Brushless DC Motor Drive (BLDC)

A two-pole, three phase BLDC motor has sinusoidal-waveform with permanent magnet rotor.
The torque coefficient, kT = 0.5 Nm/A, where kT is defined as kT = Tem /Is.

Calculate the stator currents in the three phases, ia, ib, ic if the motor is required to supply a
holding torque of 0.75 Nm (to keep the load from moving) at the rotor position of = 30o,
where
is defined as the angle between the Im coordinate of the stationary reference frame and the
magnetic axis of the rotor field (Figure 15-4 in the Mohan-Undeland: Power Electronics
textbook).

Solution:

Tem = kT Is, where Is is the peak amplitude of the three phase currents.

From here: Is = Tem/kT = 0.75/0.5=1.5 A

= 30, therefore:

ia = Ia= Is cos cos

ib = Ib= Is cos (cos
ic = Ic= Is cos (cos
 Power Electronics & Motion Control II. 01-04-05-1
Problem 3.

4. The output voltage of a converter is controlled by PWM. The DC input voltage is 500V.
The PWM pattern is shown in Figure 1, where the relative value of the output voltage Park vector is
seen for a sixty degree interval. Fundamental frequency f1 = 50 Hz.
Calculate the absolute value of the Park vector
Calculate the fundamental component for the unmodulated waveform
Calculate the the relative value of the fundamental, 5th and 7th harmonics for the wavewform
shown in the figure. For reference value use the result of b).

V/Vmax /9 /18 /9
V

0 t
/36 /3

Figure 1. Time function of the relative value of voltage vector amplitude in a sixty degree
interval
________________________________________________________________________

Solution
j 2 1
3 f1 = 50 T =
Va = 250 V a = e f1

p1 = 60 deg
3
Vb = 250 V p1
p2 = p = = 0.0175 30 deg
2 180
Vc = 250 V
a) The Park vector:

V =
2 ( 2
Va + a Vb + a Vc ) V = 333.333 V
3
=================
b) The fundamental component:
h = 1

p2
1 j h
V1 = V e d V1 = 318.31 V
p1 p2 =================

EX-02-05-29-4-Fourier.xmcd
c) For the modulated case:

h = 1

1
5 p 25 p
j h j h
Vh = V e d + V e d
p1 25 p 5 p

Vh
Vh = 213.562 V Vhrel = Vhrel = 0.671
V1 =================

h = 5

1
5 p 25 p

d
j h j h
Vh = V e d + V e
p1 25 p 5 p

Vh
Vh = 50.488 Vhrel = Vhrel = 0.159
V1 =================

h = 7

1
5 p 25 p

d
j h j h
Vh = V e d + V e
p1 25 p 5 p

Vh
Vh = 44.238 Vhrel = Vhrel = 0.139
V1
=================

EX-02-05-29-4-Fourier.xmcd
 Average and Ripple current in a full bridge DC/DC converter
Bipolar PWM
A Full bridge converter is loaded by a R-L load. The output voltage is controlled by PWM, the
Carrier wave (Vtri) frequency is fs. The duty ratio is D.

Problems:

a) Sketch the derivation of the output voltage waveform by assuming bipolar PWM!

b) Calculate the the average output current

c) Calculate the output current ripple in the case of bipolar modulation

Data:
3
R := 15 L := 6.50 mH Vd := 650 V D := 0.75 fs := 105 10 Hz

Solution:

a)
b)
Calculation of the average output current:

Vo := ( 2 D 1 ) Vd Vo = 325 V

Vo
Iav := Iav = 21.667 A
R
==============
c)

Calculation of the output current ripple:

1 6
Ts := ton := D Ts ton = 7.143 10 s
fs

In the case of bipolar PWM the output voltage ripple: V := 2Vd

3
L 10 4
Time c onstant of the load: T := T = 4.333 10 s
R

ton


V 1 e
T
The current ripple: I :=
I = 1.417 A
R
==============
Induction motor drive
A two-pole, three-phase squirrel-cage induction motor is supplied by a static frequency converter.
The output voltage of the converter can be regarded ideal sine wave.
Rated parameters of the motor:
Output power Pn , Input voltage Vs, speed n, power factor: cos n, efficiency
Assume that the converter is controlled to keep constant stator flux.
a) Calculate the slip and the output power with rated torque at the following frequencies:
f11, f12, f13
b) Calculate the copper loss of the rotor at rated and M1 mechanical torque.

Solution:
Data: Pn = 150 kW Vs = 400 V RMS, line-to-line n = 2940 rpm

cos = 0.9 f1 = 50 Hz = 0.925 f11 = 60 Hz f12 = 30 Hz f13 = 10 Hz

M 1 = 0.5 pu p = 1

At rated speed and load: 60 f1 3

n1 = n 1 = 3 10 rpm
p

n1 n
s = s = 0.02 n = n 1 n n = 60 rpm
n1

a) Synchronous speeds and slips:

60 f11 3 n
n 11 = n 11 = 3.6 10 rpm s11 = s11 = 0.017
p n 11

60 f12 3 n
n 12 = n 12 = 1.8 10 rpm s12 = s12 = 0.033
p n 12

60 f13
n 13 = n 13 = 600 rpm n
p s13 = s13 = 0.1
n 13

b) At rated frequency and torque: Pmech = Pn

Pmech
Airgap power: Pairg = = 153.061 kW sM = .005 s
1s

Pcu = s Pairg Pcu = 3.061 kW

Pmech
PairgM = M 1 = 75.008 kW
At M1 torque: s1 = M 1 s s1 = 0.01 1 sM

Pcu1 = sM 1000PairgM Pcu1 = 7.501 W

 Space vector trajectories
Symmetrical functions

Plot the trajectory of the functions in stationary reference frame:

Data:

Range variable:

RF transformation of the resulting function and the fundamental:

Plot the trajectory of the function in synchronous reference frame(SyRF):

The Space vector time function in SyRF

The resulting fuction in SyRF:

Fundamental component:
 Space vector trajectories
Unbalanced functions, negative sequence components

Plot the trajectory of the function in stationary reference frame !

Range variable:

Pos.: Neg.:

The esulting function:

The diameters of the ellipse:

Transformed time functions :

Plot the time functions of the , (Re and Im) components!

Plot the trajectory of the functions in synchronous reference frame (SyRF):

The resulting function in SyRF:

The pos. sequ. component:

The neg. sequ. component:

The min. and max. values:

Assume that the voltage source is loaded by a symmetrical Y-connected
three phase impedance Z

Data:

Calculate the space vector of the current and the active and reactive power
drawn from the voltage source!
The trajectory of the voltage and the current:

Instataneous values (time functions) of active and reactive power:

Average values:

Active power: W

Reactive power:
Plot the time function of the active and reactive power!
 Space (Park) vector transformation

Phase currents in a three phase system

Plot the Space vector trajectory of the function in stationary reference
frame (StRF)!

Data:

Xma := 100 a := X := 95 b := 2.3 Xmc := 75
20 mb 3

j 2
3
c := 4.7 a := e := 2 50 T := 0.04 s
3

4
Range variable: t := 0 , 10 .. T

Time functions of the three phase quantities:

(
Xa ( t) := Xma cos t a )
Xb ( t) := Xmb cos ( t b)

Xc ( t) := Xmc cos ( t c )

Applying the Space (Park) tarnsformation:

The Space vector: I ( t) :=

2
3
( 2
Xa ( t) + a Xb ( t) + a Xc ( t) )
1
Zero sequence component: Io ( t) :=
3
(
Xa ( t) + Xb ( t) + Xc ( t) )
 140
120
100
80
60
40
Im ( I ( t) ) 20
0
0
20
40
60
80
100
120
140
140 120 100 80 60 40 20 0 20 40 60 80 100 120 140
Re ( I ( t) ) , 0
X(t)
Origin

Plot the time functions of , (Re and Im) and the zero sequ.
components!

Ire ( t) := Re ( I ( t) ) Iim ( t) := Im( I ( t) )

 100
86.67
73.33
60
46.67
33.33
Ire( t) 20

Iim ( t) 6.67
6.67
Io ( t)
20
33.33
46.67
60
73.33
86.67
100
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
t

Get the time functions of the phase currents

Applying inverse transformation:

Ia ( t) := Re ( I ( t) ) + Io ( t)
( 2 )
Ib ( t) := Re a I ( t) + Io ( t)
Ic ( t) := Re ( a I ( t) ) + Io ( t)
 100
80
60
40
Ia ( t)
20
Ib ( t) 0
Ic ( t) 20
40
60
80
100
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
t

Plot the trajectory of the SV time functions in synchronous reference

frame (SyRF)!
The resulting function in SyRF:
j t
Is ( t) := I ( t) e

Separation of the positive and negative sequence components:

The positive sequ. component:

T

Is ( t) dt
0
I1 := I1 = 81.618 31.728i A I1 = 87.568 A
T
The negative sequ. component:
T

In ( t) dt
0
j t
In ( t) := I ( t) e I2 := I2 = 2.563 18.035i A
T

I2 = 18.216 A

30
20
10

0
10
( )
Im Is ( t)
20
Im ( I1) 30
0 40
50

60
70
80

90
10 0 10 20 30 40 50 60 70 80 90 100 110
( ) ( )
Re Is ( t) , Re I1 , 0
 Stator voltage vs. Stator Frequency
An induction machine (IM) is supplied by an ac/ac frequency converter. To keep constant
stator flux at varying stator frequency, the stator voltage has to be changed.

Define the relationship of stator voltage vs. stator fequency for the given induction machine!

Parameters of the machine:

Pn := 100 kW V1n := 400 V f1n := 50 Hz

r
p := 1 := .95 w1n := 2 f1n w1n = 314.159
s

PF := .9 cos( ) := .9 := acos( PF ) = 0.451 rad sin( ) = 0.436

The impedances of the equivalent circuit of the IM are given in [pu]:

The series comonents:

Xs1p := 0.06 pu Xs2p := 0.06 pu R 1p := 0.025 pu R rp := 0.015 pu

The parallel branch:

Xmp := 2.24 pu R ip := 95 pu

Define the base value for the impedance:

3
Pn 10
Stator current: I1s := I1s = 168.816 A
3 V1n PF
===============

V1n
Base impedance: Zn := Zn = 1.368
3 I1s
===============
Calculate the the actual values of the equivalent circuit parameters!

R 1 := R1p Zn R 1 = 0.034 R r := R rp Zn R r = 0.021

R i := R ip Zn R i = 129.96

Xs1 := Xs1p Zn Xs1 = 0.082 Xs2 := Xs2p Zn Xs2 = 0.082

Xs1 -4 Xs2 -4
Ls1 := Ls1 = 2.613 10 H Ls2 := Ls2 = 2.613 10 H
w1n w1n

Xmp Zn -3
Lm := Lm = 9.754 H
10 Xm := Xmp Zn Xm = 3.064
w1n

The magnetizing current and impedance at the rated orking point calculated from PF:

V1n
Im := I1s sin( ) Im = 73.585 A Z1 := Z1 = 3.138
3 Im
 Z1 := R1 + j w1n Ls1 + Lm ( ) Z1 = 0.034 + 3.146i

Z1abs := Z1
Z1abs = 3.147

Approximation: R 1 app. = 0 Ls1 < Lm

Thus the magnetizing current from the impedances:

V1n
Im := Im = 73.394 A
3 Z1abs

The rated main flux: Fn := Im Lm Fn = 0.716 Vs

===============

The magnetizing current has to be kept constant at varying frequency.

In no-load condition only the magnetizing current flo s.

Range variable: w1 := 0 , 0.01 .. w1n

( )
Z w1 := R1 + j w1 Ls1 + Lm ( )
( )
V1 w1 := Z w1 Im ( ) ( )
Vabs w1 := V1 w1 ( )
In ideal case hen R1 is negligable: ( ) (
Zid w1 := j w1 Ls1 + Lm )

( )
V1id w1 := Zid w1 Im ( )

12

10

8
Stator voltage [V]

( )
Vabs w1
6
V1id ( w1)

0
0 3 6 9 12 15
w1

Angular Stator Frequency [r/s]

 Space Vectors, Fourier Analysis 29 March, 2010

The output voltage of a three-phase full bridge DC/AC converter is controlled by PWM. The DC
input voltage is Vd, the PWM pattern is shown in the Figure, where the absolute value of the output
voltage Space Vector (SV) is seen for a sixty degree interval. Fundamental frequency: f1

a) Calculate the absolute value (Vabs) and the average value (Vav) of the voltage SV!
b) Calculate the fundamental component and the first two higher harmonic components!

a
Vabs V

Vav

0 p/6 p/3 wt

Data: p
j 2
p 3
Vd := 600 V f1 := 50 Hz w := 2 p f1 wt = f := a := e
18

Solution:
a) The s ace vector in the 1st p/6 interval:
2 Vd
V :=
3 2
(
1-a-a
2 ) 1-a-a =2
2
V :=
4 Vd

3 2
========
V has real com onent only, thus: Vabs := V

4 Vd
Vabs := Vabs = 400 V
3 2
==========

Duty ratio o the s ace vector in the p/3 interval:

p -

D :=
3 D = 0.833 Vav := Vabs D Vav = 333.333V
p
============
3

b) The harmonic com onents o the unmodulated ave orm and the su er osed ulse are calculated
se arately and summarized.

To sim li y the calculation let's shi t the origin o the wt axis to p /6! Thus the range variable:
-p
, .001 -
p p
f := ..
6 6 6
 Fundamental component of the unmodulated waveform and fundamental of the pulse: h := 1

6
3 - j h 2
U( h ) := Vabs e d( ) 3 - j h
Upulse ( h ) := Vabs e d( )
-
-
6
2
U( h ) = 381.972 V Upulse ( h ) = 66.582 V

Resulting fundamental component of the modulated waveform:

Umod( h ) := U( h ) - Upulse ( h)
Umod( h ) = 315.39 V
================

5th harmonics of the unmodulated waveform and 5th harmonics of the pulse: h := -5

6
3 V - j h 2
U( h ) := Vabs e d( ) 3 - j h
Upulse ( h ) := Vabs e d( )
-
-
6
2
U( h ) = 76.394 V Upulse ( h ) = 64.571 V

Resulting 5th harmonic component of the modulated waveform:

Umod( h ) = 11.823 V
Umod( h ) := U( h ) - Upulse ( h)
================

7th harmonics of unmodulated waveform and 7th harmonics of pulse: h := 7

6
3 V - j h 2
U( h ) := Vabs e d( ) 3 - j h
Upulse ( h ) := Vabs e d( )
-
-
6
2
U( h ) = -54.567 V
Upulse ( h ) = 62.597 V

Resulting 7th harmonic component of the modulated waveform:

Umod( h ) := U( h ) - Upulse ( h)
Umod( h ) = -117.165 V
===================
 Trajectory of Unbalanced Load 2010.03.29

The output voltage of a three-phase full bridge DC/AC converter is controlled by PWM, the output
filter attenuates the higher harmonics of the output voltage thus they can be neglected. Fundamental
frequency is 50 Hz. Due to unbalanced three-phase load, the output currents are also unbalanced and
described by the following equation:

i = I p e jw t + I n e- j (w t +p / 3)
where: I p = 200 A an d I n = 1 00 A.

a) Calculate the min imum and m aximum of th e ab solute valu e of th e current S V!

b) Calculate the ang le of SV to the real ax is at the minimum and max imum v alues!
c) Plot th e trajecto ry of the time function of the SV!
Solution:
Ip := 200 A In := 100 A f1 := 50 Hz w := 2p f1 rad
s
The ositive and negative sequence SV current time functions:

The is time varied from 0 to 20 ms: t := 0 , .0001 .. 0.02

- j w t+
p
j w t
ip ( t) := Ip e
in ( t) := In e 3
and the resulting trajectory: i( t) := ip ( t) + in ( t)

Plot the SV time functions:

300

225 i

150

in
( )
Im ip( t) 75

Im( in( t) ) 0
i
Im( i( t) )
- 75

- 150

- 225

- 300
- 300 - 225 - 150 - 75 0 75 150 225 300
( ) ( )
Re ip( t) , Re in( t) , Re( i( t) )

The larger diameter of the elli se is inclined by - p/6 com ared to the real axis.