EE595S: Class Lecture Notes Chapter 15: Brushless DC Motor Drives

EE595S: Class Lecture Notes
Chapter 15: Brushless DC Motor Drives

S.D. Sudhoff
Fall 2005
Fall 2005 EE595S Electric Drive Systems 2
15.1 Architecture
15.2 Topology
15.3 Equivalence of VSI Schemes
to Idealized Source
180 VSI
Duty Cycle Modulation
Sine-Triangle Modulation
Sine-Triangle Modulation (with 3
rd
)
Space-Vector Modulation
180 VSI Operation
180 VSI Operation
180 VSI Operation
180 VSI Operation
Comparing the two figures
(15.3-1)
Now recall
(15.3-2)
(15.3-3)
h r c
+ =
dc
c
qs
v v
2
=
0 =
c
ds
v
180 VSI Operation
Using the frame-to-frame transformation
(15.3-4)
(15.3-5)
Thus
(15.3-6)
(15.3-7)
h dc
r
qs
v v
cos
2
=
h dc
r
ds
v v
sin
2
=
dc s
v v
2
2
1
=
h v
=
180 VSI Operation
In this case
(15.3-8)
(15.3-9)
Thus
(15.3-10)
(15.3-11)
So
(15.3-12)
(15.3-7)
dc
c
qs
v d v
2
=
0 =
c
ds
v
h dc
r
qs
v d v
cos
2
=
h dc
r
ds
v d v
sin
2
=
dc s
v d v
2
2
1
=
h v
=
In this case, converter angle calculated as
(15.3-13)
Now recall
(15.3-14)
(15.3-15)
(15.3-16)
v r c
+ =
>
<
=
1 ) (
1 0
2
2
1
d d f v
d v d
v
dc
dc
c
qs
0 =
c
ds
v
( ) 1
1
arccos 2 1 ) (
4
1
2
1
2
1
>
+ = d
d
d d f
d

Converting to the rotor reference frame
(15.3-17)
(15.3-18)
>
=
1 cos ) (
1 cos
2
2
1
d d f v
d d v
v
v dc
v dc
r
qs
>

=
1 sin ) (
1 sin
2
2
1
d d f v
d d v
v
v dc
v dc
r
ds

Sine Triangle Modulation
with 3
rd
Harmonic Injection
Following our earlier work, we will have
(15.3-19)
(15.3-20)
3 / 2 0 cos
2
1
= d v d v
v dc
r
qs

3 / 2 0 sin
2
1
= d v d v
v dc
r
ds

Space Vector Modulation
In this case we have
(15.3-21)
(15.3-22)
(15.3-23)
<
=
3 /
3
3 /
*
*
*
* *
dc spk
spk
r
qs
dc
dc spk
r
qs
r
qs
v v
v
v
v
v v v
v
<
=
3 /
3
3 /
*
*
*
* *
dc spk
spk
r
ds dc
dc spk
r
ds
r
ds
v v
v
v
v
v v v
v
( ) ( )
2
*
2
* * r
ds
r
qs spk
v v v + =
Modulation Summary
For all VSI strategies, we have
(15.3-24)
(15.3-25)
Where
(15.3-26)
v dc
r
qs
m v v cos =
v dc
r
ds
m v v sin =
( )
( )
3 / v v s
3 / v v
v
v
d d
d d f
d d
d
m
dc
*
spk
dc
*
spk
dc
spk
modulation vector pace
3
1
modulation vector space
) 3 / 2 ( modulation harmonic - third
1) ( modulation triangle - sine ) (
1) ( modulation triangle - sine
modulation cycle - duty
modulation source - voltage 180
*
2
1
2
2
1
2
2

Modulation Summary
Note, for space vector modulation
(15.3-27)
) (
* * r
ds
r
qs v
jv v angle =
15.4 Average-Value Analysis of VSI
Drives
Average-value rectifier model
(15.4-1)
Where
(15.4-2)
(15.4-3)
(15.4-4)
r r r r ro r
i p l i r v v = cos
rectifier phase single
rectifier phase three
2
2
2
3 3
0
=
E
E
v
r

rectifier phase three
2
3
=
c eu
c eu
r
L
L
r

rectifier phase three 2
=
c
c
r
L
L
l
Working Out the Details
Final Average Value Model
Nonlinear Average Value Model (NLAM)
(15.4-21)
( )

+

+
) ) ( (
sin
cos
0
0
) sin (cos
cos
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0
0 0 0 0 0 0
0 0 0 0
0 0 0 0 0
0 0 0 0 0
2 2
3 1
2
1
1
2
3
0
1
1
2
2 2
3
'
1
1 1
1 1
1
L
r
ds
r
qs q d
P
J
P
r
qs r L
L
v dc L
r
ds r L
L
v dc L
r
ds v
r
qs v C
m
r L
r
r
ds
r
qs
st
st
dc
r
m J
P
L
r
q
m
L
r
C
L L
r
L
C C
L L
r
r
r
ds
r
qs
st
st
dc
r
T i i L L
i m v
i m v
i i
v
i
i
v
i
v
i
L
i
i
v
i
v
i
p
d
q
d
q
d
q
dc
rl
d
s
q
s
st
st st
st
st
dc dc
rl rl
rl


NLAM Startup Prediction
Figure 15.6-2
Detailed Startup Prediction
Figure 15.6-1
Steady-State Performance of VSI
Drives
For Steady State Conditions
(15.5-1)
From Our Earlier Work
(15.4-14)
Thus
(15.5-2)
The Steady-State Stabilizing Current is Zero
So
(15.5-3)
r rl dc r
I r V v = cos 0
0
) sin cos (
2
3
v
r
ds
v
r
qs dc
i i m i =
) sin cos ( 0
2
3
v
r
ds
v
r
qs st r
I I m I I =
) sin cos ( 0
2
3
v
r
ds
v
r
qs r
I I m I =
Drives
Combining (15.5-3) with (15.5-1) yields
(15.5-4)
From the Machine Voltage Equations
(15.5-5)
(15.5-6)
) sin cos ( cos
2
3
0 v
r
ds
v
r
qs rl r dc
I I m r v V =
m r
r
ds
d r
r
qs s v dc
I L I r m V

= cos 0
r
qs q r
r
ds
s v dc
I L I r m V + = sin 0
Drives
Solving (15.5-5) and (15.5-6) for the
Currents
(15.5-7)
(15.5-8)
q d r s
v dc d r m r v dc s
r
qs
L L r
m V L m V r
I
2 2
sin ) cos (

+
+
=
q d r s
v dc s m r v dc q r
r
ds
L L r
m V r m V L
I
2 2
sin ) cos (
=
Drives
Substitution of (15.5-7) and (15.5-8) into
(15.5-4) and Solving Yields
(15.5-9)
Caution: This Expression Only Valid if DC
Current (15.5-14) Is Positive
v q d r rl s rl q d r s
v q r v s m r rl r q d r s
dc
m L L r r r m L L r
L r m r v L L r
V

2 sin ) (
) sin cos ( cos ) (
2
4
3
2
2
3
2 2
2
3
0
2 2
+ + +
+ +
=
Drives
Suppose the DC Current from (15.5-14) is
Negative
This Cant Happen
Thus
(15.5-10)
Substitution of (15.5-7) and (15.5-8) Into (15.5-
10) Yields
(15.5-11)
0 sin cos =
v
r
ds
v
r
qs
I I
) 2 sin ) ( (
) sin cos (
2
1
0
v q d r s
v q r v s m r
I dc
L L r m
L r
V
dc

+

=
=
Drives
Solution Algorithm
1. Calculate DC Voltage Using (15.5-9)
2. Calculate QD Currents Using (15.5-7); (15.5-
8)
3. Calculate DC Current Using (15.5-14)
4. If DC Current >= 0, Goto7
5. Calculate DC Voltage Using (15.5-11)
6. Goto2
7. Done
Drives
15.6 Transient Performance of VSI
Drives
Linearizing(15.4-21) We Have
(15.6-1)
[ ]
( ) ( )
+
+

=
+
L
v
ro
J
P
v
L
m v
v
L
v
v
L
m v
v
L
v
C
i i m
C
i i
L L
v
r
r
ds
r
qs
st
st
dc
r
r
qs q d
J
P
r
ds q d m
J
P
r
qs
L
L
L
r
r
L
L
v
L
m
L
r
ds
L
L
r
L
L
L
r
v
L
m
Cst
Lst Lst
r
Lst
v
C
m
v
C
m
C C
L L
r
T
r
r
ds
r
qs st st dc r
T
m
v
i
i
v
i
v
i
i L L i L L
i
i
i i v i v i p
d
dc
d
dc
q
dc
q
dc
dc
r
ds v
r
qs v
dc
r
ds v
r
qs v
rl rl
r
d
q
d
s
d
q
d
q
m
q
d
q
d
q
s
q
st
dc dc dc dc
rl rl
rl
cos
0 0 0 0
0 cos sin 0 0
0 sin cos 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0
0 0 0
0 ) ( ) ) ( ( 0 0 0 0
0 0 sin 0
0 0 cos 0
0 0 0 0 0 0
0 0 0 0
0 sin cos 0 0
0 0 0 0 0
1
2
0 0
0 0
) cos (sin
2
3
) sin (cos
2
3
cos
0
1
2
2 2
3
0
1
2
2 2
3
0 0 0
0 0 0
1
1 1
0
2
3
0
2
3 1 1
1
0 0 0
0 0 0
0 0 0 0 0 0 0 0 0
0 0
0
0
0 0
Transient Performance of VSI
Drives
In (15.6-1), Note that
(15.6-2)
x x x + =
0
Predictions of LinearizedModel
Startup
Predictions of Detailed Model
Startup
Predictions of LinearizedModel
Step Change in Duty Cycle
Predictions of Detailed Model
Step Change in Duty Cycle
15.8 Case Study: VSI Based Speed
Control
Parameters
Design Objectives
Load is Inertial
No Steady-State Error
Phase Margin of 60
o
at Nominal Speed of 200 rad/s
(mechanical)
E 85.5 V
eu
377 rad/s
c
L 5 mH
dc
L 5 mH
dc
C 1000 F
J 5 mN
!
m
!
s
2

s
r 2.98
q
L 11.4 mH
d
L 11.4 mH
m
0.156 Vs
P 4

Control Law
Mathematically
(15.8-1)
+ =

dt K d
rm rm
K
rm rm
) ( ) (

Starting Point: Open Loop
Frequency Response
Observe
Gain Margin is Infinite
Phase Margin is 20
o
Selection of
Integral Feedback Will Decrease Phase By
90
o
at Frequencies Less Than 1/(2)
We Will Select Breakpoint Frequency at
0.01 Hz for of 16 s
Compensated Frequency Response
Selection of K
Select K to Achieve Phase Margin of 60
o
Thus, We Choose K=0.25 (-12 dB)
Compensated Frequency Response
Time-Domain Response
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/sAt End of Study
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
HysteresisCurrent-Regulated Drive
Performance of Hysteresis
Controlled Drive
Voltage Source Based Current
Regulation
Advantages
Controlled Switching Frequency
Can Offer Excellent Waveform Quality
Disadvantage
Lower Control Bandwidth
Sine Triangle Current Regulator
Example 15B
Suppose We Utilize
(15.B-1)
(15.B-2)
Place Poles At s=-200, s=-1000
) ( ) (
r
qs
r
qs
i
p m
r
ds
ss r
r
qs
i i
s
K
K i L v
+ +
+ =

) (
r
ds
r
ds
i
p
r
qs ss r
r
ds
i i
s
K
K i L v
+ + =

Example 15B
Results
(15B-4)
(15B-5)
s K
i
/ 2280 =
= 7 . 10
p
K
Performance During Step Change In
Current
15.10 Voltage Limitations of
Current-Source Inverter Drives
Lets Assume
(15.10-1)
(15.10-2)
Then
(15.10-3)
(15.10-4)
=
r
qs
r
qs
i i
=
r
ds
r
ds
i i
m r
r
ds
d r
r
qs s
r
qs
i L i r v

+ + =
* *
* * r
qs q r
r
ds
s
r
ds
i L i r v =
15.10 Voltage Limitations of
Current-Source Inverter Drives
Recall That
(15.10-5)
Thus
(15.10-6)
Also Recall
(15.10-7) (w/o Harmonics)
(15.10-8) (w Harmonics)
( ) ( )
2 2
2
1
r
ds
r
qs s
v v v + =
2 2
) ( ) (
2
1

+
+ + =
r
qs q r
r
ds
s r m
r
ds
d r
r
qs s s
i L i r i L i r v
dc s
v v
6
1
=
dc s
v v
2
=
Response to Step Decrease in DC
Voltage
15.11 Current Command Synthesis
(Non-Salient Machines)
Recall
(15.11-1)
Thus
(15.11-2)
(15.11-3)
Advantages
But..
r
qs m
P
e
i T
=
2 2
3
=
e
P
r
qs
T i
m
1 2
3
2
0 =
r
ds
i
(Non-Salient Machines)
Voltage Requirement
(15.11-4)
If Not Enough Voltage
(15.11-5)
(15.11-6)
This is Referred to as Flux Weakening
Warning:
2 2
) ( ) (
2
1

+
+ + =
r
qs ss r
r
ds
s r m
r
ds
ss r
r
qs s s
i L i r i L i r v
2
2 2 2 2 2
) ( 2
z
i z r v z L
i
r
qs m r s s r ss m
r
ds
=

2 2 2
ss r s
L r z + =
(Salient Machines)
Recall
(15.11-7)
Thus
(15.11-8)
Also Recall
(15.11-9)
) ) ( (
2 2
3
r
ds
r
qs q d
r
qs m
P
e
i i L L i T +
=
q d
m
r
qs
q d
P
e
r
ds
L L
i
L L
T
i
1
) (
2 2
3
2 2
) ( ) (
2
1

+ =
r
ds
r
qs s
i i i
(Salient Machines)
Strategy: Minimize Fundamental
Component of Current
Why?
(Salient Machines)
Result
In this Case, What If Inadequate Voltage
(Salient Machines)
15.12 Average-Value Modeling of
Current Regulated Drives
We Begin With
(15.12-1)
(15.12-2)
Ignoring Stator Transients
(15.12-3)
(15.12-4)
Thus
(15.12-5)
* r
qs
r
qs
i i =
=
r
ds
r
ds
i i
r m
r
ds
d r
r
qs s
r
qs
i L i r v

+ + =

=
r
qs q r
r
ds
s
r
ds
i L i r v
] ) ( ) ( [
2
2
3
r
qs m r
r
ds
r
qs q d r
r
ds
r
qs s
i i i L L i i r P

+ + + =

Since
(15.12-6)
We Have
(15.12-7)
Again Assuming Our Currents Are Equal to
Commanded Values
(15.12-8)
dc
dc
V
P
i =
] ) ( ) ( [
2
1
2
3
r
qs m r
r
ds
r
qs q d r
r
ds
r
qs s
V
dc
i i i L L i i r i
dc

+ + + =

) ) ( (
2 2
3

+
=
r
ds
r
qs q d
r
qs m
P
e
i i L L i T
Resulting State Model
(15.12-9)
+ + +
+

] ) ) ( ( [
0
0
] ) ( ) ( [
0 0 0 0 0
0 0 0 0
0 0
0 0 0
0 0 0
2 2
3 1
2
2
1
2
3 1
cos
1
1 1
1 1
1
0
L
r
ds
r
qs q d
r
qs m
P
J
P
r
qs m r
r
ds
r
qs q d r
r
ds
r
qs s
V C
L
v
r
st
st
dc
r
C
L L
r
L
C C
L L
r
r
st
st
dc
r
T i i L L i
i i i L L i i r
v
i
v
i
v
i
v
i
p
dc dc
rl
r
st
st st
st
st
dc dc
rl rl
rl

15.3 Case Study: Current-Regulated
Inverter-Based Seed Control
Chief Assumption
(15.13-1)
Well Use
(15.13-2)
Thus We Obtain
(15.13-3)
=
e e
T T
) )( 1 (
1
rm rm
s
p e
K T
+ =

J
K
J
K
J
K
rm
rm
s s
s
+ +
+
=
2
) 1 (
Let Us Place Poles At
s=-5, s=-50
This Yields
K
p
=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

EE595S: Class Lecture Notes Chapter 15: Brushless DC Motor Drives

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EE595S: Class Lecture Notes Chapter 15: Brushless DC Motor Drives

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EE595S: Class Lecture Notes

Chapter 15: Brushless DC Motor Drives

Fall 2005 EE595S Electric Drive Systems 15

Fall 2005 EE595S Electric Drive Systems 19

rectifier phase single

rectifier phase single

Fall 2005 EE595S Electric Drive Systems 23

Fall 2005 EE595S Electric Drive Systems 67

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