Inverter

Robot and Servo Drive Lab. Drive + Motor

T1 T3 T5
W
Vdc U V

T4 T6 T2

南台科技大學電機工程系
王 明 賢
1
Te 
r
e i
x u ,v , w
x x

Department
p of Electrical Engineering
g g
Southern Taiwan University of Science and Technology 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology

Outline 6-step driving

30 o 60 o 90 o 120 o 150 o 180 o 210 o 240 o 270 o 300 o 330 o 360 o

Phase-U
terminal
voltage
e
U-Hall
sensor

 Drive U-BEMF

U BEMF
U-BEMF

 Modeling Inverter
Phase-V
terminal
voltage e
V-Hall
V Hall
+
 Switching strategy T1 T3 T5
Motor sensor

V-BEMF
V-BEMF

 Torque ripple analysis W Phase-W

terminal
Vdc V voltage e
U
 Reference: Renato Carlson, Michel Lajoie-Mazenc, and W-Hall
sensor
W-BEMF

JJoao C
C. ddos S d “Analysis
S. Fagundes,
F “A l i off Torque
T Ripple
Ri l Due
D tot T4 T6 T2 W-BEMF

Phase Commutation in Brushless dc Machines,” IEEE Trans. _ T1 ON OFF

Industry Applications,
Applications Vol.28,
Vol 28 No.
No 3,
3 pp.
pp 632
632-639
639, May/June T2 ON OFF

T3 ON OFF
1992. T4 OFF ON

T5 OFF ON

T6 ON OFF ON
2017/9/18 2017/9/18 Step1 Step2 Step3 Step4 Step5 Step6
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Output power
Comparison between BLDCM and PMSM
At same stator resistance loss:
2 1
d _ rms Rs  3 I syn _ rms Rs  3( d _ pkk ) Rs  3(
2 2 2
3I dc I dc I syn _ pkk ) 2 Rs
3 2
3
 I dc _ pk  I syn _ pk
2
3
2V pk I dc _ pk 2V pk I syn _ pk
 2  1.1547
V pk I syn _ pk V pk I syn _ pk
3 3
2 2 2

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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Modeling

vu   Rs 0 0  iu   LS LM LM  iu   eu 

v    0    d 
 v  Rs 0   iv    LM LS LM   iv    ev 
dt
vw   0 0 Rs  iw   LM LM LS  iw  ew 
iu  iv  iw  0
LM iv  LM iw  LM iu eu  Ker
LM iu  LM iv  LM iw ev  Ker
LM iu  LM iw  LM iv ew  Ker

 vu   Rs 0 0   iu   LS  LM 0 0   iu   eu 
v    0    d 
 v  Rs 0   iv    0 LS  LM 0   iv    ev 
dt
vw   0 0 Rs  iw   0 0 LS  LM  iw  ew 
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Freewheeling chopping mode-1
v a  i a   a  Lower-arm switching
 v   R i   d   
 b s b
dt  
b

 vc  ic   c 
 
 a   Laa Lab Lac  ia    ( )  U
e
U
    L  i    (  2 ) 

  b ba L bb L bc  b  e
3 

 c   Lca Lcb Lcc  ic  
 (  2 )  V W
 e
3 
d
 ( e )  ea ( e )  E (cos  e t  k 3 cos 3 e t  k 5 cos 5 e t  )
dt Upper
pp ggate-source voltages:
g U-phase,
p , V-phase,
p , and W-phase
p
i , i  a, b, c are the flux linkages of windings a, b, and c. Lxx , x  a, b, c
are the self-inductances of phases a, b, and c, Lxy is the mutual
i d t
inductance,
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andd  is
i the
th magnett flux
fl linkage.
li k 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Switching strategies Lower gate-source voltage

1. Feedback chopping
pp g mode : upper
pp switch and lower switch
are chopping together for 2π/3 interval.
(1) Upper- and lower-arm simultaneously switching U-upper
pp
( ) Upper- and
(2) d lower-arm
l simultaneously
i l l switching
i hi butb
complementarily
2 Freewheeling chopping mode : one switch is chopping the other
2. V W
is always on.
((1)) Lower-arm switching:g the pperiod of current flowingg the upper
pp
switches is longer
(2) Upper-arm switching: Gate-source voltages: U-phase (upper arm), V-phase (lower arm),
and W-phase (lower arm
arm, right).
right)

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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Drain-source voltage Chopped gate-source voltages
Reverse rotation
Lower Lower U ((upper arm))
arm arm Switching on: low voltage
off g
switching
Switching off: high voltage
U
Lower
arm W
off

Drain-source voltages: U-phase (upper arm), V-phase (lower arm),

and W-phase (lower arm).
2017/9/18 2017/9/18 L
Lower arm: ch1:
h1 U phase,
h ch2:
h2 W phase,
h ch3:
h3 v phase
h
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Lower-arm voltage waveforms Drain-source voltages (reverse)

U
on off

V
Ch1: V g gate-source voltage,
g ch2: V drain-source voltageg
T1 on, T6 on, then Vds low.
T1 on, T6 off, then Vds high; for very smaller inductance or faster
speed, as current dies out and motor still rotates, B-emf shows up.
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Lower arm: ch1:
h1 U phase,
h ch2:
h2 W phase,
h ch3:
h3 v phase
h
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Definition of pulsing torque
cogging torque: pulsing torque components generated by the
i t
interaction
ti off the
th rotor
t magnett flux
fl andd angularl variations
i ti in
i the
th
stator magnetic reluctance. By definition, no stator excitation is
involved in cogging torque production.
production
ripple torque: pulsing torque components generated by the interaction
of the stator current magnetomotive forces (mmf’s) and the rotor
electromagnetic properties, which can take two forms:
(a) Mutual or alignment torque: resulting from the interaction of the
mmf’s
f’ with
ith the
th rotor
t magnett flux
fl distribution.
di t ib ti This
Thi isi the
th dominant
d i t
torque production mechanism in most PMAC motors.
(b) Reluctance torque: resulting from the interaction of the current v A   R 0 0  i A   LS  LM 0 0  i A  e A  VN 
v    0    d 
mmf’s with the angular variation in the rotor magnetic reluctance.  B  R 0  i B    0 LS  LM 0  iB   eB   VN 
dt
Surface-magnet PMAC machines generate almost no reluctance vC   0 0 R  iC   0 0 LS  LM  iC  eC  VN 
torque.
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Torque ripple analysis

Renato Carlson, Michel Lajoie-Mazenc, and Joao C. dos S. Fagundes,
Analysis of Torque Ripple Due to Phase Commutation in Brushless
“Analysis
dc Machines,” IEEE Trans. Industry Applications, Vol.28, No. 3,
pp. 632-639, May/June 1992.
The causes of torque ripple coming from the machine are cogging
torque and back emf waveform imperfections, and those coming from
the supply are current ripple (resulting from the PWM or hysteresis
control) and phase current commutation.

There are two levels of current control. The first one determines the
phase sequence and the moment of current commutations from one
phase to the following one. This control is determined from a rotor Commutation sequence: (a) Before commutation (II);
position sensor. The second level controls the current amplitude from (b) commutation with two switches and one diode conducting (III);
machine current's sensing and can be done by PWM or by hysteresis.
2017/9/18 (c) commutation with three diodes conducting; (d) after commutation.20
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Commutation sequence (b) Commutation sequence (c)
This will be done neglecting the winding resistance and considering
that the emf's remain constant during commutation.
 0  R 0 0  i A   LS  LM 0 0  i A  e A  VN 
 SV    0    d 
 d  R 0  i B    0 LS  LM 0  iB   eB   VN 
dt
 0   0 0 R  iC   0 0 LS  LM  iC  eC  VN 
SVd 1  0  R 0 0  i A   LS  LM 0 0  i A  e A  VN 
VN    ei PWM on, S=1; off S=0  0   0    d 
3 3 i  A , B ,C    R 0  i B    0 LS  LM 0  iB   eB   VN 
dt
e A  eB  E , eC   E Vd   0 0 R  iC   0 0 LS  LM  iC  eC  VN 
1
1 e A  eB  E , eC   E V N  (Vd  E )
S  1, VN  (Vd  E ) 3
3
di A  SVd  2 E diB 2 SVd  2 E diC  SVd  4 E di A  Vd  2 E di diC 2(Vd  2 E )
     B 
d
dt 3( LS  LM ) d
dt 3( LS  LM ) d
dt 3( LS  LM ) dt 3( LS  LM ) dt dt 3( LS  LM )
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Commutation sequence (d)

For this analysis, a very small hysteresis band is considered, the

currentt through
th h the
th winding
i di off the
th machine
hi between
b t commutations
t ti
is supposed constant and equal to I.
Taking the beginning of the commutation as the time origin, the
phase currents are given by

i A (0)  I , iB (0)  0, iC (0)   I

e A  eB  E , eC   E VN  Vd / 2
 Vd  2 E
i A (t )  tI
3( LS  LM ) diB di Vd  22E
E
 C 
2Vd  2 E dt dt 2( LS  LM )
i B (t )  t
3( LS  LM )
 Vd  4 E
iC (t )  tI
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Analysis of Commutation Analysis of Commutation
Case a) Current i A vanishes at the same time the current iB reaches Case c) Current iB reaches the value I before current i A vanishes: the
i final
its fi l value
l I: the
h next sequence is i then
h that
h off (d),
(d) andd next sequence is
i in
i this
hi case that
h off (c),
( ) where
h S3 andd S2
the commutation is finished. are switched off, and three diodes conduct until i A vanishes.
3( LS  LM ) I 3( LS  LM ) I
i A (t f )  0  t f  iB (t f )  I  t f 
Vd  2 E 2(Vd  E )
3( LS  LM ) I di A i A (t f )  I V  2E
i B (t f )  I  t f    d
2(Vd  E ) dt t f 3( LS  LM )
(V  4 E ) I
( L S  LM ) I i A (t f )  d
Vd  4 E , t f  2(Vd  E )
2E iB (t f )  I , i A (t f )  0  Vd  4 E
di A 0  i A (t f ) V  2E 3( LS  LM ) I
  d tf 
dt t f  t f 3( Ls  LM ) Vd  2 E
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Analysis of Commutation Torque During Commutation

Case b) Current i A vanishes before current iB reaches its final value: 2 EI
Te 
the next sequence is also that of (d), but in this case, the 
commutation will be achieved only when current iB will For sequence Fig. (b): e A  eB  E , eC   E
reach the final value I. 3( LS  LM ) I 1 2E 2E Vd  4 E
i A (t f )  0  t f  Te  E A  Ei
( Ei E B  Ei
E C)   iC Te  (I  t)
Vd  2 E    3( LS  LM )
2(Vd  E ) I
iB (t f )  Vd  4E (case a) : torque
o que remains
e a s coconstant
sa
Vd  2 E
iB (t f )  I  Vd  4 E Vd  4 E (case b) : torque decrease
2 EI V  4E V  4E
Fig. (d): Te (t f )  (1  d ) Te  d ( pu )
 Vd  2 E Vd  2 E
2(Vd  E ) I
diB iB (t f )  iB (t f )
I
Vd  2 E Vd  2 E ( LS  LM ) I Vd  4
4EE (case c) : torque increase
   tf 
dt t f  t f 3( L  L ) I 2( LS  LM ) Vd  2 E 2 EI Vd  4 E V  4E
tf  Te (t f )  (1  ) Te  d
S M

Vd  2 E
( pu )
 2(Vd  E ) 2(Vd  E )
 t 
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f  / 3 : phase current does not reach the reference current I. 26
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology
 Theoretical results

In low speed range,

range the effect on
commutation on torque is not
sensible because its duration is
low. The effect of commutation
in the high-speed range becomes
i
important
t t because
b both
b th the
th
Relative torque ripple amplitude and Experimental
duration of commutation and
its duration results
 tf   /3
the torque ripple amplitude
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increases as speed increases. 29 2017/9/18
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Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology Southern Taiwan University of Science and Technology

Simulation
Si l i
results
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Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and Technology