A New Simulation Model of BLDC Motor With Real Back EMF Waveform

Y. S. Jeon, H. S . Mok, G.H. Choe, D. K. Kim*, J. S . Ryu**

Dept. of Electrical Eng. Konkuk Univ., Komotek*, Jasontech**

Abstract- A BLDC motor with the characteristics of high speed and high'power density has been more widely used in industrial area. As for the design of motor drive system, simulation method has been nearly used as the drive system and the controller of BLDC motor have become more complicated and precise. The torque characteristic of BLDC motor is very important factor in the design of motor drive system, so it is necessary to predict the precise value of torque, which is determined by the waveform of back EMF. The conventional simulation model of BLDC motor is obtained by approximation of real back EMF waveform to ideal trapezoidal waveform. But as the shapes of slot, skew and magnet of BLDC motor are various subject to design purposes, the real back EMF waveform is at some degree deviated from the ideal trapezoidal waveform. As a result, when using the ideal trapezoidal waveform, the error occurs. In consequence, in order to lessen such an error, the model of BLDC motor with real back EMF waveform is needed instead of its approximation model. In this paper, for the reduction of error in simulation, a new simulation model of BLDC motor with nearly real back EMF waveform is proposed and through the simulation, the validity of the proposed model is shown for three-phase BLDC motor.

Fig. 1. Back EMF, phase current and torque output using conventional model by IsSpice.

I. INTRODUCTION
BLDC Motor has advantage of long lifetime, faster response and capability of high-speed drive in comparison with DC Motor and has been more widely used in industrial area in line with the development of power switching device, microprocessor and digital technology. Generally, the torque of the BLDC motor is mainly influenced by the waveform of back EMF and hence it is needed to predict its precise back EMF. On the other hand, to analyze the characteristics of BLDC motor systems as well as the other motor drive systems, computer simulation tools such as IsSpice, PSIM, PSpice, and Saver are widely used. And the model of back EMF approximated to ideal trapezoidal waveform in BLDC motor system has been generally used in computer simulation tools. Fig.1 shows the waveforms of back EMF, torque and current simulated by IsSpice, which is a computer simulation tool used widely to analyze general electrical or electronic circuits, and in this figure the back EMF of BLDC is approximated to' ideal trapezoidal waveform. But as the shapes of slot, skew and magnet of BLDC motor are vaned subject to design purposes, the waveform of real back EMF is at some degree deviated from the ideal trapezoidal waveform as shown in Fig. 2. Consequently, the error could be occured between real value and the simulation result when using the model of ideal trapezoidal method. So in order to obtain accurate motor characteristics in simulation, a simulation model with nearly real back EMF is

Fig. 2. The measured real back EMF waveform of BLDC motor. required. Another problem in simulation of BLDC motor is that it is almost impossible to simulate transient characteristics because the error is maximized when the trapezoidal model is used in transient state. Therefore, to solve this problem, the model having back EMF waveform similar to the real is also needed. In this paper, for 3-phase, 4-pole, Y-connected permanent magnet BLDC motor, a new model of BLDC motor is proposed and it is shown that the modeled back EMF waveform is accorded with the real back EMF.
11. Modeling of 3-Phase BLDC motor

In the proposed model of BLDC motor, the back EMF and torque constant is represented as the function of rotor position for restoring real waveform. Equations of armature winding and torque are used in modeling of 3-phase BLDC motor. The equation of each armature winding could be represented as (l), (2), (3) on the assumption that mutual inductance is constant while motor is revolving.

Va=RIa+L-+Ea
dt

dia

0-7803-6561-5/00/$10.00 0 2000 IEEE

217

~~

vb

=m b

dib +L + Eb dt

(2)

V, = RI, +- L -+ E, (3) dt where, L, = L, = L , = L : armature inductance [HI

d i ,

R, = Rb = R , = R : armature resistance [Q]

V : terminal voltage [VI I : phase current [A] E : back EMF [VI

3-phase BLDC motor, the back EMF is related to a function of rotor position and the back EMF of each phase has 120" phase angle difference so its equation of each phase should be as follows.
(4)
(5)

Fig. 3. The model of 3-phase BLDC motor. Hence, by using the above equations, the model of BLDC motor could be obtained represented as Fig. J. This is constructed by ISpice circuit model and consist of armature equation, torque equation and electrical angle generation part with mechanical angle according angular velocity. Theta-a, theta-b and theta-c are used to restore the real back EMF waveform and Ea,Eb and Ec is the restored back EMF in Fig. 3. Restoring method will be discussed at next chapter.
1 1 1 . Restoration of Back EMF waveform

(6) where, K E , : back EMF constant of one phase Torque constant also could be represented as K,(f3) satisfiing K T ( e )= K E ( 0 ) . Thus, torque output of each phase should be expressed as follows.

T u (4 = K q ( @ ) I ,( t )
2 1 t

(7)
(8)

T b ( t ) = K z (e--)lb(f)

T,W = K q (6

2a +,v ,

0)

(9)

where, K q : torque constant of one phase Generally as reluctance torque is small, total torque output can be represented as summation of that of each phase. Equation (1 0) represents the total torque output.
= Tu+ Tb + T, where, TE :total torque output p . m ]
TE

For restoring the back EMF waveform similar to the real, the FFT (Fast Fourier Transform) and IFFT (Inverse FFT) method are used in this paper. First of all, Fourier series is represented like (12) and the back EMF waveform of one pole-pair could be transposed to Fourier series by FFT method. The coeficient b, is 0 at all integer and a, is 0 at even number in 3-phase BLDC motor because the back EMF waveform of BLDC motor is quarter-wave symmetry.

(10)

.,A %
i

----7

1
!

In the meanwhile, the equation of mechanical part is represented as follows.

TE -TL = J - + B o
dt where,

do

(11)

TL : load torque l ? J i n ] J : rotor inertia [kgm2]

B : damping constant

md.r b -

M r t

Fig. 4 The model restoring nonlinear back EMF waveform

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Fig. 4 shows the model restoring nonlinear back EMF waveform of one phase till 23'Th harmonics. Each electrical angle according to motor position are multiplied with each coefficient and summed.

Input voltage Armature resistance Armature self inductance

300 [VI
0.388 [Q]

2.28 [mH]
0.56 [mH]
1

where

U# : elec.

degree

Armature mutual inductance

K T G

In this model, 8 has the value as (13), (14) and (15) at each phase.

Peak value of back EMF Peak value of torque constant I Number of poles Inertia of rotor Load torque

e, =e,
e ,

X-

P
2

(13)

=e,x--12oo

P
2

(14)
(15)

ec =e,
where

X-

P
2

+ 120"

2 x103[kgm2] 5[ " I

8, , 8, , Qc input of IFFT moL- [elec. degree] Mechanical angle of rotor [mech. degree] 8,

IV. Simulation Result

is need to know real back EMF waveform and other motor parameter for simulation. This could be mainly obtained obtained measurement or calculation at motor design step. Among of them, calculation method is generally used, for the purpose of simulation is to confirm the design of motor and controller at design step. Especially back EMF waveform should be known for analyzing torque, speed and other characteristic of motor and it could be obtained mostly with FEM (finite element method).
D e s i g n of Motor using
software tool
I

Calculate the back EMF waveform using FEM

Model generationsuitable for simulationtool

Calculate the coefficientfor IFFT with FFI' of waveform

I
Dynamic simulationof Designed motor Restore the back EMF waveform according to rotor angle

In this paper, Design of motor was performed with Motor Expert that is a design tool for various motors. Back EMF waveform and other motor parameters were calculated with Motor Expert using FEM and the parameter of proposed model, especially coefficient of FFT, calculated with MESPICE that is Motor Expert module. The library for various simulation tools according to various parameters is obtained with MESPICE. The proposed model was made to the library of ISPICE with parameter and coefficient calculated by Motor Expert. Table. 1 shows simulation parameters. And open loop control is adopted as a control method to compare the simulation results for the conventional and proposed model. Fig.6 represents a comparison of the simulation results for the conventional and proposed model. In this figure, (a) shows a simulation result using conventional model and (b) proposed model that restores back EMF waveform similar to the real of Fig. 2. It can be notified that the back EMF waveform by proposed model could be restored very similar to the real waveform in Fig. 2. In comparison of two models, simulated torque output through the conventional model has larger torque ripple than that through proposed model. And speed in conventional model is lower than that in proposed model at same load torque because the average value of back EMF in conventional model is higher than the real value. It could be known that the simulated results of conventional and proposed model are very different and the proposed model could obtain the more precise simulation result.

Fig.5 Simulation procedure

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[Reference]

[I] J.R. Hendershot Jr. and T.J.E Miller , "Design of Brushless Permanent-Magnet Motors", Oxford Univ. Press, 1994 [2] Pragasen Pillay and Ramu Krishnan , "Modeling, Simulation, and Analysis of Permanent-Magnet Motor Drives, Part 11: The Brushless DC Motor Dribe", IEEE Trans. on Industry Application, Vol 25 No 2, PP.274-279, 1989 [3] S.J Kang, J.S. Kim, S.K. SUI,D.K. Kim, "Precise Position Control with a Low Cost BLDCM Drive", The Transactions of the Korean Institute of Electrical Engineers , Vol44 No 4, PP. 447-452, 1995 (in Korean) [4] S.Y. Lee, B.H. Kang, Y.M. Chae, H.S. Mok, G.H. Choe, D.K. Kim, J.S. Ryu "BLDC Motor Model with NonLinear Back-EMF Wave", Power Electroni~cs Annual Conference, PP. 22-25, 1999 (in Korean) [5] E.Oran Brigham, The Fast Fourier Transfomi, PrenticeHall Inc., 1974 [6] User's Manual of Motor Expert, KOMOTEK

lm ICrU'Q.l

(b) Fig.6 Comparison of the simulation results for conventional and the proposed model. (a) Back EMF, phase current and torque output using conventional model with load torque 5 [ " ] , 384[rad/sec]. (b) Back EMF, phase current and torque output using proposed model with load torque 5[Nm], 424[rad/sec].

V. Conclusion
A new BLDC motor model with the precise back EMF waveform restored by FFT and IFFT method is proposed to improve simulation result of BLDC motor. Through the simulation results, it is proved that the back EMF waveform with proposed model could be reconstructed to any waveform real waveform calculated by FEM. Thus it is possible to simulate the dynamic characteristic of motor with real back EMF waveform according to various shape of slot, skew and magnet and designer could be able to design for various case. In addition to that, the more practical and precise speed and torque characteristics could be obtained with proposed model than conventional model. Thus the proposed model can be used very effectively in analysis and design of the BLDC motor system.

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