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I. INTRODUCTION
This gives accurate results but is time consuming. Using the dephase variable model, the drive system simulation
veloped
behaves much faster with the same level of accuracy.
The equation-based Simulink phase variable model is introduced by the authors in the context of PM synchronous machine
implementation [6]. In order to connect the equation-based model
and external circuits, line voltage must be measured. For BLDC
machines, each commutation sequence has one winding that is
energized to positive power (current enters into the winding), one
winding is deenergized (current exits the winding) and the third
winding is in a nonenergized condition. This means that there always exists one phase which is open circuited. The input voltage
to this phase is immeasurable. This shows that the equation based
model cannot be applied to BLDC. An alternative model, comphase
posed of circuit components, is built to implement the
variable model of BLDC presented here. An adjustable inductance component is developed to represent the inductance dependence on the rotor position.
II. PHYSICAL PHASE VARIABLE MODEL
The phase variable model of BLDC machines is given as
(1)
(2)
(3)
and
(4)
1577
Fig. 2.
Fig. 3.
(5)
Substituting (2) into (5) and considering that the current independence of the winding inductances, one can obtain
(6)
are incremental inductances.
where
Substituting (6) into (1), the voltage (1) becomes
(7)
Based on (7), the circuit diagram is constructed. As an example, Fig. 1 shows the diagram of phase a winding. The controlled voltage source (CVS) component is adopted to describe
the voltage drop due to the flux cutting by the moving rotor.
It represents the summation of the third and forth terms of (7).
The derivative of apparent inductances with respect to the ro,
), are calculated in advance
tation angle (
and stored in look-up tables.
An adjustable inductance component is developed to describe
,
the self-inductance voltage drop of the BLDC (
), seen in the second term of (7). As the inductance
current is a state variable, the adjustable inductance component
is built according to the integral description of inductance
(8)
Using
as an example, the circuit diagram of the developed adjustable inductance is illustrated in Fig. 2. The initial
value of the integrator is set to zero. The voltage measurement
block (VM) and the controlled current source (CCS) are used to
realize the connection of the adjustable inductance component
and the external circuits.
B. Torque Calculation
As the rotor speed
is used as a denominator in the torque
calculation of (3), it causes problems at the initial simulation
step due to the zero rotor speed. In order to solve this problem,
when starting the simulaa very small number is assigned to
tion. In addition, an initial value of the electromagnetic torque
, which is larger than the load torque
is assigned to
.
Otherwise, according to (4), one knows that the motor will not
start moving. Consequently, the back EMF, , , and , equal
.
zero and there will not be output toque
are stored in tables and retrieved acThe cogging toque
cording to the rotor position.
C.
1578
Fig. 6. (a)(b) From full FE model. (c)(d) From phase variable model.
. (b) Per-unit speed back EMF. (c) Cogging
1579
alternative way for the verification of control strategies. Furthermore, with the developed model, the accuracy of the control
strategy can be investigated. In addition, the inverter parameter
design can be studied. Fig. 7(b) demonstrates the consequence
of inappropriate inverter parameters to the sensorless control
strategy of [7]. In this case, the zero crossing point cannot be
identified properly.
B. Torque Ripple Reduction
The ripple torque occurs as the results of fluctuations of the
field distribution and the armature MMF. Using the developed
physical phase variable model, the fluctuations of the field distribution and the armature MMF can be captured. In this way,
the torque ripple control can be studied under the real situations. As an example, the phase variable model is applied to
a ripple torque forward-fed compensation method. The results
are shown in Fig. 8, which demonstrates the effects of the torque
ripple control. The torque ripple is greatly reduced and the speed
becomes smooth.
VI. CONCLUSION
A physical phase variable model of BLDC machines is proposed. Its parameters are obtained from transient FE analysis
of the machine. Simulink implementation details of the proposed model are presented. The proposed phase variable model
has the accuracy of the full FE model with much faster simulation speed. To maintain the accuracy of the proposed model, the
inductance was distinguished as apparent and incremental inductances. The per-unit speed back EMF was used as the back
EMF table data. The rotating air gap meshing and the time stepping FE analysis were related. The effectiveness of the proposed
phase variable model was tested through implementation of sensorless control and torque ripple reduction examples.
V. APPLICATIONS
REFERENCES
Fig. 8. (a), (c), and (e): without torque ripple control; (b), (d), and (f): with
torque ripple control.
Sensor-less control and torque ripple minimization of machines are two topics of major interess by researchers. The control strategy study is usually performed via experiments and/or
computer simulation. The computer simulation is the only possible way in the machine design stage. A fast and accurate model
facilitates such a study.
A. Sensorless Control
The zero-crossing instance of back EMF waveform can
be utilized to perform senseless motor control. As the back
EMF waveform of the motor cannot be directly measured,
various methods were proposed to identify the back EMF
zero-crossing. [7] introduced a method to find the zero-crossing
instance through the phase to ground PWM waveform, which
was verified by experiments. In this paper, we provide the
simulation verification of their zero-crossing detection method
by using the developed physical phase variable model. The
back EMF waveform obtained from simulation as well as the
switching off process of PWM is shown in Fig. 7(a), which
reproduces the experiment results given in [7]. Therefore, we
can say that the developed phase variable model provides an
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