BLDCM Simuilink Matlab 2 PDF

BLDC Motor Modelling and Control A Matlab/Simulink
Implementation
Master Thesis work by Stefn Baldursson

May, 2005
Institutionen fr Energi och Milj

International masters program in Electric Power Engineering
CHALMERS TEKNISKA HGSKOLA
Gteborg, Sverige, 2005
Examinator: Torbjrn Thiringer
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A
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60o - 120o
A
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120o - 180o
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B
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A
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240o - 300o
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e1
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+
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v12 = Vs
i3 =
6 0 v23 = 0
v31 = Vs
v12 = Vs
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v31 = 21 (Vs e1 e2 + 2e3 )
cfl>wrl>zpevarpgja7cfeva
v12 = Vs
i3 6= 0 v23 = 0
v31 = Vs
v12 = Vs
i3 = 0 v23 = 12 (Vs + e1 + e2 2e3 )
v31 = 12 (Vs e1 e2 + 2e3 )
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i3 6= 0
u12 = v12 (e1 e2 ) =

Vs e 1 + e2
u23 = v23 (e2 e3 ) =
e2 + e3
u31 = v31 (e3 e1 ) = Vs e3 + e1
u12 = v12 (e1 e2 ) =

i3 = 0 u23 = v23 (e2 e3 ) =
u31 = v31 (e3 e1 ) =
onpe$gvas7w{ejs7wgwrl>zpevar9cdcfl
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1
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2
1
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2
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e2 + e3
i3 =
6 0 u23 = v23 (e2 e3 ) =
u31 = v31 (e3 e1 ) =

Vs e 3 + e1
u12 = v12 (e1 e2 ) =

i3 = 0 u23 = v23 (e2 e3 ) =
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1
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2
1
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2
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0 60
ic 6= 0
ic = 0
ib 6= 0
ib = 0
ia 6= 0
ia = 0
ic 6= 0
ic = 0
ib 6= 0
ib = 0
ia 6= 0
ia = 0
60 120
120 180
180 240
240 300
300 360
vab eab
Vs e a + eb
Vs e a + eb
ea + eb
1
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2
Vs ea + eb
1
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2
Vs ea + eb
Vs ea + eb
ea + eb
1
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2
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1
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2
vbc ebc
eb + ec
1
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s + ea e b )
2
Vs e b + e c
1
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2
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Vs e b + ec
eb + ec
1
(V
s + ea e b )
2
Vs eb + ec
1
(Vs ea + ec )
2
Vs eb + ec
Vs eb + ec
t t d d F d
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dcfejycehF
a C%E
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wrzpeha4{t>jntygjakgy ns7w{ejs7wggjnpbnVq{nVzpw{a91gvdcfgcfevavatKgvnstcfqrs7qcfgva4gva
w{lma9e gja9e4npqgcfzVa9t aVnVqgcfzVa|vnpejs7a9 v cfl v cpsug>cfw{na9cflgva
w{lma9e gja9e4npq{gczpa9>cehastcfqs7qcgjat cfa9onpevaVd1$w~ aVa9wd3gva9emwrlvbatsugvwrnplnpem
a9ehw{w{lz1atdcfgvwrnplonVe#gvagHy n1s7eveha9lmgj cl mva7ghgjw{lz1nplanVogja9i npengj
atmdcfqgjnT9a9evncfl1vnVqw{lzonpegjaw{naVnVi1qgcfzVavinp3 ejs7a9t $aeha9vq{gvw{lzTnpqgcfzVa9
cfevavntyTlw{lgcqra
A
B
A
B
D2
D3
D6
D2
D5
Vs
Vs
0o - 60o
60o - 120o
D5
D2
D1
D4
Vs
120o - 180o
180o - 240o
D1
Vs
240o - 300o
D5
Vs
A
D6
C
D4
D3
A
C
D4
D3
D6
D1
Vs
300o - 360o
wrzpevart~Hw{ejs7wgTs7nplzVejcfgvwrnplevw{lzcevsjnVbbwrlz

1
e1
Z
i3
e2
2
Vs
i1
Z
vd3
+
vd1
i3
i1
+
+
vd1
e3
e3
e2
2
e1
vd3
Vs
(a)
(b)
Fw{zpevar9H# agHy ns7wrevs7wggjnpbnVq{nVzpw{a9Toevnpi zpevart

Fcfqra~H^_/ingjnpe$wrlbgVnVqgcfzpa9TehwrlzdcfejsjnVbbw{lz
\q\lzVq{a
0 60
60 120
120 180
180 240
240 300
300 360
Tw{naeveha9lmg
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
vab eab
Vs ea + eb
Vs ea + eb
1
(V
s + eb e c )
2
0
Vs ea + eb
1
(V
s e a + ec )
2
Vs ea + eb
0
ea + eb
1
(Vs + eb ec )
2
1
(V
s e a + ec )
2
0
Vs e a + eb
Vs e a + eb
1
(Vs eb + ec )
2
0
Vs e a + eb
1
(Vs ea + ec )
2
Vs e a + eb
0
ea + eb
1
(V
s + eb e c )
2
1
(Vs ea + ec )
2
0
vbc ebc
Vs e b + e c
1
(Vs + ea eb )
2
Vs e b + ec
0
eb + ec
1
(V
s e a + ec )
2
1
(Vs + ea eb )
2
0
Vs eb + ec
Vs eb + ec
1
(V
s e a + ec )
2
0
Vs eb + ec
1
(V
s + ea e b )
2
Vs eb + ec
0
eb + ec
1
(Vs ea + ec )
2
1
(V
s + ea e b )
2
0
Vs e b + e c
Vs e b + ec
1
(Vs ea + ec )
2
0
t t d
a9l4jnpogsjnVbbw{lz1w{ cbbqrw{atgjaTs7w{ejs7wgq{nmnVcvnylw{lzVehaTr7Z a
w{lma9e gja9eZVnVqgcfzVa7cfevastcfqsuqcgjat4c\a9onpevaVlntyvwrlzgva$gy$ns7wrevs7wgj#wrl@zpeva
rt# aeva7jqgvwrlzkVnVqgcfzVa7cfevavntyTlw{lgcq{a
A
C
B
D2
B
D3
D6
D2
0o - 60o
60o - 120o
A
C
D4
Vs
C
B
D2
D5
D4
D6
120o - 180o
180o - 240o
B
A
D4
A
C
D6
240o - 300o
Vs
300o - 360o
D1
Vs
wrzpeva{7Hw{ejs7wgTs7nplzVejcfgvwrnplehwrlzvnpogsnpbbwrlz
i1
i3
e2
+
vd1
vd3
e3
Z
i3
i1
+
e2
2
vd3
e3
e1
e1

Vs
+
(a)
vd2
(b)
Fw{zpevart~H# agHy ns7wrevs7wggjnpbnVq{nVzpw{a9Toevnpi zpevar7

FcfqraH^_/ingjnpew{lbgVnVqgcfzpa9TehwrlzkjnpogTsjnVbbwrlz
\q\lzVq{a
0 60
60 120
120 180
180 240
240 300
300 360
Tw{naeveha9lmg
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ia 6= 0, ib 6= 0
ia 6= 0, ib = 0
ia = 0, ib 6= 0
ia = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
ib 6= 0, ic 6= 0
ib 6= 0, ic = 0
ib = 0, ic 6= 0
ib = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ic 6= 0, ia 6= 0
ic 6= 0, ia = 0
ic = 0, ia 6= 0
ic = 0, ia = 0
vab eab
ea + eb
ea + eb
1
(e ec )
2 b
0
Vs ea + eb
1
(ea + ec )
2
1
(V
s + eb e c )
2
0
ea + eb
1
(e ec )
2 b
1
(ea + ec )
2
0
ea + eb
ea + eb
1
(Vs ea + ec )
2
0
ea + eb
1
(e
a + ec )
2
ea + eb
0
Vs e a + eb
1
(e ec )
2 b
Vs e a + eb
0
vbc ebc
eb + ec
1
(e eb )
2 a
eb + ec
0
Vs e b + e c
1
(ea + ec )
2
Vs e b + ec
0
eb + ec
eb + ec
1
(ea + ec )
2
0
Vs eb + ec
1
(e eb )
2 a
1
(Vs ea + ec )
2
0
eb + ec
1
(e
a + ec )
2
1
(e eb )
2 a
0
eb + ec
eb + ec
1
(Vs + ea eb )
2
0
nwa
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4
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
t(s)
Fw{zpeva{t~H$npgvnVe$jba7at
0.1
0.6
0.5
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0.4
0.3
0.2
0.1
0.05
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0.1
w{zVehar-H\q{atsugjehwrstcqgjnpeja
0.28
0.26
T (mNm)
0.24
0.22
0.2
0.18
0.09
0.0905
0.091
0.0915
0.092
0.0925
t (s)
0.093
0.0935
0.094
0.0945
0.095
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w{ 0.50 yTwrswrw{l|cs9s7npejcfls7aywgj>gjaingjnpecgc
0.6
0.5
0.3
T (mNm)
0.4
0.2
0.1
0.5
1.5
2.5
3
Mech. speed (rpm)
3.5
Fw{zpeva{&~H#/npejmaHvba9at>bq{npg
4.5
x 10
i (A)
0.5
0.5
0.05
0.1
0.05
0.1
0.05
t (s)
0.1
i (A)
0.5
0.5
i (A)
0.5
0.5
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w{a9w{lzgjehlatnplw{vqrnty a9e\gvdclkgjaa9stct@npogjas7eheva9lmgw{lkgjabdcfja$gjcfgw{
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a
i (A), 0.2e (V)
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0.2
0
0.2
0.4
0.09
0.0905
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0.092
0.0925
0.093
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0.095
0.0905
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0.0915
0.092
0.0925
0.093
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0.094
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0.095
0.0905
0.091
0.0915
0.092
0.0925
t (s)
0.093
0.0935
0.094
0.0945
0.095
i (A), 0.2e (V)
0.4
0.2
0
0.2
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i (A), 0.2e (V)
0.4
0.2
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Iref =
Position
chop
Firing Signals
Control block
Te ref
.
kt
Firing Signals
Vs
DC source
voltage
uab,ubc
Vs
Inverter block
Idc
Relay
uab,ubc
Position
iabc
BLDC motor block
1/2
Gain
|u|
Abs
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npogva>mvgva9eva9vw{kdcfla9evawr
npogja>eha9oa9eha9ls7apcq{aV

a9l gja>q{ncp
gjnpeja4w{cfbbq{wra9/gjaa9q{atsugjehwstcfq#10%
gvnVevmaeva9icfw{lgjaciavngjavba9ato cfq{qr
ntyTlkgjn9a9evn1c#vnylwrlkzpevaZlkgjw{s9cva$gjas7npiigcgjw{nplevw{bbq{a9ceha
ln>q{nVlzpa9e1cbevnpq{a9i@ akevw{bbq{a9behns7atKmgjwrs7nplmgjehnVqZhgjejcfgva9zp|dc9a4c
isjqcfevzpa9ew{ibdcsuga9vbats7wcfq{q{yTa7lgvahgja9eva9vw{dcflwr$ywraV
wrzpeva=
vntyT$gjabdcvas7eveha9lmgjt
0.25
0.2
T (mNm)
0.15
0.1
0.05
0.05
0.1
0.15
t (s)
0.2
0.25
0.3

wrzpeha@~HZqra9sugjevwrstcfq/gvnVevma=w{l|mvgva9eva9vw{Tgjnpejas7nplmgjehnVq/aubnVvatgjncq{ncp
hgja9b
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
wrzpeva1~H$npgvnVe$jba7atw{lmhgja9eha9vwr$gjnpejas7nVlgjevnpqaubnVvatgjn4c@q{nmchgja9b
0.2
ia (A)
0.1
0
0.1
0.2
0
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
0.2
ib (A)
0.1
0
0.1
0.2
0.2
ic (A)
0.1
0
0.1
0.2
wrzpehaH\xZdcvas7eheva9lmgvwrlmhgva9eva9vw{gjnpejmas7nplmgvevnpqaubnpvatgjn@cq{nmchgja9b
s{
M W YY [R E [ G
wrzpehaK vntyTgjaqsingjnpeyTwgj cmhgja9eha9vwrvba9ats7nplmgjehnVq{q{a9etQ a

bevw{ls7w{bq{a=w{vw{iwrqcfegjngja1npla=w{lgjagjnpeja=s7nVlgjevnpq/jsa7iaa9js7evw{atw{lgva
bevauwrnpvatsugvwrnpla9eha=gvaehnpgvnVevba9at|w{oa9gjngvaeva7qc9qrns$a=bba9e
cflKgja4q{ny a9e1q{w{iwgj1nVogva4eva9qc9Kq{nscfeva4w{lgjw{s9cvagja4vba9ateva9oa7eva9ls7a
pcq{abqrcliw{ldcq{onVoTgjamvgva9eva9vw{4cl yTwrgjeva9vbatsugjwa7q{ a
ywgvnVo/gvamhgja9eha9vwrdcfl>wrlnty 1% npo/gjaeha9oa9eha9ls7avba9at
$abnpvw{gvw{nVlvwrzpldcfq$s7nVq avatgjns9cqrs7qcfgvagjaevngjnpevba7at g@gva
csugjdcfqevngjnpevba9at>w{vat>a9evaw{eva9sugjq>vw{ls7awgw{Tcq{evacctpcfwrqcfq{aoevnpi gva
hgcgjauvbdcs7aq{ns/n4stcfqrs7qcgjagjabnpvw{gvwrnpljw{zpldcqoevnpi gvaevngjnpejba9a9|cfl
gja7ls9cqrs7qcfgvagjavba9atoevnpigjabnpvw{gvwrnpl)vwrzpldcfqZy$npqraclllatsua9jcfeh
s7npibgcgjw{npldcq#eja9lbecsugjwrs7aVya9l)w{ibqra7ia9lmgvwrlzjba9a9cflbnVvwgjw{nVl
s7nplmgjehnVqw{zpeva9vnVq{gvwrnplbnpjwgjw{nplva9lvnVehcfevavat
Position
chop
Firing Signals
Firing Signals
Control block
Vs
DC source
voltage
Vs
uab,ubc
Inverter block
uab,ubc
Position
wm
BLDC motor block
Relay
Fw{zpeva1~H#hgja9eha9vwrvba9ats7nVlgjevnpqhhgja9i
wrzpeha|vntyTkgvaevngjnpekjba7atya9lcqrncgvnVevmaw{cbbqratcg 0.01 s
aeva9oa9eva9lsuavba9atw{
cflgvaicfzplw{gvanVogjaq{ncpw{gja
icw{ii s7nplmgjw{lnpqrn20,000
cpcfqrq{ntrpm
y$atX 0.23 mN m s9cl ava9a9lw{l gja
zpevaVgjaoehatma9lsu>nVo gja1vba9atehwrbbqra9Tw{ls7evacfva9cogja9egva1q{ncphgva9b wr
sdcflzpanpo\oevata9lsu>yTw{q{qFa=w{lma9hgvwrzcfgvat|w{lvatsgjw{nVl avba9a9|nty$a7Va9et
hgc9 ywgjw{lgjamhgja9eha9vwrdcflcfevnplgjaeha9oa9eha9ls7apcfqrap
Fw{zpevay vntyTgjaa9q{atsugvevwrstcqgjnpejmap\$agjnpejaevw{bbq{a9cehavgvevnplzcfl
gjejclvw{a9lmgvq{zpncq{qZgjayc9ntylgjn>9a9evngjnpejmaVkâ9onVehakgvakq{nmcwr1cfbbqrw{at
gjagjnpejma@wrnplqldcehevnty'jbw{Va7gya9lgja@qrncKw{1cfbbqrw{atgjaklnVl9a9ehn
gjw{iaknVogjakba9evw{nKats7nVika91qcfevzpa9egvdclKgva9a9ehngvwrikaV4$asqrw{ls7eheva9lmg
w{TlnpgTvntyTla7eva1gTw{gTw{TbevnpbnVe gjw{nVldcfqgjngjaa9q{atsugjehwstcfqgjnpejacfldcgva
cikaoehatma9lsu>s7nplmgja7lmg#
w{zVeha1kvny$gjabdcfva1s7eveva9lgjt
,
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.002
0.004
0.006
0.008
0.01
t(s)
0.012
0.01
t (s)
0.012
0.014
0.016
0.018
0.02
Fw{zpeva1H#ngjnpevba9at>w{lhgja9eva7jw{vba7atsunVlmgvevnpqaubnpvat>gvncqrncpvgva9b
0.7
0.6
0.4
T (mNm)
0.5
0.3
0.2
0.1
0.002
0.004
0.006
0.008
0.014
0.016
0.018
0.02
wrzpehay-H\\q{atsugvevwcqgjnpejmaTw{lmhgja9eha9vwrvba9ats7nVlmgvevnpqaubnVvatgjncq{nmchgja9b
ia (A)
0.5
0.5
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
0.002
0.004
0.006
0.008
0.01
t (s)
0.012
0.014
0.016
0.018
0.02
ib (A)
0.5
0.5
0.4
ic (A)
0.2
0
0.2
0.4
w{zVeha=~HxZdcvas7eveha9lmgjw{lmhgja9eha9vwrvba9ats7nplmgjevnpqaubnVvatgjncq{nmchgja9b

,
*?-=:./0 -=6
l>byi s7nVlgjevnpqgjainpgvnVe w{ gjehlatnplcflncfgc=wrzp>ecgjaV\ asnVbbw{lz

oehatma9lsuw{1at)g1gjaq{a9lzgjnpo gjag!sus7q{aa9ba9lnpl)gvas7nplmgjehnVq
a9ehevnVe9 ao csuggjdcggjaoevatma7lsuKw{atKicpa9q{gva9evw{lznpo$cps7nphgjwrscfl
a9q{atsugjehnVi4czpla7gjwrslnpw{vaacfvwra9e9$ahywgsw{lz)oehatma9lsw{sunViiknVlqp!
cfl vw{ls7agjaingjnpevvat a7eva>s9clnpba9ecgja>cfgkw{gvaw{zVvba9atZgja
kHz
oehatma9lsuw{snpja9lcf kHz
wa]
[
$P Y [R E [ G
as7eveha9lmg$s7nplmgjehnVqhgjejcfgva9zp4vzVzpa9hgjatw{lCGEyc ehwra#a9js7evw{atwrlvatsugvwrnpl

rprp\a9eva$gvacikas7eveha9lmgva9lvwrlzia7gjnkwrvatkjngvdcfgnplqknplaTs7eheva9lmg
s7nplmgjehnVq{q{a9eFw{Fla7atatF
w{zVeha$' Tvny gva s7nplmgvevnpqhhgja9i abdcfva s7eheva9lmgv
cfevas7nplma9e gjatgjn1cflkatmwVcfq{a9lmgsqrw{l@s7eveva9lg\Vcfq{aVZ wrZVcfq{aw{#vgjejcpsgjat
oehnVi?ceha9oa9eha9ls7apcq{a stcfqrs7qcfgvatoehnVigvagvnVevmaeha9oa9eha9ls7a$cfFw{lvatsugvwrnplk{V{V
as7eheva9lmg/a9ehevnpe/w{/oatgjncs7eveha9lmg s7nVlgjevnpq{qra9e clgjanpgjbg npogvas7nplmgjehnVq{q{a9e
w{ s7npibdcfevat4gvn@cgjevwcflzVqcfeyctVaVZ$anpgjbg npogvas7npibdcfecgjnpewr c1wrzpnpe
q{ny vwrzpldcfqyTwrsva9eha7cfTcksnpbbw{lzvwrzpldcfqonpe$gjaw{lma7ehgja9e9
|u|
Signal
Generator
Abs1
Vs
Constant
Position
Iref
Iref step
Vs
Current controller
>=
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
Inverter block
uab,ubc
Position
iabc
BLDC motor block
|u|
Abs
wrzpeva1~Hx
gjnpejmas7nVlgjevnpqhhgja9i
as7eheva9lmgs7nVlgjevnpq{qra9e$wrTckx#s7nVlgjevnpq{qra9eTcfl>wgja7jw{zplw{dcfvat>nVlc@s7eheva9lmg
s7nplmgjehnVq{q{a9eonVe1c>s@ingjnpebeha9va9lmgjatwrlCGEk a4a9vw{zVlhgcfehgvmva9qra9sugjw{lz|c
a9vw{evatevw{vagvwrika t onpegjas7eheva9lmgt\
evnpi gjdcgc1s7nVlvgclg wr a7gja7eviw{lat
re
e
cf
e =
cflgjas7nplmgjehnVq{q{a9ebdcejciaugja9evonVq{q{ny cf
ln 9
tre
aja7qratsgjatehwrvagvwriawr
0.1 ms
kp = e L
ki = e R.
ywsjw{a9qr
kp = 2.00 103
ki = 2.75 105
a4sunVlmgvevnpqrq{a9e1cq{vnva9dcsHstcfqrs7qcgjw{nplgjn>beva7Va9lmgw{lmgja9zpecgjnpeyTw{lbva9a
CGEcfldcf>cKVnVqgcfzVacfgvecgjw{nVlq{nsjgjdcgq{wrikw{gvgja|a9i4clatnpq{gczpa
gjn 6 V vn>gjdcggva4s7npibdcehw{jnplyTwgjgjakgvevwclzpqceyc9a@yw{qrq#zpwa4s7npeveva9sug
eva7jqgjt
wrzpevar9vntyT1gvaa9q{atsugjehws9cqgvnVevmaV$a4eva9oa7eva9ls7a4gvnVevmacfl
gjaq{nmchgja7b)w{1hgjw{q{q 0.2 mN m ggjakgjnpej
a sgjdcgjw{nVl)w{1qcfevzpa9egvdclw{l
gjaTmhgja7eva9vw{$s7nplmgvevnpq~Z$aehacfjnplonpegvwrw{gjdcggvaa9q{atsugjehws9cqldcfiwrs7$ceha
a9e o cfhgTsunVibdcfeva9yw{gv>gja yw{gjsw{lzoevata9lsu
0.5
0.45
0.4
0.35
0.25
T (mNm)
0.3
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
w{zVeha=r9H#\q{atsugjehwstcfqgjnpejmaw{lbyi gvnVejas7nplmgjevnpqaubnVvatgjn4c@q{nmchgja9b

wrs9clava9a9l)ms7nVikbdcehwrlzgja4bdcfjas7eveva7lmgj=w{l)zpeva9@rtcfl
asnpbbw{lz@lngsa9 zpnisa9a9ba9ewrlgjabyijsa9iapZ wrzpa9e yw{gjs
w{lz>oevata9lsuyw{qrqZbevns7akq{a9vpcehwcgjw{nVlwrlKs7eveha9lmg1cflgva9eva9onVeva@vinngja7e
gjnpejaVZ$aevngjnpevba9at4w{vnylw{lzVeharpclw{gonpq{qrntyTgvaTcfiaTs7ehVa
cf$gjavba9atw{l>gjamvgva9eva9vw{s7nVlgjevnpqjsja9iaV
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
w{zVeva=rp(H$npgvnVe$vba9atw{lbyTigjnpejmas7nVlmgvevnpqaubnpvat>gvncqrncvgva9b
ia (A)
0.5
0.5
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
ib (A)
0.5
0.5
ic (A)
0.5
0.5
wrzpeha=rt~HxZdcvas7eheva9lmgvwrlbyi gvnVevmas7nplmgjehnVqaubnVvatgjn4c@q{nmchgja9b
wa{
M W YY [R E [ G
a bVyTi vba9ats7nplmgjevnpqhhgja9iQw{ZvntyTlw{lzpehar9F a s7eveha9lmg\s7nplmgjehnVq{q{a9e
w{gjacfiakcfa9onpevagcx\$vba9ats7nVlgjevnpq{qra9eca9a9lKcat$avba9at
s7nplmgjehnVq{q{a9ebdcfecfia7gja9ehcehaka9evwatvw{lz>vwrikwrqcfeevacfvnVlw{lzconVegjaks7eheva9lmg
s7nplmgjehnVq{q{a9ebdcejcika7gja9ehwr
l CG E\$abdcfecfia7gva9evTcfevastcfqsuqcgjatcf
kp = J
m
cfl
a7ba9lnplkgjaa9jw{eva9kevw{ja gjw{ianpogvavba9at\ eva7a$Vcfq{a9npo yTw{q{q
agvevw{ata9evap aevhgpcq{aicpa9gjajba9a9sunVlmgvevnpq cfo cfhgcfgva1s7eheva9lmg
s7nplmgjehnVqgjavats7nplicpa9 w{g leva9gvwrika9 jq{nty$a7eclgvaqcfhg pcq{a9 icpa9
wggva9l>gjw{ia9vqrnty a9et
ki = kf
|u|
Signal
Generator
Abs1
Vs
Constant
wm ref
wm step
wm
Position
I ref
Speed
controller
Iref
i
Vs
Current controller
>=
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
Position
uab,ubc
wm
iabc
Inverter block
BLDC motor block
|u|
Abs
wrzpeva1{t~Hx
vba9atsunVlmgvevnpqhhgja7i
a7ghgjw{lz
= e
zVwa7gvaonpqrq{ntyTw{lzbdcejciaugja9ev&H
kp = 1.10 105
ki = 3.03 104
aeha9oa9eha9ls7avba9atwr 20,000 rpm ca9onpevaV

w{zVevar7vntyTgjdcggja7ja
s7nplmgjehnVqbdcfecfia7gva9evFbehnsuacji4cq{qnVa9evvnmnpgFw{lvba9at@clgja9eha$cfqrvncbbaceh
gjna#jnpia#hgvacphgcfgvaa7evevnpet/
w{zVeha9F{cl1r9vntygja#a9q{atsugvevwrstcqVgjnpeja
cflgjaTbcvas7eveha9lmgvZ aTbyigH4sus7qraTw{9p ?lmgjw{qdgvaTvba9at4evacsa9
gjakeva9oa7eva9ls7akVcfq{aV$abdcfvas7eveva9lgjjnty gvdcg1wggcfVa9nplq{cfnVg1npla
evngjnpeeha7npq{gjw{nVl>gjnkevacshgjachgcgjaV
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zVeha=r7H$npgvnVe$jba7atw{lbVyTi vba9ats7nplmgvevnpq/cfglnq{ncp
= e
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
w{zVeha=rt~H#\q{atsugjehwstcfqgjnpejmaw{lbyi vba9atsunVlmgvevnpq/cglnq{ncp
= e
a7ghgjw{lz = 0.01 eva9vqgj@wrlc|i=svqrnty a9e@eha9jbnplvacf@jntylwrl zpeva

r# as7nplmgjehnVq{q{a9eebdcejciaugja9evTcfevalnty
kp = 1.10 107
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpeva1{t~HxZdcvas7eveha9lmgvw{lbyi vba9ats7nVlgjevnpq/cglnkqrnc)
= e
ki = 3.03 106
a9evaw{@lnnVa9evvnng@a9evaggvavgvacphgcfgvaa9evevnpeeha9icfwrlt=zpeva9
r9clrjny1gjabyTi nVba9ejcfgvwrnpla9zpwrlTevw{zpmgcggjahgcfehgTw{lnVeva9egjn
vq{nynyl>gjaehwrvanpo/gjavba9at
`jw{lz
w{$gjnmno cfvgTcfl
w{vq{ny1vn
wrvat
a9eha1cTcksunVi=behnVeikwrvaV# aeva7jqgjw{lz4=s7nplm0.01
gjehnVqbde cejcika7gja9ehTceva = 0.1e
kp = 1.10 106
ki = 3.03 105

wrzpehak vntyTTgjdcggva9va=bdcejciaugja9evzpw{Vaaugvgja9eTeva9vqgjt$a9eva@cbbaceh
gjnalnna9ehvnng=g1gja9ehaw{@c>ji4cq{qhgjacKvgcfgva4a9evevnpet`vw{lzcq{nVlzpa9e
vw{iqcfgvwrnplgjw{iaeva7Vacfqrgvdcfggja9eva1w{ckvicfqrqna9ehvnngcflgva1hgjachgcgja
a9ehevnVeats7npia91ji4cq{q{a9egjclgva4a9evehnVeva9a9l)w{l)zpeva >
w{zVeha9@ cfl
p@vnty gvaa9qra9sugjevwrsgjnVevma1cflgjabdcfva1s7eheva9lgjeva9vbatsugjwa7q{
Fw{zpeva$ TjntyFntygjahhgja9iQehacpsgj gvncqcfevzpaq{nmc=hgja9b=npo 0.23 mN m

ywsj=wr/gvaicw{iiQs7nplmgvwrlnp qrncgjdcgZstcfl=a cfbbq{wratgjngjaingjnpet a
vba9atevnpbw{s7npljwra9ejcq{aV
14000
12000
Mech. speed (rpm)
10000
8000
6000
4000
2000
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zVeva=r-H$npgvnVe$vba7atw{lbVyTi vba9ats7nplmgvevnpq/cfglnq{ncp
= 0.01e
0.45
0.4
0.35
Te (mNm)
0.3
0.25
0.2
0.15
0.1
0.05
0
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpehar9H#ZqratsgjevwcfqgvnVevmawrlbyTivba9ats7nplmgjehnVqcg$ln@q{nmcK
= 0.01e
0.4
i (A)
0.2
a
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
b
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.1
i (A)
0
0.1
0.2
0.3
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpeva1rHxZdcvas7eheva9lmgvwrlbyi vba9ats7nVlgjevnpq/cglnkqrnc)
= 0.01e
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zVeha= H#ngjnpe$jba9a9w{lbVyTi vba9ats7nplmgjehnVqcfglnq{nmc)
= 0.1e
-
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpeha1 (H\q{atsugvevwrstcfqgjnpejmaw{l>byi vba9at>s7nVlgjevnpqcgln@q{nmcK
= 0.1e
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpeva1VHxZdcvas7eveha9lmgjw{lbyTi vba9ats7nVlmgvevnpq/cglnq{ncp
= 0.1e
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.001
0.002
0.003
0.004
0.005
t(s)
0.006
0.007
0.008
0.009
0.01
wrzpehap~HZngjnpe#vba9atwrlbyi vba9at4sunVlmgvevnpqcgicwri=i'q{nmcvgva9b =
0.1
e

wa
[N E N![R [R E [ G
abnpvwgjw{nVlsunVlmgvevnpqrq{a9e$wrcflnpgva9ex#s7nplmgjevnpq{qra7eTcfvntylw{lzVeha# a
7s nplmgjehnVq{q{a9estcfllnpgTaa9e ochgTatstcfva1wro\cflna9ehvnngTns9s7ehtgjanplqyct
gjnzpn@s7q{nVva9e nylgvn=gjaeha9oa9eha9ls7acflzVq{aTy nVqragjneha7a9ehjaTgjaevngjnpejba7at
wrqrsingjnpeikna9qnma9@lng@vbbnpehgjba7at eha7a9ehcq$as7nVlgjevnpq{qra9ew{
gja7eva9onpevai4cpavq{nygjnkbeva7Va9lmgcflnVa9evvnmnpgt
|u|
Signal
Generator
Abs1
Vs
Constant
thetam step
thetam ref
wm ref
thetam
Position
controller
wm ref
wm
Position
I ref
Speed
controller
Iref
i
>=
Vs
Current controller
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
Inverter block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
uab,ubc
Position
thetam
wm
iabc
BLDC motor block
|u|
Abs
Fw{zpeva1Hx
bnVvwgjw{npls7nplmgjehnVqvvgva9i
as7nplmgjehnVq{q{a9e#bdcfecfia7gva9ev\vatka9ehaTcfeva$nVgcw{latk@vw{lzgja gjevwcfqdclka9evehnVe
ia7gvn#`vw{lz
kp = 6.59
cfl
ki = 9.10 108
zpw{Va9/gvazVnmn1eha9vqgjt
Fw{zpevaVvnty/gjaevngjnpeFclzVq{a cg lnTq{ncpnVba9ejcfgvwrnpl
aeha9oa9eha9ls7acflzpqraw{ 3600 \ aa7evevnpew{ nplqcoecsugvwrnplnpo/c=a7zVeva7aV\
wrzpeva
1vnygvacfiagjw{lzyTa7lgjaTicw{iis7nplmgvwrlnVq{ncp
w{cfbbq{w{atcfg$gjahgcehgt# aeva9vqgjTcfevawra9lmgvwstcfqyTwgjbecsugjwrstcfq{q{0.23

9a9evnkmN
a9evevnpmet
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
wrzpeva1 p~H#ngjnpeTcflzpqrawrlbyi bnpvwgjw{nVls7nplmgvevnpq/cglnkqrncp
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
wrzpeva1p~H$ngjnpeTcflzVq{awrlbyi bnpjwgjw{npls7nplmgjehnVqcfgicw{ii qrnc

v
<10 87<675+(*&)89: -=6./<1;15 *?-=:./0 -=6
`vw{lzc>pcehwcfq{asVnVqgcfzVavnpejs7a4gjn|s7nplmgjehnVq#gjacbbq{w{at)npqgcfzVastcfldctVa
vnVikacpclmgczpa9$nVa9egvagHy nia7gvn beha7w{nVvqwrjs7vvatZ q{wrlacfe bnty$a7e
hgcfzVaTwr sacfba9egjdcfl>c1bqrvatbny a9evgczpa@ byi\ggjaq{nVvva9 stclawrzp
cg$q{ny npqgcfzVaclw{zVs7eheva9l
g C$ E\ny a7Va9etcg$wrzp>vba9atc=q{w{lacfe$bnty$a7e
hgcfzVastcfla>gjaa9hgcfq{gva9evldcgjwayTa7l yw{gjsw{lzq{nVvva9cfls7npiigcfgjw{npl
a9qc9>npoZcbq{jat>bnty$a9e$vgczpaats7npiavw{zplw{ds9clm
g C{9d E~
{j]
[
$P Y [R E [ G
agjnpejmas7nplmgjevnpq{qra7e ja9a9evaw{F!hg qrw{VagvanVlajatonpegjabyTis7nplmgjehnVq

aus7a7bg$gjdcg$gjanpgjbg nVqgczpaw{$q{wriwgja9gjnkfH=}@ ax#s7nplvgclgjTcfevagva
cikacflgjaeva9oa9eva9lsuagjnpejmaw{4gjacfiaV
w{zVeha vny4gjaynpqra
hhgja9i

Iref
Iref step
Vs
Current controller
Control block
Firing Signals
Vs
uab,ubc
Inverter block
uab,ubc
Position
idc
BLDC motor block
Fw{zpeva1-HZ}cehwrqrasq{wrlnpqgcfzVagjnpejas7nVlgjevnpqhhgva9i

wrzpehapvntyT@gva>a7qratsugvevwrstcfq gjnpejmaV "nty gjanplq wreheva9zpqcehw{gva9w{lgva
gjnpejans9sue=cfggja4s7npii=gcgjw{nVlw{lhgcflmgjt4 aevw{bbq{a9cfeva4mwgjaqcehzVag
a9e ldcehevnty2cfllngcfoehatma9lmgkc=gvaevw{bbq{a9wrlgvamhgja7eva9vw{dclcfl
byisunVlmgvevnpq\jsa9ika9@
wrzpeva91( clp>vnty'gvakevngjnpevba9atclgva
bdcfva1s7eveva9lgjeva9vbatsugvw{Va9qm
0.25
0.2
T (mNm)
0.15
0.1
0.05
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
w{zVeva= ~H\q{atsugjehwrstcqgjnpejawrl>pcfevwcq{a1sq{w{lnVqgczpagvnVejas7nplmgjehnVq
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
Fw{zpeva1(~H$npgvnVe$vba9atw{l>Vcfevwcfq{a1sq{wrlnpqgcfzVagjnpejmas7nVlgjevnpq
0.2
ia (A)
0.1
0
0.1
0.2
0
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
0.2
ib (A)
0.1
0
0.1
0.2
0.2
ic (A)
0.1
0
0.1
0.2
w{zVeha=pH#x\dcfjas7eheva9lmgvwrl>pcehwcq{a1sHq{w{lVnVqgcfzpagvnVevmas7nplmgjehnVq
{j{
M W YY [R E [ G
a@vba9ats7nVlmgvevnpq{qra9evata9evawrgjacia@sunVlmgvevnpqrq{a9egjdcgycvatonVegva
byiQvba9ats7nplmgjehnVqF
w{zVeva$vnty gja#ynVq{ahhgja9i aeva9oa7eva9ls7avba9at
w{hgvwrq{q 20,000 rpm clgjacfia1x\s7nplhgcflmgjTcfevavat
wm ref
wm step
wm

I ref
Speed
controller
Iref
i
Vs
Current controller
Control block
Position
Firing Signals
Vs
uab,ubc
uab,ubc
wm
idc
Inverter block
BLDC motor block
w{zVeva1(HZ}cehwrq{asq{wrlnpqgcfzVaVvba9ats7nplmgjehnVqvvgva9i
agva9hgjw{lz|bevnsuatevaa7evawr1gjaciacfw{l vatsugvwrnpl | as7nplmgjehnVq{q{a9e
w{Tevhgica1a7eho cfvgywsj|eva9vqgjw{lcvicq{q/na9evvnmnpgcfjntyl|w{lzpeva
VZ
w{zpeva9p1cflvnygvaa9q{atsugjehwstcfqgvnVevmaTcl@gjabdcfvaTs7eheva9lmgv
eva7jbatsgjwa9q#~gw{w{lmgja7eva9hgjw{lz@gjn@lnpgvagvdcfg$gvaa9q{atsugjehwstcfqgjnpejmaats7npia9la9zf
cgjwaonpecvnpehg\gjw{iaVZ w{dcfbba9l\ya9lgvaTcbbqrw{atkVnVqgcfzVaats7npia9q{nty$a7e
gjdcflgva=bdcfvau~gjnfbdcva=dcpsja9io!cl|s7eveva9lghgcfehgvTgvF
n nyQgjn4gva1npq{gczpa
vnVejs7agjehnVzV>gjaoeva9auya9a9q{wrlz4w{na9t
Fw{zpeva9Vpcl, kjnty gjacfias7ehVa9Tya9l|gjas7nplmgjehnVq{q{a9ew{

ica@a9e vqrnty = 0.01 u@$akeva9vqgj1ceha@gjakcfia4cyTwgjgvakbyTi
s7nplmgjehnVqaus7a9bggvdcggjagvnVevmeaw{i=svinmnpgva9et
Fw{zpeva9V( 4clVvnty gjaeha9vqgj$ya9lgja1s7nplmgjehnVq{q{a9ew{ica

o cfhgja9e| = 0.1 zcw{lgvaeva9vqgjcfevajw{iw{qcegjneva9vqgjw{lgvabyTi
e
s7nplmgjehnVq
Fw{zpeva9Tcfl m=vnyntygjas7nVlgjevnpq{qra9e$ehacpsugv gjncqcehzVaq{nmc>hgva9b

i4cw{ii s7nVlgjw{lnpq{nmc 0.23 mN m u\$aatsuevacfvaw{lvba9at>wrs7nplvwa9e!
cfqra1cf$ywgj>gjabVyTi s7nVlmgvevnpqrq{a9e9
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzpeha1V~H#$ngjnpe$vba9at>w{lpcehwcfq{asq{wrlVnVqgcfzVavba9at>s7nVlmgvevnpqs7nplmgvevnVqcg
lnkqrncp =
0.6
0.5
0.3
T (mNm)
0.4
0.2
0.1
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10

wrzpeha1p~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcfqrasq{wrl4VnVqgcfzpavba9at>s7nplmgvevnVqcgln
q{nmc =
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10

wrzpehaH1x\dcfvasueveva7lmgjw{lKVcfevwcfqra4sqrw{l|npqgcfzVavba9ats7nVlgjevnpqcg1ln
q{nmc =
14000
12000
Mech. speed (rpm)
10000
8000
6000
4000
2000
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzpehaV~H\$npgvnVevba7atw{lpcfevwcqrasqrw{lVnVqgcfzpavba9ats7nVlgjevnpqcg lnq{nmc
= 0.01

0.25
0.2
Te (mNm)
0.15
0.1
0.05
0.5
1.5
2.5
t (s)
3.5
4.5
x 10

wrzpeha1p~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcfqrasq{wrl4VnVqgcfzpavba9at>s7nplmgvevnVqcgln
q{nmc = 0.01
0.6
i (A)
0.4
0.2
0
0.2
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.05
i (A)
0
0.05
0.1
0.15
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpehaH1x\dcfvasueveva7lmgjw{lKVcfevwcfqra4sqrw{l|npqgcfzVavba9ats7nVlgjevnpqcg1ln
q{nmc = 0.01
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzpehapH\$npgvnVevba7atw{lpcfevwcqrasqrw{lVnVqgcfzpavba9ats7nVlgjevnpqcg lnq{nmc
= 0.1
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzpeha1(~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcfqrasq{wrl4VnVqgcfzpavba9at>s7nplmgvevnVqcgln
q{nmc = 0.1
0.6
i (A)
0.4
0.2
0
0.2
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
c
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10

wrzpehaVH1x\dcfvasueveva7lmgjw{lKVcfevwcfqra4sqrw{l|npqgcfzVavba9ats7nVlgjevnpqcg1ln
q{nmc = 0.1
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.001
0.002
0.003
0.004
0.005
t(s)
0.006
0.007
0.008
0.009
0.01

wrzpeha (H$ngjnVevba9atw{lpcfevwcq{aksqrw{lVnVqgcfzpa@jba9a9s7nVlgjevnpq\cfgicw
ii q{ncp>vgva9b) = 0.1
0.7
0.6
0.4
T (mNm)
0.5
0.3
0.2
0.1
0.001
0.002
0.003
0.004
0.005
t (s)
0.006
0.007
0.008
0.009
0.01

wrzpeha| mH|\q{atsugvevwrstcqgvnVevmaw{lpcfevwcqrasq{w{l nVqgczpavba9ats7nVlgjevnpqTcg
icw{ii q{nmchgva9b) = 0.1

{j
[N E N![R [R E [ G
abnVvwgjw{nVlsunVlmgvevnpqrq{a9ew{gvacia1cf$gjanplaja9w{l>gjabyi2s7nplmgjehnVqdcfl
gjaeha9oa9eha9ls7a1clzpq{aw{cfzcw{l 3600 #
w{zVeha=VkvntyT$gjayTnpqrahhgja9i
thetam step
thetam ref
wm ref
thetam
wm ref
wm
Position
controller

Iref
I ref
Speed
controller
Control block
Vs
Firing Signals
Vs
uab,ubc
Inverter block
Current controller
uab,ubc
Position
thetam
wm
idc
BLDC motor block
w{zVeha=VHZ}cfevw{q{a1sHq{w{lVnVqgcfzpabnpvw{gvwrnplsunVlmgvevnpqhhgja9i
aksunVlmgvevnpqrq{a9ebdcfecfia7gja9ehcfeva=gva@cfiakcfa9onVehacl|zpeva7 V>cl
vnty gva=evngjnpeclzpq{akcglnq{nmcclcgi4cw{iiqrnc a1gHy ns7ehVa9ceha
wra9lmgjwrstcfqclgjas7nVlmgvevnpqa9ehevnpe w{$la7zVq{w{zVw{q{a1cf$w{lgjabyi s7nplmgjehnVqbdce g\ a
cikakcbbq{w{a9a9evakcTyTwgj|gva@bVyTi s7nplmgvevnpq w{oclnVa9evvnngns9s7evtgja9eha@w{
lnyc9)gjns7nVehevatsuggjaa9ehevnVe9\jnc|s7npibevnpiw{vaihgkaicaa7gHy a9a9lo cfhg
eva7jbnplva=cflcps7s7ecsu
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5

wrzpeha> VH4$ngjnVe@cflzpqraw{lpcfevwcqrasq{wrlKnpq{gczpabnpjwgjw{npls7nVlgjevnpq cfgln
q{nmc
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5

wrzpeha~H\ngjnpecflzVq{aw{lVcfevwcfqrasqrw{lnpq{gczpabnpvwgjw{nVls7nplmgvevnpqcfg icm
w{ii qrnc

0 5 5:B ! :<=6 8
n]
" R$#[R E [ G GHY OX[ E [
aoevatma7lsujbatsgjevi npoFs7eheva9lmgw{Tclw{ibnpehgcflmgocpsugvnVew{lcq{qa9q{atsugjehwsh

gja7it#`la7jw{ecfq{aoeva9ma9lsus7nVlgja9lmg$stcfl>s7evatcfgvaw{vgvevdcfls7a9 w{lngja9eatmw{b
ia9lgclKqrnpvva9=w{lgva4ingjnpet$a4s7eveva7lmg=ec7yTlmqskinpgvnVeh1w{1lng@c
ba9evoatsug1sksueveva7lmg$as7eheva9lgdcfldcfevevnty'lnpgjsa9yTws)cfevagjakstcvaknpo
gjnpeja=ehwrbbqra9t a9evaceha=vw |s7npii=gcgjw{nVlTba9eTacpsj|a9q{atsugjehws9cq sus7q{a=vnw{gw{
acfhgjna9evwagjcfggvaoeva9ma9lsunpo/gjas7npii=gcgjw{nVlehwrbbq{a9w{
fcom =
%V
p n
2 10
ya9eva p w{$gjalia9enpo bnpqra9cfl n w{gvaevngjnpevba9at>wrl rpm
Fw{zpevaVvntyTc9nnpiat@w{auynVogjaa9q{atsugvevwrstcqgjnpejmaTcglnq{nmcvba9at
cbbehn uZ aTlngsa9w{l4gjagvnVevmacehalcehevnty clgva9wrea9bgv

w{47,000
cnpg rpm
npogjabatc4gvnVevmaV\$aeva9qcgjwaa9bgj>npogvalngsa7atsunVia7
45%
q{a9vcfgja|q{nmcw{ls7evacfva9t
w{zpevaK, vntyTgjdcgcgicw{ii q{nmcgva
lngsa7ehacpsj|cfnVg 30% npo/gjabacfgjnpejmaV
0.07
0.065
0.055
T (mNm)
0.06
0.05
0.045
0.04
0.09
0.0905
0.091
0.0915
0.092
0.0925
t (s)
0.093
0.0935
0.094
0.0945
0.095
w{zVeha=VHV)nmnVikat>wrauy nVo/gvaa9q{atsugjehwstcfqgjnpejma1cglnkqrncvba9at
a bny a9eZvbatsugvevi?npogjasqrw{l=s7eveha9lmgcg\lnqrnc@vba9atw{\vntyTl@w{lzpeva
V a@olcika9lmgcfqFoevata9lsu|w{cfevnpl 4.7 kHz ywrscfzVeha9a9yTwgj|gja
pcq{azpwa9l)mKatmdcgjw{nVly adcfevinplwrs7=nVogvaolcia7lmgcfqoevata9lsu
cfevamwgjahgvevnVlzcfgvazVevajnyt
0.28
0.26
T (mNm)
0.24
0.22
0.2
0.18
0.09
0.0905
0.091
0.0915
0.092
0.0925
t (s)
0.093
0.0935
0.094
0.0945
0.095
wrzpeva1 --Hc)nnpiatw{auynpo/gjaa7qratsugvevwrstcfqgjnpeja1cgicwri=i qrncp
Power spectrum of current
0.8
0.6
0.4
0.2
4
f (Hz)
x 10
wrzpeva1 ~Hx/ny a9e$vbatsugjevi nVo/gvasq{wrls7eheva9lmgTcfglnq{nmcvba9a9
n{
%'& EY Y N()#[R E [ G
wrzpeha9@clpvnty gv

a sq{w{lKs7eveha9lmg1bny a9evbatsugjehi+cg1lnq{nmc
cflcg#icw{ii?q{ncp@eva7jbatsgjwa9qyTw{q{a$gva$vba9at@w{#a9qksunVlhgcflmgcg 20,000
F
w{zpeva vntyTFgjdcgFgja olcfia9lmgcqoevatma7lsu@cfgZlnqrnc@w{ZevnpzVq
rpm
$gicwri=i q{nmcgva|olcfia9lmgcqoevatma7lsuats7npia9>cq{inpvg 4
2 kHz
f
c
=
vntyTlw{l)zVehap$as7nVikigcgjw{npllngsja9@cehalnq{nplzVa9egja
kHz
icfw{lKvnpejs7aknpodcfevinplwrs7t@ ak yTwgsjwrlz>oevata9lsunpohgja9eva7jw{s7nplmgjehnVq{q{a9e
npiw{ldcfgva9gvaoehatma9lsuvbatsugjehi
5
4.5
4
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BLDC Motor Modelling and Control A Matlab/Simulink

Master Thesis work by Stefn Baldursson

Institutionen fr Energi och Milj

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