Brushless DC Motor Drives Chjapter 5

EE595S: Class Lecture Notes Chapter 15: Brushless DC Motor Drives S.D.
Sudhoff Fall 2005
15.1 Architecture
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EE595S Electric Drive Systems
15.2 Topology
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15.3 Equivalence of VSI Schemes to Idealized Source

180 VSI Duty Cycle Modulation Sine-Triangle Modulation Sine-Triangle Modulation (with 3rd) Space-Vector Modulation
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180 VSI Operation
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180 VSI Operation
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180 VSI Operation
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180 VSI Operation

Comparing the two figures
c = r + h (15.3-1) (15.3-2) (15.3-3)
Now recall

c = 2v vqs dc
c =0 vds
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180 VSI Operation

Using the frame-to-frame transformation

r = 2 v cos vqs h dc r = 2 v sin vds h dc
(15.3-4) (15.3-5) (15.3-6) (15.3-7)
Thus
vdc vs = 2 v = h 1 2
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180 VSI Operation
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10
Duty Cycle Modulation

In this case

c = 2dv vqs dc c =0 vds
(15.3-8) (15.3-9) (15.3-10) (15.3-11) (15.3-12) (15.3-7)

EE595S Electric Drive Systems 11
Thus
r = 2 d v cos vqs h dc r = 2 d v sin vds h dc
So

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1 2 vs = d vdc 2 v = h
Duty Cycle Modulation
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Sine-Triangle Modulation
In this case, converter angle calculated as

c = r + v
1 dv 0 < d 1 dc c 2 vqs = 2 v f (d ) d >1 dc
c vds =0
(15.3-13)
Now recall
(15.3-14) (15.3-15)
2 1 f ( d ) = 1 1 1 + 1 d 2 arccos d > 1 2 d 4 d
()
(15.3-16)
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Converting to the rotor reference frame

r vqs 1 v d cos d 1 v 2 dc = 2 v f ( d ) cos v d >1 dc 1 v d sin d 1 v 2 dc = 2 vdc f (d ) sin v d > 1
(15.3-17)
r vds
(15.3-18)
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Sine Triangle Modulation with 3rd Harmonic Injection

Following our earlier work, we will have

r = 1 dv cos vqs dc v 2
0 d 2/ 3
r = 1 dv sin vds dc v 2
0 d 2/ 3
(15.3-19) (15.3-20)
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Space Vector Modulation

In this case we have

r vqs

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r vds
v r* qs r* = v vqs dc 3 * vspk v r* ds = v v r* dc ds 3 * vspk
v* spk < vdc / 3 v* spk vdc / 3

v* spk < vdc / 3 v* spk vdc / 3
(15.3-21)
(15.3-22)
v* spk =
( ) ( )
2 2 * * r r vqs + vds
(15.3-23)
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Modulation Summary
For all VSI strategies, we have

r vqs = vdc m cosv
r vds = vdc m sin v
(15.3-24) (15.3-25)
Where
2d duty - cycle modulation 1 sine - triangle modulation (d 1) 2d 2 sine - triangle modulation (d 1) f (d ) m= 1 third - harmonic modulation (d 2 / 3 ) 2d v* spk space vector modulation v* spk vdc / 3 vdc 1 space vector modulation v* spk vdc / 3 3
180 voltage - source modulation
(15.3-26)
( (
) )
18
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Modulation Summary
Note, for space vector modulation
r* jv r* ) = angle ( v v qs ds
(15.3-27)
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15.4 Average-Value Analysis of VSI Drives

Average-value rectifier model

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vr = vro cos rr ir lr pir

3 3 2E vr 0 = 2 2E
3 eu Lc rr = 2 L eu c
(15.4-1)
Where
three phase rectifier single phase rectifier
(15.4-2) (15.4-3) (15.4-4)

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2 L lr = c Lc
Working Out the Details
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Final Average Value Model

Nonlinear Average Value Model (NLAM)
rrl L ir 1 rl Cdc vdc 0 ist 0 p vst = r iqs 0 r ids 0 r 0

L1rl 0
1 Lst
0 C1dc
rst L st 1 Cst
0 0 L1st 0 0 0 0
0 0 0 0
rs L q
0 0 0 0 0
rs L d
0 0 0 0
0 0 0
3 P 2 1 2 2 J
( )
0 m
0 1 Lrl vr 0 cos ir 0 3 m r r i i (cos sin ) v v qs v ds 2 C dc dc 0 0 ist 0 0 v + ' st m r 1 v m cos Ld i r iqs dc v r ds L Lq Lq r q1 Lq r ids Ld vdc m sin v + Ld r iqs 0 P 1 3P r r r L L i i T ( ( ) ) q qs ds L 2J 22 d 0
(15.4-21)
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NLAM Startup Prediction Figure 15.6-2
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Detailed Startup Prediction Figure 15.6-1
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Steady-State Performance of VSI Drives

For Steady State Conditions
0 = vr 0 cos Vdc rrl I r (15.5-1) (15.4-14) (15.5-2)
From Our Earlier Work

r cos i r sin ) idc = 3 m(iqs v ds v 2
r cos I r sin ) 0 = I r I st 3 m( I qs v v ds 2
Thus The Steady-State Stabilizing Current is Zero So

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r cos I r sin ) 0 = I r 3 m( I qs v v ds 2
(15.5-3)
25

Combining (15.5-3) with (15.5-1) yields

r cos I r sin ) Vdc = vr 0 cos 3 rrl m( I qs v v ds 2 r L I r 0 = Vdc m cosv rs I qs r d ds r m r + L I r 0 = Vdc m sin v rs I ds r q qs
(15.5-4) (15.5-5) (15.5-6)
From the Machine Voltage Equations
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Solving (15.5-5) and (15.5-6) for the Currents

) + r Ld Vdc m sin v rs (Vdc m cos v r m r I qs = 2L L rs2 + r d q
(15.5-7) (15.5-8)
) rsVdc m sin v r Lq (Vdc m cosv r m r I ds = 2L L rs2 + r d q
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Substitution of (15.5-7) and (15.5-8) into (15.5-4) and Solving Yields
Vdc =
2 (rs cos v r Lq sin v ) (rs2 + r Ld Lq )vr 0 cos + 3 rrl mr m 2 2 2 2 rs + r Ld Lq + 3 m rrl rs + 3 rrl r ( Ld Lq )m 2 sin 2v 2 4
(15.5-9)
Caution: This Expression Only Valid if DC Current (15.5-14) Is Positive
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Suppose the DC Current from (15.5-14) is Negative
This Cant Happen Thus
r r cosv I ds sin v = 0 I qs
(15.5-10)
Substitution of (15.5-7) and (15.5-8) Into (15.510) Yields

Vdc
I dc =0 =
(rs cos v r Lq sin v ) r m m(rs + 1 r ( Ld Lq ) sin 2v ) 2
(15.5-11)
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Solution Algorithm
1. Calculate DC Voltage Using (15.5-9) 2. Calculate QD Currents Using (15.5-7); (15.58) 3. Calculate DC Current Using (15.5-14) 4. If DC Current >= 0, Goto 7 5. Calculate DC Voltage Using (15.5-11) 6. Goto 2 7. Done
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15.6 Transient Performance of VSI Drives

Linearizing (15.4-21) We Have
p i r rrl Lrl 1 Cdc 0 0 0 0 0
v dc
i st
1 Lrl
v st 0 C1
dc
r i qs
r ids
= 0 0
3 m0 2 Cdc
0 0
1 Lst
0
1 Lst
3 m0 2 Cdc
cos v 0
sin v 0 0 0
0
m0 Lq
rst Lst 1 Cst
0 0 +
3 P 2 1 2 2 J rs Lq
0 0 0 0 0
cos v 0 sin v 0 0
0 0 0
Ld Lq
r0
rs Ld
m0 Ld
( )
Lq Ld
r0
3 P 2 1 2 2 J
r + ( Ld Lq )ids ( m 0)
()
r ( Ld Lq )i qs 0
i r 0 v dc 0 i st v st 0 r m L r i Ld ids 0 Lq qs q i r Lq r ds i 0 qs Ld r 0 0
vr 0 Lrl 0 0 + 0 0 0 0
cos0 Lrl
0
r r 3 m0 (sin v 0iqs 0 +cosv 0ids 0 ) 2 Cdc
0 0 0 0 0 0
r r 3 (cosv 0iqs 0 sin v 0ids 0 ) 2 Cdc
0 0 vdc 0 cos v 0 L
q
0 0
v 0m0 dc sin v 0 Lq v 0m0 dc cos v 0 Ld
vdc 0 Ld
sin v 0 0
0 0 cos 0 v ro 0 m v 0 T L 0 1 P 2 J
(15.6-1)
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Transient Performance of VSI Drives

In (15.6-1), Note that

x = x0 + x
(15.6-2)
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Predictions of Linearized Model Startup
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Predictions of Detailed Model Startup
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Predictions of Linearized Model Step Change in Duty Cycle
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Predictions of Detailed Model Step Change in Duty Cycle
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15.8 Case Study: VSI Based Speed Control

Parameters
E 85.5 V 377 rad/s 5 mH 5 mH
C dc
J
1000 F 5 mN!m!s2
Ld
m
P
11.4 mH 0.156 Vs 4
eu
Lc L dc
rs
2.98 11.4 mH
Lq
Design Objectives
Load is Inertial No Steady-State Error Phase Margin of 60o at Nominal Speed of 200 rad/s (mechanical)
Control Law
Mathematically
) dt (rm d = K (rm rm ) + K rm
(15.8-1)
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Starting Point: Open Loop Frequency Response

Observe
Gain Margin is Infinite Phase Margin is 20o
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Selection of
Integral Feedback Will Decrease Phase By 90o at Frequencies Less Than 1/(2) We Will Select Breakpoint Frequency at 0.01 Hz for of 16 s
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Compensated Frequency Response
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Selection of K
Select K to Achieve Phase Margin of 60o Thus, We Choose K=0.25 (-12 dB)
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Compensated Frequency Response
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Time-Domain Response
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Critique of Design
Drive Becomes Quite Overmodulated Bandwidth is Not Nearly 100 Hz Significant Overcurrent (Rated is 2.6 A, rms) The Speed is not 200 rad/s At End of Study
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15.9 Current-Regulated Drives

Current Based Inverter Current Regulation
Advantages
Torque Control Bandwidth Robustness w.r.t. Machine Parameters Robust w.r.t. Faults Control design with lower order system
Disadvantage
Switching Frequency Cannot Be Directly Controlled
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Hysteresis Current-Regulated Drive
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Performance of Hysteresis Controlled Drive
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Voltage Source Based Current Regulation

Advantages
Controlled Switching Frequency Can Offer Excellent Waveform Quality
Disadvantage
Lower Control Bandwidth
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Sine Triangle Current Regulator
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Example 15B
Suppose We Utilize

r = ( L i r + ) + K + K i (i r i r ) vqs qs qs r ss ds m p s r = L i r + K + K i (i r i r ) vds ds ds r ss qs p s
(15.B-1) (15.B-2)
Place Poles At s=-200, s=-1000
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Example 15B
Results

Ki = 2280 / s
K p = 10.7
(15B-4) (15B-5)
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Performance During Step Change In Current
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15.10 Voltage Limitations of Current-Source Inverter Drives

Lets Assume

r = i r iqs qs r = i r ids ds
(15.10-1) (15.10-2) (15.10-3) (15.10-4)
Then
r = r i r* + L i r* + vqs s qs r d ds r m r = r i r* L i r* vds s ds r q qs
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15.10 Voltage Limitations of Current-Source Inverter Drives

Recall That

1 vs = 2
( ) ( )
r 2 r 2 vqs + vds
(15.10-5)
Thus

vs = 1 r r 2 r r r ) 2 + (rsids (rsiqs + r Ld ids + m r Lqiqs ) 2
(15.10-6)
Also Recall

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vs =
vs =
1 vdc 6
2
(15.10-7) (w/o Harmonics) (15.10-8)

vdc
(w Harmonics)
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Response to Step Decrease in DC Voltage
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15.11 Current Command Synthesis (Non-Salient Machines)

Recall

r iqs Te = 3 P m 22
r = 2 2 1 T iqs e 3 P m r = 0 ids
(15.11-1) (15.11-2) (15.11-3)
Thus
Advantages But..
15.11 Current Command Synthesis (Non-Salient Machines)

Voltage Requirement
vs =
1 r r 2 r r r ) 2 + (rsids (rsiqs + r Lssids + m r Lssiqs ) 2
(15.11-4)
If Not Enough Voltage

r = ids r 2 2 2 Lssr + z 2iqs m + 2 z 2 vs ( rsr m )
z2
(15.11-5) (15.11-6)
2 2 z = rs2 + r Lss
This is Referred to as Flux Weakening Warning:

15.11 Current Command Synthesis (Salient Machines)

Recall

r + ( L L )i r i r ) iqs Te = 3 P (m d q qs ds 22
(15.11-7) (15.11-8)
Thus
Te 1 m r ids = 3 P ( L L ) i r L L d q q qs 22 d
Also Recall

1 r ) 2 + (i r ) 2 is = (iqs ds 2
(15.11-9)
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Strategy: Minimize Fundamental Component of Current Why?
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Result
In this Case, What If Inadequate Voltage
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15.12 Average-Value Modeling of Current Regulated Drives

We Begin With

r = i r* iqs qs
r = i r ids ds
(15.12-1) (15.12-2) (15.12-3) (15.12-4)
Ignoring Stator Transients

r = r i r + L i r + vqs s qs r d ds m r
r = r i r L i r vds s ds r q qs
Thus
r + i r ) 2 + ( L L )i r i r + i r ] [rs (iqs P = 3 r d q qs ds r m qs (15.12-5) ds 2

Since

P idc = Vdc
(15.12-6)
We Have
1 [r (i r + i r ) 2 + ( L L )i r i r + i r ] (15.12-7) idc = 3 r d q qs ds r m qs 2 Vdc s qs ds
Again Assuming Our Currents Are Equal to Commanded Values

r + ( L L )i r i r ) iqs Te = 3 P (m d q qs ds 22
(15.12-8)
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Resulting State Model

rrl ir Lrl v 1 dc Cdc p ist = 0 vst 0 r 0 1 0
1 Lst Lrl
0 1
Cdc r st Lst 1 Cst
0 0 1 0 0
Lst
0 0
0 ir 0 vdc ist 0 vst 0 r 0
(15.12-9)
vr 0 cos Lrl 1 3 1 r r 2 r r r [ r ( i i ) ( L L ) i i i ] + + + s qs r d q qs r m qs ds ds Cdc 2 Vdc + 0 0 P 1 [ 3 P ( i r + ( L L )i r i r ) T ] m qs d q qs L ds 2J 22

15.3 Case Study: Current-Regulated Inverter-Based Seed Control

Chief Assumption

Te = Te
(15.13-1) (15.13-2)
Well Use
) )(rm Te = K p (1 + 1 rm s
Thus We Obtain

K (s + 1) = J rm s2 + K s + K J J
rm
(15.13-3)
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Let Us Place Poles At
s=-5, s=-50
This Yields
Kp=0.257 Nms, =0.22 s
Other Design Aspects

Use Sine Triangle Current Regulator From Example 15 B (s=-200, s=-1000) Limit Currents to +/- 3.68 A Inject All Current into Q-Axis
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Brushless DC Motor Drives Chjapter 5

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EE595S: Class Lecture Notes Chapter 15: Brushless DC Motor Drives S.D.

Sudhoff Fall 2005

EE595S Electric Drive Systems

EE595S Electric Drive Systems

15.3 Equivalence of VSI Schemes to Idealized Source

EE595S Electric Drive Systems

180 VSI Operation

EE595S Electric Drive Systems

180 VSI Operation

EE595S Electric Drive Systems

180 VSI Operation

EE595S Electric Drive Systems

180 VSI Operation

EE595S Electric Drive Systems

180 VSI Operation

(15.3-4) (15.3-5) (15.3-6) (15.3-7)

EE595S Electric Drive Systems

180 VSI Operation

EE595S Electric Drive Systems

Duty Cycle Modulation

(15.3-8) (15.3-9) (15.3-10) (15.3-11) (15.3-12) (15.3-7)

Duty Cycle Modulation

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

Sine Triangle Modulation with 3rd Harmonic Injection

EE595S Electric Drive Systems

Space Vector Modulation

v r* qs r* = v vqs dc 3 * vspk v r* ds = v v r* dc ds 3 * vspk

v* spk < vdc / 3 v* spk vdc / 3

180 voltage - source modulation

EE595S Electric Drive Systems

EE595S Electric Drive Systems

15.4 Average-Value Analysis of VSI Drives

vr = vro cos rr ir lr pir

(15.4-2) (15.4-3) (15.4-4)

three phase rectifier single phase rectifier

EE595S Electric Drive Systems

Working Out the Details

EE595S Electric Drive Systems

Final Average Value Model

NLAM Startup Prediction Figure 15.6-2

EE595S Electric Drive Systems

Detailed Startup Prediction Figure 15.6-1

EE595S Electric Drive Systems

Steady-State Performance of VSI Drives

From Our Earlier Work

Thus The Steady-State Stabilizing Current is Zero So

Steady-State Performance of VSI Drives

(15.5-4) (15.5-5) (15.5-6)

From the Machine Voltage Equations

EE595S Electric Drive Systems

Steady-State Performance of VSI Drives

) rsVdc m sin v r Lq (Vdc m cosv r m r I ds = 2L L rs2 + r d q

EE595S Electric Drive Systems

Steady-State Performance of VSI Drives

Caution: This Expression Only Valid if DC Current (15.5-14) Is Positive

EE595S Electric Drive Systems

Steady-State Performance of VSI Drives

Substitution of (15.5-7) and (15.5-8) Into (15.510) Yields

(rs cos v r Lq sin v ) r m m(rs + 1 r ( Ld Lq ) sin 2v ) 2

EE595S Electric Drive Systems

Steady-State Performance of VSI Drives