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BLDC Motor Modelling and Control - A Matlab Implementation
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BLDC Motor Modelling and Control - A Matlab Implementation
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Manoj SinghCopyright:
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BLDC Motor Modelling and Control – A Matlab®/Simulink®
Implementation
– Master Thesis work by Stefán Baldursson –
May, 2005
Institutionen för Energi och Miljö
International masters program in Electric Power Engineering
CHALMERS TEKNISKA HÖGSKOLA
Göteborg, Sverige, 2005
Examinator: Torbjörn Thiringer
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v12 = −Vs
i3 6= 0 ⇒ v23 = 0
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v12 = −Vs
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v31 = 12 (Vs − e1 − e2 + 2e3 )
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ats7npia9
u12 = v12 − (e1 − e2 ) = Vs − e 1 + e2
i3 6= 0 ⇒ u23 = v23 − (e2 − e3 ) = −e2 + e3
u31 = v31 − (e3 − e1 ) = −Vs − e3 + e1
u12 = v12 − (e1 − e2 ) =
Vs − e 1 + e2
1
i3 = 0 ⇒ u23 = v23 − (e2 − e3 ) = 2
(−Vs + e1 − e2 )
1
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(−Vs + e1 − e2 )
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u12 = v12 − (e1 − e2 ) = −Vs − e1 + e2
6 0 ⇒ u23 = v23 − (e2 − e3 ) =
i3 = −e2 + e3
u31 = v31 − (e3 − e1 ) = Vs − e 3 + e1
u12 = v12 − (e1 − e2 ) =
−Vs − e1 + e2
1
i3 = 0 ⇒ u23 = v23 − (e2 − e3 ) = 2
(Vs + e1 − e2 )
1
u31 = v31 − (e3 − e1 ) = 2
(Vs + e1 − e2 )
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c q{aù ¤ ¥H\Hl¨a9ehgva9enp gjb g¨npq{g©czpa9
\q¸¤\lzVq{a Tw{na« eveha9lmg vab − eab vbc − ebc
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0◦ − 60◦ 1
ic = 0 Vs − e a + eb 2
(−V s + ea − e b )
ib 6= 0 −ea + eb Vs − e b + e c
60◦ − 120◦ 1 1
ib = 0 2
(Vs − ea + ec ) 2
(Vs − ea + ec )
ia 6= 0 −Vs − ea + eb Vs − e b + e c
120◦ − 180◦ 1
ia = 0 2
(−Vs + eb − ec ) Vs − e b + ec
ic 6= 0 −Vs − ea + eb −eb + ec
180◦ − 240◦ 1
ic = 0 −Vs − ea + eb 2
(V s + ea − e b )
ib 6= 0 −ea + eb −Vs − eb + ec
240◦ − 300◦ 1 1
ib = 0 2
(−Vs − ea + ec ) 2
(−Vs − ea + ec )
ia 6= 0 Vs − e a + eb −Vs − eb + ec
300◦ − 360◦ 1
ia = 0 2
(Vs + eb − ec ) −Vs − eb + ec
ð
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A C C B
B A
D2 D3 D6 D5 D2 D3
Vs Vs
0o - 60o 60o - 120o
B A A C
C B
D4 D5 D2 D1 D4 D5
Vs Vs
120o - 180o 180o - 240o
C B B A
A C
D6 D1 D4 D3 D6 D1
Vs Vs
240o - 300o 300o - 360o
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Z Z
i1 i3 i1 i3
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− vd1 +
e2
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e2
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2 2
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(a) (b)
Fw{zp evaù ¤rö9÷H# agHy ns7wrevs7 w¬ggjnpb
nVq{nVzpw{a9To¯evnpi ´¥zp evaù ¤röt
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\q¸¤\lzVq{a Tw{na« eveha9lmg vab − eab vbc − ebc
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1
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0◦ − 60◦ 1
2
ia = 0, ic 6= 0 2
(−V s + eb − e c ) Vs − e b + ec
ia = 0, ic = 0 0 0
ic 6= 0, ib 6= 0 −Vs − ea + eb −eb + ec
1 1
ic 6= 0, ib = 0 (−V s − e a + ec ) (−V s − e a + ec )
60◦ − 120◦ 2 2
1
ic = 0, ib 6= 0 −Vs − ea + eb 2
(Vs + ea − eb )
ic = 0, ib = 0 0 0
ib 6= 0, ia 6= 0 −ea + eb −Vs − eb + ec
1
ib 6= 0, ia = 0 (Vs + eb − ec ) −Vs − eb + ec
120◦ − 180◦ 1
2
1
ib = 0, ia 6= 0 2
(−V s − e a + ec ) 2
(−V s − e a + ec )
ib = 0, ia = 0 0 0
ia 6= 0, ic 6= 0 Vs − e a + eb −Vs − eb + ec
1
ia 6= 0, ic = 0 Vs − e a + eb (−V s + ea − e b )
180◦ − 240◦ 1
2
ia = 0, ic 6= 0 2
(Vs − eb + ec ) −Vs − eb + ec
ia = 0, ic = 0 0 0
ic 6= 0, ib 6= 0 Vs − e a + eb −eb + ec
1 1
ic 6= 0, ib = 0 (Vs − ea + ec ) (Vs − ea + ec )
240◦ − 300◦ 2
1
2
ic = 0, ib 6= 0 Vs − e a + eb 2
(−V s + ea − e b )
ic = 0, ib = 0 0 0
ib 6= 0, ia 6= 0 −ea + eb Vs − e b + e c
1
ib 6= 0, ia = 0 (−V s + eb − e c ) Vs − e b + ec
300◦ − 360◦ 2
1 1
ib = 0, ia 6= 0 2
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A C C B
B A D3
D2 D6
D2 Vs
0o - 60o 60o - 120o
B A A C
C B D5
D4 D2
D4 Vs
120o - 180o 180o - 240o
C B B A
A C D1
D6 D4
D6 Vs
240o - 300o 300o - 360o
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2 b
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1 1
ia 6= 0, ib = 0 (−ea + ec ) (−ea + ec )
60◦ − 120◦ 1
2 2
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ia = 0, ib = 0 0 0
ib 6= 0, ia 6= 0 −ea + eb −eb + ec
1
ib 6= 0, ia = 0 (e − ec )
2 b
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ib = 0, ia = 0 0 0
ib 6= 0, ic 6= 0 −ea + eb −Vs − eb + ec
1
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2 a
180◦ − 240◦ 1 1
ib = 0, ic 6= 0 2
(−Vs − ea + ec ) 2
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ib = 0, ic = 0 0 0
ic 6= 0, ib 6= 0 −ea + eb −eb + ec
1 1
ic 6= 0, ib = 0 (−e a + ec ) (−e a + ec )
240◦ − 300◦ 2 2
1
ic = 0, ib 6= 0 −ea + eb (e − eb )
2 a
ic = 0, ib = 0 0 0
ic 6= 0, ia 6= 0 Vs − e a + eb −eb + ec
1
ic 6= 0, ia = 0 (e − ec )
2 b
−eb + ec
300◦ − 360◦ 1
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ic = 0, ia = 0 0 0
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4
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3.5
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2.5
1.5
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0.5
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0.2
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0.28
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x 10
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a9at>b q{npg
0.5
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s7nVlgjevnpq{qra9e
cl¥gj anp gjb g
npogv as7nplmgjehnVq{q{a9e
w{ s7npibdcfevat4gvn@cgjevw¾cfl zV q¾cfeyct¨VaV¤Z$ anp gjb g npoµgv as7npibdcfe©c½gjnpewr c1wrzpnpe
q{ny vwrzpldcfq¼yT wrs©Âva9eh¨a7cfTcks© npb b w{l zvwrzpldcfq®onpe$gj aw{lm¨a7ehgja9e9¤
|u|
Signal Abs1
Generator
Vs
Constant
Position
Firing Signals Firing Signals
Iref >= Position
chop
Vs uab,ubc uab,ubc
i
Iref step Control block Vs Vs iabc
Relational
Current controller Operator
DC source Inverter block BLDC motor block
voltage
Idc
1/2 |u|
Gain Abs
wrzp eva1¤Ã~Hx
Õgjnpej¶m as7nVlgjevnpq®h³hgja9i
as7 eheva9lmgs7nVlgjevnpq{qra9e$wrTckx#s7nVlgjevnpq{qra9eTcfl¥>w¬gja7jw{zplw{dcfvat>nVlc@s7 eheva9lmg
s7nplmgjehnVq{q{a9eonVe1c> s@ingjnpeb eha9va9lmgjat§wrl¡CúûGEª¤k a4a9vw{zVlºhgcfehgvm³¦va9qra9sugjw{l z|c
a9vw{evatevw{vagvwrika t onpegj as7 eheva9lmgt¤\
evnpi gjdc½gc1s7nVlvg©clg α wr a7gja7eviw{l at
cf re e
αe =
ln 9 ¡¸¤ø£
tre
cfl¥ gj as7nplmgjehnVq{q{a9ebdcejciaugja9evo¯nVq{q{ny cf
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ù
kp = αe L
¡¸¤ú÷m£
ki = αe R.
¡¸¤ ù £
aja7qratsgjatÂehwrvagvwriawr 0.1 ms
y w¾sj³w{a9qr
kp = 2.00 · 103
ki = 2.75 · 105
a4sunVlmgvevnpqrq{a9e1cq{vn va9dcs©²Hstcfqrs7 q¯c½gjw{nplºgjn>b eva7¨Va9lmgw{lmgja9zpe©c½gjnpeyTw{l¥ b¡¢va9a
CúûGE¢£cfl¥dcf>cK¨VnVq¬gcfzVa©cfgv e©c½gjw{nVl q{nsj²Úgjdc½gq{wrikw{gvgj a|a9i4cl¥at¨npq{g©czpa
gjn ±6 V vn>gjdc½ggv a4s7npibdcehw{jnpl§yTw¬gj§gj akgvevw¾cl zp q¾ceyc9¨a@yw{qrq#zpw¬¨a4s7npeveva9sug
eva7j q¬gjt¤Â
wrzp eva ¤rö9v ntyT1gv aa9q{atsugjehw¾s9cqgvnVev¶m aV¤Â$ a4eva9oa7eva9l¥s7a4gvnVev¶m a cfl¥
gj aq{nmcºhgja7b)w{1hgjw{q{q 0.2 mN m ggj akgjnpej¶ a ¤¥ ¥sgj dc½gjw{nVl)w{1q¾cfevzpa9egvdclºw{l
gj aTm³hgja7eva9vw{$s7nplmgvevnpq~¤Z$ aehacfjnplonpegv wrw{gjdc½ggv aa9q{atsugjehw¾s9cq¼³ldcfiwrs7$ceha
¨a9e ³ o cfhgTsunVibdcfeva9 yw{gv>gj a yw{gjs© w{l zoevat¶ a9l¥su³¤
0.5
0.45
0.4
0.35
0.3
T (mNm)
0.25
e
0.2
0.15
0.1
0.05
0
0 0.05 0.1 0.15 0.2 0.25 0.3
t (s)
w{zV eha=¤rö9H#\q{atsugjehw¾stcfqµgjnpej¶m aw{lÂbyi gvnVej¶ as7nplmgjevnpq®auÝb nVvat gjn4c@q{nmchgja9b
wr«s9cl· ava9a9l)m³ºs7nVikbdcehwrl zgj a4b dcfjas7 eveva7lmgj=w{l)´¥zp eva9@¤rötcfl¥ ¤ ù¥¤
as© npb b w{l z@l ng©s© a9 zpn«i« ¥s© a9a9b a9ewrlgj abyiØjs© a9iap¤Z wrzp a9e yw{gjs©
w{l z>oevat¶ a9l¥su³yw{qrqZb evn ¥s7akq{a9v¨pcehw¯c½gjw{nVl§wrlKs7 eveha9lmg1cfl¥¦gv a9eva9o¯nVeva@vin ngj a7e
gjnpej¶ aV¤Z$ aevngjnpevb a9at4w{v nylw{l´¥zV eha¤röpöcl¥w{gonpq{qrntyTgv aT©cfiaTs7 eh¨Va
cf$gj avb a9atÂw{l>gj am³ vgva9eva9vw{s7nVlgjevnpq®jsj a9iaV¤
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ù¥ö
4
x 10
5
4.5
3.5
3
Mech. speed (rpm)
2.5
1.5
0.5
0
0 0.05 0.1 0.15 0.2 0.25 0.3
t(s)
w{zV eva=¤röpö(H$npgvnVe$vb
a9atÂw{lÂbyTißgjnpej¶m as7nVlmgvevnpq®auÝb
npvat>gvnc«qrncvgva9b
0.5
ia (A)
−0.5
0 0.05 0.1 0.15 0.2 0.25 0.3
0.5
ib (A)
−0.5
0 0.05 0.1 0.15 0.2 0.25 0.3
0.5
ic (A)
−0.5
0 0.05 0.1 0.15 0.2 0.25 0.3
t (s)
wrzp eha=¤röt~HxZdcvas7 eheva9lmgvwrlÂbyi gvnVev¶m as7nplmgjehnVqµauÝb
nVvat gjn4c@q{nmchgja9b
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ùm
ÓwðaÓ{ð M W Y®Y Ø [R E ò[ G
a bVyTi vb a9at«s7nplmgjevnpqh³hgja9iQw{Zv ntyTl«w{l«´¥zp eha¤rö9÷ ¤F a s7 eveha9lmg\s7nplmgjehnVq{q{a9e
w{gj a«©cfiakcf a9onpeva« gc x\$vb a9at¦s7nVlgjevnpq{qra9e¥c a9a9lKc atµ¤$ a«vb a9at
s7nplmgjehnVq{q{a9ebdcfe©cfia7gja9ehcehaka9evw¬¨at¦ vw{l z>vwrikwrq¾cfeevacfvnVl w{l zco¯nVegj aks7 eheva9lmg
s7nplmgjehnVq{q{a9ebdcejcika7gja9ehwrº
l CúGû Eª¤\$ abdcfe©cfia7gva9evTcfevastcfq¾su q¯c½gjatcf
kp = αω J
¡¸¤ø£
ki = αω kf
¡¸¤úûm£
cfl¥ a7b
a9l¥nplkgj aa9jw{eva9kevw{ja gjw{ianpo
gv avb
a9at¼¤\ eva7a$¨Vcfq{ a9npo yTw{q{q
agvevαw{atω a9evap¤ a´¥evhg¨pcq{ aic²pa9gj ajb
a9a9sunVlmgvevnpq
cfo cfhgcfgv a1s7α ωeheva9lmg
s7nplmgjehnVq¸ gj avats7npl¥ic²pa9 w{g l¥eva9gvwrika9 jq{nty$a7ecl¥gv aq¯cfhg ¨pcq{ a9 ic²pa9
w¬ggva9l>gjw{ia9vqrnty a9et¤
|u|
Signal Abs1
Generator
Vs
Constant
Position
wm ref
Firing Signals Firing Signals Position
I ref Iref >=
wm chop
wm step Vs uab,ubc uab,ubc wm
i
Speed Control block Vs Vs
Relational iabc
controller Current controller Operator
DC source Inverter block BLDC motor block
voltage
Idc
1/2 |u|
Gain Abs
wrzp eva1¤{öt÷~Hx
Ívb
a9atsunVlmgvevnpq®h³hgja7i
a7ghgjw{l z αω = αe
zVw¬a7gv aonpqrq{ntyTw{l zbdcejciaugja9ev&H
kp = 1.10 · 10−5
ki = 3.03 · 10−4
aeha9oa9eha9l¥s7avb
a9at§wr 20,000 rpm c
a9onpevaV¤
w{zV eva¤rö7ùÂv ntyTgjdc½ggj a7ja
s7nplmgjehnVq bdcfe©cfia7gva9evFb ehn ¥suacji4cq{q n½¨Va9evv nmnpgFw{l«vb
a9at@cl¥gj a9eha$cfqrvncbb
aceh
gjn
a#jnpia#hgvacp³hg©cfgvaa7evevnpet¤/
w{zV eha9F¤{öcl¥1¤rö9ûv nty·gj a#a9q{atsugvevwrstcqVgjnpej¶ a
cfl¥gj aTb ¥cvas7 eveha9lmgv¤Z aTbyiØ gH³4su³s7qraTw{ö9p ? lmgjw{qdgv aTvb
a9at4evacs© a9
gj akeva9oa7eva9l¥s7ak¨Vcfq{ aV¤$ ab dcfvas7 eveva9lgjj nty gvdc½g1w¬ggcf²Va9npl q{³ºcf
nV g1npl a
evngjnpeeha7¨npq{ gjw{nVl>gjnkevacs©Âhgjac³ hgc½gjaV¤
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ù÷
4
x 10
2.5
1.5
Mech. speed (rpm)
0.5
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t(s) −3
x 10
w{zV eha=¤rö7ùH$npgvnVe$jb
a7atÂw{lbVyTi vb
a9ats7nplmgvevnpq/cfgl nq{ncpº¡ α = αe
£
ω
0.7
0.6
0.5
0.4
Te (mNm)
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) x 10
−3
w{zV eha=¤röt~H#\q{atsugjehw¾stcfqµgjnpej¶m aw{lÂbyi vb
a9atsunVlmgvevnpq/c½gl nq{ncpº¡ α = αe
£
ω
a7ghgjw{l z α = 0.01α eva9v q¬gj@wrlc|i= ¥s©vqrnty a9e@eha9jb npl vacf@j ntylwrl ´¥zp eva
¤rö¤# aωs7nplmgjehnVq{q{a9eebdcejciaugja9evTcfeval nty
kp = 1.10 · 10−7
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ùVù
0.5
i (A)
0
a
−0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.5
i (A) 0
b
−0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.4
0.2
i (A)
0
c
−0.2
−0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) −3
x 10
wrzp eva1¤{ötû~HxZdcvas7 eveha9lmgvw{lÂbyi vb
a9atÂs7nVlgjevnpq/c½gl nkqrnc)¡ α = αe
£
ω
ki = 3.03 · 10−6
a9evaw{@l n¦n¨Va9evv n ng@ a9eva g«gv avgvacp ³·hg©cfgvaa9evevnpe«eha9icfwrl t¤¦=´¥zp eva9
¤rö9ÿcl¥¤röjny1 gj abyTi nVb
a9ejcfgvwrnpl
a9zpwrl Tevw{zpmgc½ggj ahgcfehgTw{lnVeva9egjn
vq{ny nyl>gj aehwrvanpo/gj avb
a9atµ¤
`jw{l z w{$gjnmno cfvgTcfl¥ w{vq{ny1 vn wr vat
a9eha1cTcksuαnVωi=b ehαnVeikwrvaV¤# aeva7j q¬gjw{αl ωz4=s7nplm0.01α
gjehnVqµbde cejcika7gja9ehTcαevaω = 0.1αe
kp = 1.10 · 10−6
ki = 3.03 · 10−5
wrzp ehak¤ v ntyTTgjdc½ggv a9va=bdcejciaugja9evzpw{¨Va«
augvgja9eTeva9v q¬gjt¤$a9eva@cbb
aceh
gjn
al nn¨a9ehv n ng= g1gj a9ehaw{@c>ji4cq{qhgjac³Kvg©cfgva4a9evevnpet¤Â`vw{l z¦cÂq{nVl zpa9e
vw{i« q¾cfgvwrnplgjw{iaeva7¨Vacfqrgvdcfggja9eva1w{ckvicfqrqn¨a9ehv n ngcfl¥Âgv a1hgjac³Âhgc½gja
a9ehevnVe
ats7npia91ji4cq{q{a9egj¥clºgv a4a9evehnVeva9a9l)w{l)´¥zp eva¤ ¤>
w{zV eha9@¤ öcfl¥
¤ p@v nty gv aa9qra9sugjevwrsgjnVev¶m a1cfl¥ gj ab dcfva1s7 eheva9lgjeva9vb
atsugjw¬¨a7q{³¤
Fw{zp eva$¤ ÷Tj ntyF ntygj ah³hgja9iQehacpsgj
gvncq¯cfevzpaq{nmc=hgja9b=npo 0.23 mN m
y w¾sj=wr/gv aicÝw{i« iQs7nplmgvwrl np
qrncgjdc½gZstcfl=
a cfb b q{wratgjngjaingjnpet¤
a
vb
a9atÂevnpbw{s7npl jwra9ejc q{aV¤
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ùm
14000
12000
10000
Mech. speed (rpm)
8000
6000
4000
2000
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t(s) x 10
−3
w{zV eva=¤rö-H$npgvnVe$vba7atÂw{lbVyTi vb
a9ats7nplmgvevnpq/cfgl nq{ncpº¡ α = 0.01αe
£
ω
0.45
0.4
0.35
0.3
0.25
Te (mNm)
0.2
0.15
0.1
0.05
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) −3
x 10
wrzp eha¤rö9ÿH#Zqratsgjevw¾cfq¼gvnVev¶m awrl byTißvb a9at s7nplmgjehnVq®c½g$l n@q{nmcK¡ α = 0.01αe
£
ω
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ùû
0.4
0.2
i (A)
0
a
−0.2
−0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.4
0.2
i (A)
0
b
−0.2
−0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.1
0
i (A)
−0.1
c
−0.2
−0.3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) x 10
−3
wrzp eva1¤röHxZdcvas7 eheva9lmgvwrlÂbyi vb a9atÂs7nVlgjevnpq/c½gl nkqrnc)¡ α = 0.01αe
£
ω
4
x 10
2.5
1.5
Mech. speed (rpm)
0.5
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t(s) −3
x 10
w{zV eha=¤ H#ngjnpe$jb
a9a9Âw{lbVyTi vb
a9atÂs7nplmgjehnVqcfgl nq{nmc)¡ α = 0.1αe
£
ω
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ù-
0.7
0.6
0.5
0.4
Te (mNm)
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) −3
x 10
wrzp eha1¤ ö(H\q{atsugvevwrstcfq¼gjnpej¶m aw{l>byi vb a9at>s7nVlgjevnpqc½gl n@q{nmcK¡ α = 0.1αe
£
ω
0.5
i (A)
0
a
−0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.5
i (A)
0
b
−0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
−3
x 10
0.4
0.2
i (A)
0
c
−0.2
−0.4
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s) x 10
−3
wrzp eva1¤øV¥HxZdcvas7 eveha9lmgjw{lÂbyTi vb
a9atÂs7nVlmgvevnpq/c½gl nq{ncpº¡ α = 0.1αe
£
ω
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ùÿ
4
x 10
2.5
1.5
Mech. speed (rpm)
0.5
0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
t(s)
wrzp eha¤øp÷~HZngjnpe#vb
a9atwrlbyi vb
a9at4sunVlmgvevnpqc½gic½Ýwri= i'q{nmcvgva9b¡ α =
0.1α
£ ω
e
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ù
ÓwðaÓßö [ N E N![R [R E ò[ G
ab npvw¬gjw{nVlsunVlmgvevnpqrq{a9e$wrcfl npgv a9ex#s7nplmgjevnpq{qra7eTcfv ntylÂw{l ´¥zV eha¤øù ¤# a
7s nplmgjehnVq{q{a9estcfll npgT a¨a9e ³Âo¢chgT atstcf va1wro\cfln¨a9ehv n ngTns9s7 eht¥gj anpl q¬³ yct³
gjn«zpn@s7q{nVva9e nylgvn=gj aeha9oa9eha9l¥s7acfl zVq{aTy nV qr agjn«eha7¨a9ehjaTgj aevngjnpejb a7atµ¤
wr« qr singjnpe«ikna9qnma9@l ng@v b b npehg«jb a7at eha7¨a9eh©cq¸¤¦$ as7nVlgjevnpq{qra9e«w{
gj a7eva9onpevai4cpavq{nygjnkb eva7¨Va9lmgcflÂn½¨Va9evv nmnpgt¤
|u|
Signal Abs1
Generator
Vs
Constant
thetam ref
Position
wm ref wm ref
thetam Firing Signals Firing Signals Position
thetam step I ref Iref >=
wm chop thetam
Position Vs uab,ubc uab,ubc
i wm
controller Speed Control block Vs Vs
Relational iabc
controller Current controller Operator
DC source Inverter block BLDC motor block
voltage
Idc
1/2 |u|
Gain Abs
Fw{zp eva1¤øùHx
Íb
nVvw¬gjw{npls7nplmgjehnVqµv³ vgva9i
as7nplmgjehnVq{q{a9e#bdcfe©cfia7gva9ev\ vatk a9ehaTcfeva$nVgcw{l atk³@ vw{l zgj a gjevw¾cfqdcl ka9evehnVe
ia7gv nµ¤#`vw{l z
kp = 6.59
cfl¥ ki = 9.10 · 10−8
zpw{¨Va9/gv azVnmn1eha9v q¬gjt¤
Fw{zp eva¤øVv nty/gjaevngjnpeFclzVq{a c½g
l nTq{ncpnVb
a9ejcfgvwrnpl®¤
aeha9oa9eha9l¥s7acfl zpqraw{ 3600◦ ¤\ aa7evevnpew{ npl q¬³ coe©csugvwrnpl npo/c=a7zVeva7aV¤\
wrzp eva
¤ û1v nygv a©cfiagj w{l zyT a7lgj aTicÝw{i« iØs7nplmgvwrl nV q{ncp¦¡ £
w{cfb b q{w{atcfg$gj ahg©cehgt¤# aeva9v q¬gjTcfevawra9lmgvw¾stcfq¼yTw¬gjÂb e©csugjwrstcfq{q{³ 0.23
¿9a9evnkmN
a9evevnpmet¤
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ p
4000
3500
3000
2500
θm (deg)
2000
1500
1000
500
0
0 0.5 1 1.5
t(s)
wrzp eva1¤ p~H#ngjnpeTcfl zpqrawrlÂbyi b
npvw¬gjw{nVls7nplmgvevnpq/c½gl nkqrncp
4000
3500
3000
2500
θm (deg)
2000
1500
1000
500
0
0 0.5 1 1.5
t(s)
wrzp eva1¤øpû~H$ngjnpeTcfl zVq{awrlÂbyi b
npjw¬gjw{npls7nplmgjehnVqcfgicÝw{i« i qrnc
KMLONQPSR TVU,Y Ka_a\^R U¹_¸ ö
v« <10
87<Â675+(¹*¥&)89: -=6./<1;15 *?-=:«./0
-=6
`vw{l z§c>¨pcehw¯cf q{a s¨VnVq¬gcfzVavnp ejs7a4gjn|s7nplmgjehnVq#gj acb b q{w{at)¨npq¬gcfzVastcfl·dct¨Va
vnVikac¨pclmg©czpa9$n¨Va9egv agHy n«ia7gv n b eha7¨w{nV vq¬³wrjs7 vvatµ¤Z q{wrl acfe b
nty$a7e
hgcfzVaTwr s© acfb
a9egjdcfl>c1b qrvatb
ny a9evg©czpa@¡ byi£\ ggj aq{nVvva9 stcl
a wrzp
c½g$q{ny ¨npq¬gcfzVacl¥ w{zVÂs7 eheva9lÊ
g C¬ö$ Eª¤\ny a7¨Va9et c½g$ wrzp>vb
a9atµ¥c=q{w{l acfe$b
nty$a7e
hgcfzVastcfl
a>gj aÂ
a9hgcfq{gva9evldc½gjw¬¨a yT a7lÓ yw{gjs© w{l zºq{nVvva9cfl¥s7npii« g©cfgjw{npl
a9q¾c9³>npoZc«b q{jat>b
nty$a9e$vg©czpa
ats7npiavw{zpl w{´ds9clm g C{ö9d÷ E~¤
Ó{öjÓ]Ô Õ [»ò
$P Y [R E ò[ G
agjnpej¶m as7nplmgjevnpq{qra7e ja9 a9evaw{FÛ! hg qrw{²Vagv anVl a jatonpegjabyTißs7nplmgjehnVq
auÝ s7a7bg$gjdc½g$gj anp gjb g ¨nVq¬g©czpaw{$q{wriw¬gja9 gjnkfHû=}@¤ ax#s7npl vg©clgjTcfevagv a
©cika¦cfl¥Úgj aeva9o¯a9eva9l¥suagjnpej¶m aw{4gj a©cfiaV¤
w{zV eha¦¤ §v ny4gjaÂy npqra
h³hgja9i¤
Position Firing Signals Firing Signals
Position
Iref uab,ubc uab,ubc
Vs
Control block Vs idc
i
Iref step
Current controller Inverter block BLDC motor block
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Position Firing Signals Firing Signals Position
wm ref
I ref Iref uab,ubc uab,ubc wm
wm
Vs
Control block Vs
wm step i idc
Speed
controller Current controller Inverter block BLDC motor block
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0.5
0.4
0.3
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12000
10000
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8000
6000
4000
2000
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0.4
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2.5
1.5
Mech. speed (rpm)
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0
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t(s) −3
x 10
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0.6
0.5
0.4
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0.2
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thetam ref
Position Firing Signals Firing Signals Position
wm ref wm ref
thetam thetam
thetam step I ref Iref uab,ubc uab,ubc
wm
Vs
Control block Vs
wm
Position i idc
controller Speed
controller Current controller Inverter block BLDC motor block
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1500
1000
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1500
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