Dr.

Duy-Dinh Nguyen
Dept. of IA, School of EE
Dr. Duy-Dinh Nguyen
Dept. of IA, School of EE
 Outlines
• Brief history (lược sử)
• Construction & Classification (cấu tạo & Phân loại)
• Working principle (Nguyên lý làm việc)
• Modeling (Mô hình hóa)
• Mechanical characteristics (đặc tính cơ)
• Start-up (vấn đề khởi động)
• Brake (vấn đề hãm)
• Speed control (điều khiển tốc độ)

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 Brife history of SMs
1838 1888 1950s 1990s
Invention of DCM AC motors was High power Space Vector
by Moritz Jacobi invented by Nikola converter, scalar Control became
Tesla control industrial standard

Synchronism was Completion and Microcontroller,

founded by Henry promotion of SM by DSP, Modern control
Wilde Truman Hibbard theory

1869 1920s 1960s

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 Construction & Classification
Permanent Magnet Stator
(stationary part) (stationary part)

Armature Squirrel-cage Rotor

(Rotating part) (Rotating part)
DC motors Induction motors

Stator

Rotor

Surface mounted PMSM Interior PMSM Switched reluctance motors

or SPM or IPM or SRM
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 Working principle
• Torque = interaction between Stator flux and Rotor flux

• Rotor’s flux is generated by PM

 always sync. to Stator’s flux
• Rotor’s inertia  starting problem?
• BEMF  high speed operation?

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 Disadvantanges
• Self-stating problem
• Due to high inertia of rotor
• Sync. speed must be increased gradually

• Solution: integration of Squirrel Cage

• Self-starting as an IM
• Excitation starts at near Sync. Speed
• At Sync. Speed  the Cage induces zero
torque
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 Disadvantanges
• Self-stating problem
• Due to high inertia of rotor
• Sync. speed must be increased gradually

• Solution:
Use VSI to increase the frequency
gradually
Use vector control: FOC or DTC

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 Advantanges
• Higher efficiency than IMs
• NO copper loss
• NO excitation loss
• Brushless
• High torque
• High speed

[*] [Link]
motors-fuji/

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 Advantanges
• Higher efficiency than IM

[*] Demmelmayr, F., Troyer, M. and Schroedl, M., 2011, November. Advantages of PM-machines compared to induction machines in terms of efficiency and sensorless control in traction applications. In IECON 2011-37th
Annual Conference of the IEEE Industrial Electronics Society (pp. 2762-2768). IEEE.

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 Modeling in SRF
• SRF = Synchronous Rotation Frame S
S q
q
S
d d
S N N N

• On SRF, projection of vectors are DC

• Electric Torque:

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 Modeling in SRF
• SRF = Synchronous Rotation Frame
S
q q

S S
d d
N N N N S

S S

• Magnetic path is the same for two alignment cases of SPM

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 Modeling in SRF
• SRF = Synchronous Rotation Frame
Ns
q q

d d
Ns

• Magnetic path is different in two alignment cases of IPM

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 Field-Oriented Control of SPM
• Control system diagram
𝑖𝑑∗ + 𝑉𝑑 𝑉𝑎∗
𝑅𝑖 dq
- 𝑉𝑏∗
𝜔∗ + 𝑖𝑞∗
+
𝑖𝑑
𝑉𝑞
𝑉𝑐∗
PWM M Load
𝑅𝜔 𝑅𝑖 abc
- -
𝑖𝑞
𝜃𝑠 Encoder
𝑖𝑑 𝑖𝑎 output
dq
𝑖𝑞 𝑖𝑏
𝑖𝑐
abc
𝜃𝑠
Signal
𝜔 Processing

• Similar to FOC of IMs

• Set point for is zero  flux is generated by PM
• Above base speed  is negative  field weakening
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 Direct Torque Control of BLDC
• Control system diagram

• Similar to DTC of IMs

• NO flux control loop  flux is built up by PM
• Vectors of BLDC are different from that of IMs
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 Field-Oriented Control of IPMSM
• Torque:

Magnetic Torque: Reluctance Torque

• 
 Higher output torque

• 
 More copper loss

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 Field-Oriented Control of IPMSM
• Torque:

Magnetic Torque: Reluctance Torque

• Maximum torque for a

given stator current?
• Tracking the optimum
current trajectory?
• Maximum-Torque-per-
Ampere
 MTPA algorithm

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 Field-Oriented Control of IPMSM
• Control system diagram
𝑖𝑑∗ + 𝑉𝑑 𝑉𝑎∗
MTPA 𝑅𝑖
- dq
𝑉𝑏∗
𝜔∗ + 𝑖𝑞∗ +
𝑖𝑑
𝑉𝑞
𝑉𝑐∗
PWM M Load
𝑅𝜔 𝑅𝑖 abc
- -
𝑖𝑞
𝜃𝑠 Encoder
𝑖𝑑 𝑖𝑎 output
dq
𝑖𝑞 𝑖𝑏
𝑖𝑐
abc

𝜔 𝑑 𝜃𝑠 Signal
𝑑𝑡 Processing

• Similar to FOC of IMs and SPM

• Set point for is calculated by MTPA algorithm

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 Construction & Classification
• DC Motors versus BLDC motors

DC motor BLDC motor

• DC supplied • DC supplied
• Position sensors are NOT • Position sensor
required integrated
• DC motor • AC PMSM motor
• NOT require a PE converter • Requires an Inverter
• Brushed • Brushless
• PM in the stationary part • PM in the rotating part
• Distributed winding • Centralized winding

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 Construction & Classification
• In term of Flux direction
• Radial Flux (từ thông hướng tâm)
• Axial Flux (từ thông dọc trục)
• In term of Rotor Positioning
• Inner Rotor
• Outer Rotor
Stator structure

Classification of BLDC motors.

(A) Radial-flux (inner rotor), (B) radial-flux (outer rotor), and (C) axial-flux.
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 Working principle

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 Working principle
• Six-step modulation

a
V2 (110000)
V1 (100001)
2
3 1
V3 (011000) V6 (000011)
4 6
5 c
b
V4 (001100) V5 (000110)
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 Working principle
• When rotor is in sector 6

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 Working principle
• When rotor is in sector 1

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 Working principle
• When rotor is in sector 2

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 Working principle
• Summary of six-step modulation a
• Hall-sensor  feedback the rotor position V2 V1
• Corresponding voltage vector is applied 2
S1 S2 S3 S4 S5 S6
3 1
V3 V6
CCW V2 V3 V4 V5 V6 V1 4 6
c
CW V5 V6 V1 V2 V3 V4 b 5
V4 V5

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 Working principle
• Linkage flux trajectory
• PMSM

 Stator linkage flux has circular

trajectory

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 Working principle
• Linkage flux trajectory
• BLDC a
V2 V1
Where:
stator linkage flux
2
: PM flux 3 1
: armature V3 V6
reaction flux 4 6
5 c
b
trajectory V4 V5

trajectory

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 Mechanical characteristics

• Electromagnetic torque

• KVL:

• Notes that:

• Torque-speed characteristics
Similar to
DC Motor
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 Speed control of BLDCM

• KVL:
T1-T6:
T4-T6:
• Taking average:

• Modified torque-speed characteristics:

Similar to
DC Chopper
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 Speed control of BLDCM
• Bipolar PWM
• Six-step modulation
• Usually fixed switching
frequency
• PWM applied to all active
switches

Điều chế lưỡng cực - bipolar

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 Speed control of BLDCM
• Unipolar PWM
• Six-step modulation
• Usually fixed
switching frequency
• PWM applied to
UPPER or LOWER or
ON-GOING or OFF-
GOING switches

Điều chế đơn cực - unipolar

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 Comparison to PMSMs
• BLDCM versus PMSM

BLDC Motors PMSM

Sync. machine • Sync. machine
DC supplied • DC supplied
Position sensors equipped • Position sensors equipped

Centralized windings • Distributed windings

Trapezoidal BEMF • Sinusoidal BEMF
120o conduction mode • 180o conduction mode
Higher torque ripple • Lower torque ripple
Low cost • High cost
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 Modeling in SRF
• Equivalent circuit of inverter – motor system

• KVL:

• Balanced system:

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 Modeling in SRF
• KVL:

• Applying Clark & Park transformation:

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