of the benefits are better speed - torque
curve, noiseless operation, higher speed ranges, long operating life, high dynamic response,
and high efficiency. More than 80% of the controllers are (Proportional and integral) PI
controllers because they are easy to control.
Brushless DC electric motor (BLDC motors, BL motors) also known as electronically
commutated motors (ECMs, EC motors) are synchronous motors that are powered by a DC
electric source via an integrated inverter/switching power supply, which produces an AC
electric signal to drive the motor. In this context, AC, alternating current, does not imply
a sinusoidal waveform, but rather a bi-directional current with no restriction on waveform.
Additional sensors and electronics control the inverter output amplitude and waveform (and
therefore percent of DC bus usage/efficiency) and frequency (i.e. rotor speed).

Germany introduced its first battery-powered torpedo shortly before World War II, the G7e. It
was slower and had shorter range than the conventional G7a, but was wakeless and much
cheaper.

figure 1 torpedo

Its lead-acid rechargeable battery was sensitive to shock, required frequent maintenance before
use, and required preheating for best performance. The experimental G7ep, an enhancement of
the G7e, used primary cells.
1.2 Construction of torpedo:

We have used Maxwell software to build the torpedo structure, the dimensions were calculated
as per the weight to power ratio and the warhead. The 2D wireframe was done than the 3D part
was designed as per the requirement of the torpedo. The block diagram shows the dimension

figure 2 Maxwell design

figure 3 Maxwell design isometric view

 figure 4 Maxwell design isometric view

In PMBLDC motor, the power losses are in the stator where heat can be easily shifted through
the frame or cooling systems are utilized in massive machines. PMBLDC motors have many
benefits over induction motors and DC motors.

In this project we will design, analyse, and simulate the model in various software packages
and also will try it simulate with reference to practical application.
Chapter 2:

Permanent Magnet Brushless D.C motor

Design and Development of Three Phase Permanent Magnet Brushless DC (PM BLDC)
Motor for Variable Speed

2.1 INVERTER:
THE THREE PHASE VOLTAGE SOURCE INVERTER
Inverters are used in a large number of power applications. Within the last decade, there
have been major upgrading in power electronics. An Inverter is basically a converter
that converts DC-AC power. The function of an inverter is to convert DC power to AC,
these are offered to as Voltage Source Inverters (VSI). A voltage source inverter (VSI)
is one that takes in a fixed voltage from a device, such as a dc power supply, and converts
it to a variable-frequency AC supply. VSI are divided up into three categories: Pulse-
width Modulated (PWM)Inverters, Square-wave Inverters, and Single-phase Inverters
with Voltage Cancellation. This paper will talk about the Pulse-width Modulated
inverter.
Pulse-width modulation inverters take in a constant dc voltage. The inverter should
conduct the magnitude and the frequency of ac output voltages, and the diode rectifiers
are required to fix the line to line voltage. The inverter uses pulse-width modulation
using its switches, there are various methods for doing the pulse-width modulation in
an inverter beneficial to frame the output ac voltages nearly similar to sine wave. The
inverter only controls the frequency of the output where the input voltage controllers the
magnitude.
In ac-motor drives the switch-mode dc-to-ac inverters are applied and un interruptible
supplies of ac power where the central equitable is to provide a sinusoidal ac output
where magnitude and frequency the couple can be controlled. Micro-inverters convert
direct current from individual solar panels on to alternating current for the electric grid,
they are grid tied.
 figure 5 Closed loop PMBLDC

An inverter converts the DC electricity to AC electricity from sources like fuel cells and
batteries. The electricity required voltage, particularly it can keep AC equipment design
for main operation and improved to yield DC at any crave voltage. In inverters the power
semiconductors devices always remain forward-biased due to the supply voltage, and
therefore, self-controlled forward device such as IGBTs and MOSFETs are suitable.
The three phase voltage source inverter generates less harmonic distortion in the output
voltage utilized in the phase to phase AC load. Also afford extra productive supply
voltage related to sinusoidal modulation technique.

Here the closed loop system is employed for the PMBLDC motor system, the PMBLDC
motor drives the propeller and the propeller is subjected to any random value or position
in so the phase sequence must be known to identify the proper working of the system
hence and algorithm is set with the help of the hall sensor to give the motor a close loop
hence increasing the performance ,reliability and performance of overall system the
algorithm is as shown below, in the PMBLDC motor at a time two-phase conduct with
makes the system a little difficult the algorithm to decode here it is shown:
 figure 6 digital logic

The digital signal is then processed through the logic developed for the rotor position
sensor, the key decoding to the algorithm is:
A=ab-ab
B=bc-cb
C=ca-ac

figure 7 digital logic

 Speed wave form

BOOST convertor:
THE THREE PHASE VOLTAGE SOURCE INVERTER Appling the convertor circuit we can
regulate the speed of the motor by changing the duty cycle of the switch in this case we have
used buck convertor to reduce the speed.
Merits of PMBLDC Motors:

a. Better Speed v/s Torque characteristics.

b. High dynamic response.
c. High efficiency.
d. Longer operating life.
e. Noiseless Operation.
f. Greater power density.
g. Higher speed ranges.
 figure 8 boost convertor

figure 9 wave form of output voltage of boost convertor

2.2 Limitation with sensor scheme:
Due to hall effect sensor the closed loop system is not in optimized condition.
The robustness of the machine decreases as the hall sensor may fail to operate during
extreme condition.
The commutation sequence as per the load is not possible.
The real time operation is not possible as there are no closed loop variables.
The external commutation logic is not present
The reliability of motor due hall sensor is limited to small extent.
So the sensor less scheme are used for this limitation.

2.3 Advantages of sensor less scheme:

Extremely robust and reliable.
Simple, only commutation sequence is need to be adjusted to tune dynamically
lowering the threshold level.
Back EMF integration creates less noise signal for commutation control this results in
more reliable low speed operation.
It easily adapts the changes.
Real time control is possible.

2.4 SENSORED CONTROL VERSUS SENSORLESS CONTROL

The BLDC motor is used for both consumer and industrial applications due to its compact size,
controllability and high efficiency. Increasingly, it is also used in automotive applications to
eliminate belts and hydraulic systems, to provide additional functionality and to improve fuel
economy, while reducing maintenance costs to zero. Since the electrical excitation must be
synchronous to the rotor position, the BLDC motor is usually operated with one or more rotor
position sensors.
For reasons of cost, reliability, mechanical packaging and especially if the rotor runs immersed
in fluid, it is desirable to run the motor without position sensors, which is commonly known as
sensorless operation. It is possible to determine when to commutate the motor drive voltages
by sensing the BEMF voltage on an undriven motor terminal during one of the drive phases.
There are some disadvantages to sensorless control, however:
 The motor must be moving at a minimum rate to generate sufficient BEMF to be sensed
Abrupt changes to the motor load can cause the BEMF drive loop to go out of lock If low cost
is a primary concern, if low-speed motor operation is not a requirement, and if the motor load
is not expected to change rapidly, sensorless trapezoidal control may be a better choice for your
application.
However, there are specific algorithms to overcome all of the above listed disadvantages. The
BEMF zero-crossing technique described here is recommended for several reasons
: It is suitable for use on a wide range of motors
It can, in theory, be used on both Y and delta-connected 3-phase motors
It requires no detailed knowledge of motor parameters
It is relatively insensitive to motor manufacturing tolerance variations

2.5 Generating and Sensing BEMF:

When a BLDC motor rotates, each winding generates BEMF, which opposes the main voltage
supplied to the windings in accordance with Lenzs law. The polarity of this BEMF is in the
opposite direction of the energizing voltage. BEMF is mainly dependent on three motor
parameters:
Number of turns in the stator windings Angular velocity of the rotor Magnetic field
generated by rotor magnets BEMF can be calculated in terms of these parameters and angular
velocity using Equation 4:
2.6 EQUATION 1: BACK-EMF (BEMF)
If magnetic saturation of the stator is avoided, or the dependency of the magnetic field on
temperature is ignored (i.e., B is constant), the only variable term is the rotors angular speed.
Therefore, BEMF is proportional to the rotor speed; as the speed increases, the BEMF increases

The frequency at which the sectors are sequenced determines the speed of the motor; the faster
that the sectors are commutated, the higher the mechanical speed is achieved. The BEMF
voltage is proportional to the rotors speed. Because of this, detection of position using the
BEMF at zero and very low speeds is not possible. Nevertheless, there are many applications
(e.g., fans and pumps) that do not require positioning control or closed-loop operation at low
speeds. For these applications, a BEMF sensing method is very appropriate.
The commutated voltage applied to the stator also has a direct impact on the correct functioning
of the motor. For efficient control, the applied voltage must be at least enough to match to
generated BEMF, plus the voltage drop across the motors windings due to torque production.
This voltage drop, in turn, is equal to the impedance of the windings times the current.
Generally speaking, if the commutated voltage is set to maximum, regardless of the motors
speed or torque production, the motor will be driven inefficiently with the wasted energy
heating the motors windings. For the proper control necessary, Pulse-Width Modulation
(PWM) is used to achieve the right voltage level. PWM is an efficient method of driving the
motor,
but it introduces some noise issues when attempting to acquire the control feedback signals
(i.e., BEMF voltages). To summarize, the important relationships for BLDC
motors and sensorless control are:
The magnitude of the BEMF signal is proportional to speed
The frequency of the BEMF signal is equal to the (mechanical) rotational speed times the
number of poles pairs
Motor torque is proportional to current (assuming the motors temperature is constant)
Motor drive voltage is equal to BEMF (proportional to speed) plus winding impedance voltage
Drop.
2.7 Detecting BEMF Zero-Crossing Signals
BEMF voltage zero-crossing signals can be detected by different methods. This section
describes two different sensing methods. Both methods have advantages as well as drawbacks,
which will be discussed for each case. Each method assumes that a wired neutral point is not
provided or that the stators are wired in a delta configuration.
COMPARING THE BEMF VOLTAGE TO HALF THE DC BUS VOLTAGE
This method consists of comparing the BEMF voltage to one-half of the DC bus voltage
(VBUS/2) by using comparators, assuming that the zero-crossing events occur when BEMF is
equal to VBUS/2. Below figure shows the circuitry used to implement this method.

2.8 BEMF VOLTAGE

2.9 COMPARED TO VBUS/2

Assume that the motor is in commutation Step 1 (refer to Figure 1), in which Phase A is
connected to +VBUS through an electronic switch, Phase C is connected to GND through an
electronic switch and Phase B is open. The BEMF signal observed on Phase B has a
negative slope and its minimum value is almost equal to +VDC just before the commutation
Step 2 occurs. Phase B reaches the value of GND when commutation Step 2 occurs. At that
instant, Phase B is now connected to GND through an electronic switch, Phase C is now open
and Phase A remains connected to VDC. The BEMF signal observed on Phase C has a positive
slope and its maximum value is almost equal to VDC just before commutation Step 3 occurs.
Both slopes observed on Phase B and Phase C are compared to VDC/2 in order to determine
the zero-crossing event. This is easily implemented with operational amplifiers configured as
comparators.
COMPARING THE BEMF VOLTAGE TO THE MOTOR NEUTRAL POINT
The zero-crossing sensing method described previously can be simplified by using a variable
threshold voltage point to detect the zero-crossing events. This variable voltage is the motor
neutral point. The neutral point is not physically available for most BLDC motors. However, it
can be generated by using a resistor network. Three resistors (RR) are connected in parallel
with the motor windings and connected together to generate a virtual neutral point, as shown
below:
2.10 BEMF VOLTAGE COMPARED TO A VIRTUAL NEUTRAL POINT

The neutral point signal can also be reconstructed in software, by averaging the values of three
simultaneously sampled ADC channels (Equation 2). The reconstructed motor neutral voltage
is then compared to each BEMF signal to determine the zero-crossing events. An event occurs
when the BEMF signals are equal to the motor neutral point.
block diagram sensor less drive

block diagram sensor less drive

Chapter 3:
Design of PMBLDC motor for torpedo

3.1 Permanent Magnet Brushless D.C motor

The model is designed in Infolytica Magnet software package the isometric view and front
view the motor is designed as per Torpedo specifications. The torpedo is mainly used in
the defence sector those are used to paralyze the enemy war ship.

figure 9 isometric view

figure 10 front view of motor with different number of slots

 3.2 TECHNICAL SPECIFICATIONS (GENERAL)
No
MOTOR 3 KW, 48 V, 5000 RPM
PMBLDC MOTOR

1
Torque 5.8 Nm

2
Assumed Efficiency 90.00 %

3
Poles 4
4
Slots 24
5
Bg 0.6 T

6
Bsy = Bry 1.4 T

7
Bst 1.8 T

8
KTrv 50 kN/ m3

9
Split Ratio (S.R.) 0.5
10
Aspect Ratio (A.R.) 1.4

11
1.72 x 10 -8 ohm mm2/ m

12
7 A/ mm2

13
d3/ wsb 3

14
Obtained Efficiency 88.56 %
CONCLUSION:
The project brings us to a wide spectrum of application and how the electrical machine is used
in various field of application more transparently in defence system, here in this project we
have came to know the future demand and how it will be tackled using the basic science
knowledge adding up we have applied the use of cascaded use of software and hardware which
in this are the microcontroller and permanent magnet motor, this emphasise the output torque
and speed as per the demand for torpedo application. The simulation and analysis is carried
out in various software package to meet the real life obstacles thus the torpedo is a blend of
high-tech technology and nature which will help our nation in safeguarding the boundaries.
 REFERENCES
a. J.R.Handershot Jr. and T.J.E.Miller, Design of Permanent Magnet Motors , Oxford,
U.K., :Oxford Univ. press, 1994.
b. Dr. Duane Hanselman, Brushless Permanent Magnet Motor Design, Second Edition-
Magna Physics Publishing, Ohio.
c. Defence and research development of India.