BLDC

) (Sensorless BLDC

1392

 : BLDC

-1

-2 Sensorless BLDC

-1-2 Back-EMF

-1-1-2

-2-1-2

-3-1-2

10

-4-1-2

11

-2-2

12

-3-2

13

-4-2

14

-5-2

19

-6-2 Sensorless

22

24

-3 BLDC

-1-3

24

-2-3

24

-3-3

25

- 92

 : BLDC

-4

26

-1-4 BLDC

26

-2-4

28

-3-4 ) G(

31

-4-4 )G(

33

-5-4 Sensorless

35

-5

39

-1-5

39

-2-5

43

-1-2-5

44

-2-2-5

45

-3-2-5

45

-3-5

46

-4-5

47

-6

49

- 92

: BLDC

-1
BLDC 4 6
.
.
BLDC . BLDC
.
Resolver .
].[1

.


.
.
.

.

.

.
].[2

- 92

: BLDC

BLDC
.
6 ] .[1, 2
4
BLDC
.

-2 Sensorless BLDC

BLDC
.
BLDC .
BLDC
. 5 :
-1 Back-EMF

-2
-3
-4
-5
BLDC .

- 92

: BLDC

-1-2 Back-EMF
-1-1-2

BLDC ) (Back-EMF .
) ( ) 1(ZCP
. 1
. BLDC
. AC BLDC
.
.
] [3
.
. 90 .

Commutation point

Ea
Phase A
Ia
ZCP
270

)330 (degree

210

Eb

150

90

30

Phase B
Ib

Ec

Phase C

Ic

:1

Zero Crossing Point

- 92

: BLDC

BLDC .
. 2
PWM .
) (A/D .
:
) t zcp (n

)(1

t cmt (n ) = t zcp (n ) +

.
1 .
] [3
.

ZCP

Va

ZCP

Vb
ZCP
ZCP

Vc
ZCP
)tzcp(n
t
)tcmt(n

)tzcp(n

)tzcp(n-1

:2 PWM

- 92

: BLDC

1 )(
. 3 .
:
-1 .
-2
[4] .
) ( .
] [5 PWM BLDC
120 150 . ] [6,7
.
. .
1000-6000 RPM . ] [57
. ] [8,9,10,11,12,13
.
)tzcp (n-1

)tzcp (n
( tzcp (n-1) ) /2

)tzcp (n-2

( tzcp (n-2) ) /2

t
)tcmt (n-1) tzcp (n
)(estimated

)tzcp (n-1

)t zcp (n-2

)tcmt (n-2

)tzcp(n-3

)(estimated

Estimated commutation pulse

Commutation pulse from Hall sensors

:3

- 92

: BLDC

[14]
) (
. .
. 4
.

)( :

)( :

)(

:4

- 92

: BLDC

-2-1-2

BLDC 120 ] .[15
. BLDC
:
di a
+ ea
dt
di
= Ri b + L b + e b
dt
di
= Ri c + L c + e c
dt

v an = Ri a + L

)(2

v bn
v cn

2 :
e a = E 1 sin r + E 3 sin 3 r + E 5 sin 5 r + E 7 sin 7 r + .......

)(3

2
2
2
2

e b = E 1 sin r
+ E 3 sin 3 r
+ E 5 sin 5 r
+ E 7 sin 7 r
+ .......
3
3
3
3

4
4
4
4

e c = E 1 sin r
+ E 3 sin 3 r
+ E 5 sin 5 r
+ E 7 sin 7 r
+ .......
3
3
3
3

:
e a + e b + e c = 3E 3 sin 3 r + 3E 9 sin 9 r + 3E 15 sin 15 r + ....... 3E 3 sin 3 r

)(4

3 4:
)(5

v an + v bn + v cn = R + L (i a + i b + i c ) + (e a + e b + e c ) = e a + e b + e c 3E 3 sin 3 r
dt

5
a .

- 92

: BLDC

.

6 :
3rd = Vsummed dt

)(6

5 30
30 a .
BLDC .
.

) .(100-6000 RPM
.

. ].[16,17

ea

e3
)(sensed

e3
commutation points

:5

- 92

: BLDC

-3-1-2

.

) ( .
6 (e c ) c ) ( VD c

.
.
. 7
. ) (Vr
. 6
. 45 rpm ].[18,19

:6

Vr
+

Vd

Vr

:7

- 92

: BLDC

-4-1-2

] .[20,21,22,23

. 8 .
. 2
.

high speed
mid speed
low speed
t
ZCP

:8

.
.

. 3600RPM .
.

Threshold

- 92

: BLDC

-2-2

] .[24,25,26
:
d

dt

)(7

V = Ri +

V I R .
:
t

)(8

(V Ri )dt

.
. .
.
.
3 .
9 ] .[25
. 1 .
2 .

.
.

Interpolating

- 92

: BLDC

.
.

:9

-3-2
.
] .[27
[28] .
.
. 4 .
] [29,30,31
10 .
.

. .
Saliency Pole

- 92

: BLDC

:10

] [32
. ] [33,34
.
)(
. ) (
. 500-7500 rpm .
-4-2


. ] [35
. 11
.

- 92

: BLDC

:11 BLDC dIMAX/dt

IMAX dIMAX/dt
. 12 BLDC
.
.
.
.
b a c Egc-Ega Egb-Egc Ega-Egb
. .
IMAX a b :
)(9

dI MAX
) + (E ga E gb
dt

VDC = 2R.I MAX + 2L.

IMAX 2R.I MAX

:

- 92

: BLDC

:12 BLDC

)(10

) (K = Cons tan t

dI Max
+ (E ga E gb ) = VDC 2R.I Max K
dt

2L.

)(11

d 2 I Max
d
) (E ga E gb
2
dt
dt

2L.

. I Max
) ( E ga E gb . 13 I Max

. .
. ].[35

:13 I Max

- 92

: BLDC

] [36 BLDC
.
. :
dia dar
))di d(k f (
di
))d d(f (
+
= Ria + L a + e ar = Ria + L a + ke ar
dt dt
dt
dt
dt
dt d
di d
))di d(k f (
di
))d d(f (
= Rib + L b + ke br
vb = Rib + L b + br = Rib + L b + e br
dt dt
dt
dt
dt
dt d
di d
))di d(k f (
di
))d d(f (
= Ric + L c + ke cr
vc = Ric + L c + cr = Ric + L c + e cr
dt
dt
dt
dt
dt
dt d

va = Ria + L

)(12

) f br () far ( ) fcr ( .
:
) d(i a i b
)df (
+ k e abr
dt
d

)(13

Vab = R(i a i b ) + L

)(14

)df abr (
1
di a di b
=

(Va Vb ) R (i a i b ) L
d
dt
ke
dt

= H()ab

. :

)(15

1
(Vb v c ) R (i b i c ) L di b di c

ke
dt
dt
=
di
di
1
(Va Vb ) R (i a i b ) L a b

dt
ke
dt

di b di c
(Vb Vc ) R (i b i c ) L dt dt

=
= G ()bc / ab

di a di b
(Va Vb ) R (i a i b ) L dt dt

H()bc
H()ab

= )G 2 (

H()bc
H()bc H()ca 14 . 14
H()ab
H( )ca
H()ab
= ) G 3 (
H()bc
H()ca

= ) G 1 ( .

. G2 G1 G3 .

- 92

 : BLDC

G1 = G()ca / bc

Dotted:

G3 = G()ab / ca ,

Dashed:

G2 = G()bc / ab ,

Solid:

:14 ) G(

G1 1 4 G2 2 5 G3 3 6 .
) Gi( .
Field Weakening .
) Gi(
] .[37,38 15 .

:15 ) G() H(

- 92

: BLDC

-5-2
.


BLDC . 5
BLDC .
5 :
-1

-2

-3

-4 )(MRAS

-5 ) ( ...
.
.
] .[39,40,41
.
] .[42,43
.
] .[44,45

Observer
Luennerger Observer
7
Sliding Mode Observer
8
Extended Kalman Filter
9
)Adaptive Model Reference Systems (MRAS
6

- 92

: BLDC

MRAS )
( .
] .[46
-
].[26, 47

] [48 .
16 . ][49

BLDC . BLDC
6 .

. 17
.
. ] [44

:16

- 92

 : BLDC

:17 BLDC

. )
60 ( .
.
.
Update . 18
.

:18

- 92

: BLDC

-6-2 Sensorless

BLDC
. 1 .
BLDC

.
.
.
] [37
DSP .
BLDC 4
) [37] G(
4 .
] [37 .

- 92

: BLDC

:1 BLDC

%5b<<6000 rpm

100 rpm <<6000 rpm

45 rpm <<10000 rpm

<3600 rpm

N/A

50 rpm <

N/A

DC

%1.5 b <

N/A

20 rpm <<%150b

)(MRAS

%1b <<%105 b
rpm

<<1200
N/A

rpm

100

- 92

 : BLDC

-3 BLDC

BLDC PMSM

. .
. BLDC
]:[1,2
-1
-2
-3
.
-1-3
BLDC
BLDC .
.
. .[50] .
-2-3

.
.
. .

- 92

 : BLDC

.
].[51,52
-3-3
.
. PM
] .[32,53,54
.
10IPM .
] .[28
].[27,33,34,55,56

)Interior Permanent Magnet (IPM

10

- 92

 : BLDC

-4 ][37

BLDC

BLDC 4 .

-1-4 BLDC

AC :
) d kx (, i x
dt
k =1
n

vx = R ix +

)(16

vx R ix kx (, i x )
n .
. BLDC A :
)(17

A = L aa (, i a ) i a + L ab (, i b ) i b + L ac (, i c ) i c + ar

L aa (, i a ) i a A
B C . ar .
) (Ld Lq 17 :
)(18

A = L aa i a + L ab i b + L ac i c + ar

18 16 :
d
(L aa i a + L ab i b + L ac i c ) + d ar
dt
dt

d
d
v b = R b i b + (L ba i a + L bb i b + L bc i c ) + br
dt
dt
d

d
v c = R c i c + (L ca i a + L cb i b + L cc i c ) + cr
dt
dt
va = R aia +

)(19

- 92

 : BLDC

BLDC :
Ra = Rb = Rc = R
L aa = L bb = L cc = L s

)(20

L ba = L ab = L ca = L ac = L bc = L cb = L m

Ls R Lm .
20 19 :
d
(L s i a + L m i b + L m i c ) + d ar
dt
dt
d
d
v b = R b i b + (L s i b + L m i a + L m i c ) + br
dt
dt
d
d
v c = R c i c + (L s i c + L m i a + L m i b ) + cr
dt
dt
va = R aia +

)(21

ia + ib + ic = 0

)(22
21 :

di a d ar
di
d
+
= R a i a + L a + ar
dt
dt
dt
dt
di b d br
di b d br
+
= R bi b + L
+
) v b = R b i b + (L s L m
dt
dt
dt
dt
di c d cr
di c d cr
+
= R ci c + L
+
) v c = R c i c + (L s L m
dt
dt
dt
dt
) v a = R a i a + (L s L m

)(23

L=Ls-Lm .
:
dia dar
))di d(k f (
di
))d d(f (
+
= Ria + L a + e ar = Ria + L a + ke ar
dt dt
dt
dt
dt
dt d
dib dbr
))dib d(ke f br (
dib
))d d(f (
= Rib + L +
= Rib + L + ke br
vb = Rib + L +
dt dt
dt
dt
dt
dt d
di d
))di d(k f (
di
))d d(f (
= Ric + L c + ke cr
vc = Ric + L c + cr = Ric + L c + e cr
dt
dt
dt
dt
dt
dt d
va = Ria + L

)(24

ke ar . 23
) (.

)f ar (

A
- 92

 : BLDC

. BLDC
Vab 24 :
)(25

) d(i a i b
)df (
+ k e abr
dt
d

Vab = R(i a i b ) + L

)(26

) d(i a i b
)d df (
+ k e abr
dt
dt
d

Vab = R(i a i b ) + L

)(27

) d(i a i b
)df (
+ k e abr
dt
d

Vab = R(i a i b ) + L

) f abr ( .
)df abr (
d

)(28

= H ()ab

) Hab(
. ) Hab( :
di
di
1
(Va Vb ) R (i a i b ) L a b

ke
dt
dt

)(29

= H ( )ab

. .
.

-2-4
29 ) Hxy(
:

)(30

1
di b di c

(Vb v c ) R (i b i c ) L
ke
dt
dt
=
1
di a di b

(Va Vb ) R (i a i b ) L
ke
dt
dt

H()bc
H()ab

- 92

 : BLDC

)(31

di b di c
(Vb Vc ) R (i b i c ) L dt dt

=
)= G 2 (

di a di b
(Va Vb ) R (i a i b ) L dt dt

H()bc
H()ab

= G()bc / ab

G()
.
. ) G( :

)(32

di c di a
(Vc Va ) R (i c i a ) L dt dt

)= G 1 (
=

di b di c
(Vb Vc ) R (i b i c ) L dt dt

H()ca
H()bc

)(33

di a di b
(Va Vb ) R (i a i b ) L dt dt

)= G 3 (
=

di c di a
(Vc Va ) R (i c i a ) L dt dt

H()ab
H()ca

= G()ca / bc

= G()bc / ab

15 ) G2() G1( ) G3( .

.

:15 ) Gi (

- 92

 : BLDC

) G2() G1( ) G3(

. 15 ) G(
.
BLDC . ) G(
. 16 ) H( ) G(
. ) G( 25
.

:16 ) G() H(

2 ) G( 60 .
) G(
.

- 92

 : BLDC

:2 ) G( BLDC

0<< /6 , 11/12<<2

14

5/6<<7/6
/6<</2

25
7/6<<9/6
/2<<5/6

36

9/12<<11/6

di ca
dt
di bc
L
dt
di bc
L
dt
di ab
L
dt
di ab
L
dt
di ca
L
dt

V ca + Ri ca L
V bc Ri bc

H ( )ca
=
= ) G 1 (
H ( )bc

V bc + Ri bc

H ( )bc
= ) G 2 (
=
H ( )ab

V ab + Ri ab

H ( )ab
=
= ) G 3 (
H ( )ca

Vab Ri ab

V ca Ri ca

-3-4 ) G(

DC .
) G1( :
]) V(t )line to line(ab ) = V(t )dclink [S a (t ) S b (t

)(34

) Sa (t ) S b (t A B . PWM
Sa (t ) ) S b (t
.
. 34
) G1( :
}){ic (k) ic (k 1)} {ia (k) ia (k 1

)(35

tk tk1

}){ib (k) ib (k 1)} {ic (k) ic (k 1

tk tk1

L
L

})){(ic (k 1) + ic (k)) (ia (k 1) + ia (k

2

})){(ib (k 1) + ib (k)) (ic (k 1) + ic (k

2

Vdclink [Sc (k 1) Sa (k 1)] R

Vdclink [Sb (k 1) Sc (k 1)] R

= )G1()(k

- 92

 BLDC :

PWM G1()
:

G1()(k) =

Vdclink [Dc (k 1) Da (k 1)] R

Vdclink [Db (k 1) Dc (k 1)] R

{(ic (k 1) + ic (k)) (ia (k 1) + ia (k))}

2
{(ib(k 1) + ib(k)) (ic (k 1) + ic (k))}
2

L
L

{ic (k) ic (k 1)} {ia (k) ia (k 1)}

tk tk1
{ib(k) ib(k 1)} {ic (k) ic (k 1)}

(36)

tk tk1

35 . A D a (k 1)
: G3() G2()

G2 ()(k) =

G3 ()(k) =

Vdclink [Sb (k 1) Sc (k 1)] R

Vdclink [Sa (k 1) Sb (k 1)] R

Vdclink [Sa (k 1) Sb (k 1)] R

Vdclink [Sc (k 1) Sa (k 1)] R

{(ib (k 1) + ib (k)) (ic (k 1) + ic (k))}

2

{(ia (k 1) + ia (k)) (ib (k 1) + ib (k))}

2

{(ia (k 1) + ia (k)) (ib (k 1) + ib (k))}

2

{(ic (k 1) + ic (k)) (ia (k 1) + ia (k))}

2

L
L

L
L

{ib (k) ib (k 1)}{ic (k) ic (k 1)}

t k t k1

{ia (k) ia (k 1)} {ib (k) ib (k 1)}

(37)

t k t k1

{ia (k) ia (k 1)}{ib (k) ib (k 1)}

t k t k1

{ic (k) ic (k 1)} {ia (k) ia (k 1)}

(38)

t k t k1

: G3() G2() PWM

G2 ()(k) =

G3 ()(k) =

Vdclink [Db (k 1) Dc (k 1)] R

Vdclink [Da (k 1) Db (k 1)] R

Vdclink [Da (k 1) Db (k 1)] R

Vdclink [Dc (k 1) Da (k 1)] R

{(ib (k 1) + ib (k)) (ic (k 1) + ic (k))}

2

{(ia (k 1) + ia (k)) (ib (k 1) + ib (k))}

2

{(ia (k 1) + ia (k)) (ib (k 1) + ib (k))}

2
{(ic (k 1) +ic (k)) (ia (k 1) +ia (k))}
2

92 -

L
L

L
L

{ib (k) ib (k 1)} {ic (k) ic (k 1)}

t k t k1

{ia (k) ia (k 1)} {ib (k) ib (k 1)}

(39)

t k t k1

{ia (k) ia (k 1)} {ib (k) ib (k 1)}

t k t k1
{ic (k) ic (k 1)} {ia (k) ia (k 1)}

(40)

t k t k1

 : BLDC

-4-4 )G(

di

dt

) G(

. ] [37
(IIR) 11 (SCM) 12
. .
.
IIR .
:
) I f (k ) = I f (k 1) + I s (k

)(41

If Is . z

1 z 1

)(42

) (

= H z 1

13 s .
z .
s z :
)(43

2 1 z 1
=s
T 1 + z 1

T .
di

dt

) G(

. dt

11

Infinite Impulse Response

Sparse Calculation Method
13
Cutt-off frequency
12

- 92

 : BLDC

di
.
dt

SCM .

20 kHz 50s . ) (dt

di
50s
dt

.
di

dt

) G(

.
20
20 RPM ) G( 6 ) 2 Hz
60

( .

) G( 200 Hz 100 ) G(
. 100 (60o/100) 0.6o
. 20 kHz 100
) G( .

di

dt
di

dt

) R (i b i c

) R (i c i a

) G( .

dt 100 .

1% 20 kHz

. Sparse
0.01% .
.
di

dt

SCM
.

- 92

 : BLDC

) G(
2 . ) G(
) G( Look-up
Sensorless .

) G( .
14 BLDC
.
17 .
DC
) G( . look-up

G
Currents
and
DC link voltage

:17 )G(

-5-4 Sensorless

PID .
. P
Field Weakening

14

- 92

 : BLDC

PI D
.

.
. 18
. BLDC
.

)Upper Limit (UL

Ia
Iaref

)Lower Limit (LL

Va
Vdc

-Vdc

)(

)( BLDC

:18

- 92

 : BLDC

PI .
. PI
:
kI
s

)(44

G c (s ) = k p +

)(45

k I Ts
]) [u (K + 1) + u (K
2

Y(K + 1) = Y(K ) + k P [u (K + 1) u (K )] +

Y u Ts PI .
19 PI
PI .

)( PWM PI

)( PI

:19 PI

- 92

 : BLDC

2
. .
.
.
:
)(46

Vsilent _ phase = e silent _ phase + Vn

esilent _ phase V n .

.

- 92

 : BLDC

-5 ][38

BLDC
.
.

.

-1-5
BLDC
. 20 15o .
.
.
.
e

11/6

3/2

7/6

5/6

(b) Lag

/2

/6

ea, i a

11/6
2

3/2

7/6

5/6

/2

/6

E
I
ea, i a

eb , i b

eb , i b

ec , i c

ec , i c

Ta

Ta

Tb

Tb

Tc

Tc

Ttotal

Ttotal

(a) Lead

:20

- 92

 : BLDC

:
BLDC :
)(47

ea i a + e bi b + eci c
r

)(48

P = ea i a + e bi b + eci c

=T

21 BLDC :
)(49

2EI
r

)(50

Pavg = 2EI

= Tavg

e
E
I

5/6

/6

/2

ea, i a

eb , i b

ec , i c

Ttotal

:21 ) (

e
3

X Y 21 :

)(51
)(52

6
E I d

3 E I e
= EI
e

e
6

= PX ,A

PY ,A = E I

- 92

 : BLDC

B C X Y 21 :
)(53

PX ,B = E I

)(54

PY ,B = E I

)(55

PX ,C = 0

)(56

PY ,C = 0

A X+Y 21

)(57

3 E I e

E I
e + (E I ) 3 e

PX + Y ,A

. B C :
)(58

PX + Y ,B = E I

)(59

PX + Y ,C = 0

BLDC e :

)(60

3 E I e

E I
e + (E I ) e
2

3
3

+ E I = 2 E I E I e2

BLDC :
Pavg = 2 E I

)(61
e :
2

)(62

) 20o
9

)(63

3
2 E I E I e2

] 100 [%
2EI

= ( e 2 E I
1
Pavg _ witherror = 2 E I E I 1.89 E I
9

. 100%

- 92

 : BLDC

1.89 E I
] 100 = 94.4 [%
2EI

)(64

.
3

< e :

3
2 E I E I e2
2
3

=
= 2 k e I k e I e2
r

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- 92

BLDC :

-6
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