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 |  موضوع: كتاب Permanent Magnet Brushless DC Motor Drives and Controls الأحد 08 سبتمبر 2024, 2:48 am | |
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Permanent Magnet Brushless DC Motor Drives and Controls
Chang-liang Xia
Tianjin University, P.R. China
و المحتوى كما يلي :
Contents
About the Author xi
Preface xiii
List of Nomenclature xv
1 Introduction 1
1.1 History of BLDC Motors 1
1.2 Applications for BLDC Motors 3
1.2.1 Automotive BLDC Motor 4
1.2.2 BLDC Motor in Aerospace 5
1.2.3 BLDC Motor in Household Appliances 6
1.2.4 BLDC Motor in Office Automation 7
1.2.5 BLDC Motor in Other Industries 8
1.3 Advances in BLDC Motor Drives 8
1.3.1 Position-Sensorless Control 9
1.3.2 Torque-Ripple Reduction 10
1.3.3 Hardware Implementation 12
1.4 Future of BLDC Motor Drives 15
1.4.1 Impacts of Power Electronics and Microprocessors on
BLDC Motor 15
1.4.2 Permanent Magnet and Design Considerations 17
1.4.3 New Types of BLDC Motor 18
1.4.4 Applications of Advanced Control Strategies 20
1.5 Other Kinds of PM Motors 20
Questions 21
References 21
2 Mathematical Model and Characteristics Analysis of
the BLDC Motor 25
2.1 Structure and Drive Modes 25
2.1.1 Basic Structure 25
2.1.2 General Design Method 28
2.1.3 Drive Modes 28
2.2 Mathematical Model 332.2.1 Differential Equations 33
2.2.2 Transfer Functions 40
2.2.3 State-Space Equations 45
2.3 Characteristics Analysis 47
2.3.1 Starting Characteristics 47
2.3.2 Steady-State Operation 48
2.3.3 Dynamic Characteristics 52
2.3.4 Load Matching 56
2.3.5 Commutation Transients 58
Questions 62
References 62
3 Simulation for BLDC Motor Drives 63
3.1 S-Function Simulation 63
3.2 Graphical Simulation 69
3.2.1 Simulation of Double Closed-Loop Speed-Control System 72
3.2.2 Advanced Conduction of Phase Current for
BLDC Motor Control 76
Questions 82
References 82
4 Speed Control for BLDC Motor Drives 83
4.1 Introduction 83
4.1.1 PID Control Principle 83
4.1.2 Antiwindup Controller 86
4.1.3 Intelligent Controller 88
4.1.4 Representations of Uncertainty 89
4.2 Advanced Speed Control for BLDC Motor Drives 90
4.2.1 Fuzzy Control 90
4.2.2 Neural-Network Control 94
4.2.3 Genetic Algorithm Optimization Control 102
4.2.4 Sliding-Mode Variable Structure Control 107
4.2.5 Grey Control 113
4.2.6 Other Intelligent Control Strategies 117
4.3 Influences of Machine Parameters on Dynamic Response
and Speed Range 119
4.3.1 Armature Resistance 119
4.3.2 Armature Inductance 120
4.3.3 Rotor Inertia 122
4.4 Practical Issues on Implementation 123
4.4.1 Type of Power Switches and Circuit Forms 123
4.4.2 Detection of Rotor Position 123
4.4.3 Braking Circuit and Protection Circuit 123
4.4.4 Antidisturbance Measures of Software and Hardware 124
Questions 124
References 124
vi Contents5 Analysis and Reduction of Torque Ripple 127
5.1 Cogging Torque-Ripple-Minimization Techniques Analysis 127
5.1.1 Skewing Slots and Magnets 129
5.1.2 Embedding Magnetic Slot Wedges 130
5.1.3 Auxiliary Slots and Teeth 130
5.1.4 Fractional Number of Slots Per Pole 130
5.2 Torque-Ripple Reduction with Time-Sharing Commutation Strategy 131
5.2.1 Time-Sharing Commutation Strategy 131
5.2.2 Analysis of Time-Sharing Commutation Strategy 140
5.2.3 Optimal Time-Sharing Commutation 144
5.3 Torque-Ripple Reduction with Active Disturbance Rejection Control 146
5.3.1 Principles of ADRC 146
5.3.2 ADRC Controller Design 147
5.3.3 Experimental Results 150
5.4 Torque-Ripple Reduction with BP Neutral Network 152
5.4.1 BP Neural Network 152
5.4.2 Self-Tuning Regulator 155
5.4.3 Experimental Results 155
5.5 Motor Optimization and Torque-Ripple Minimization with Fuzzy Niche
Genetic Algorithm 157
5.5.1 Platform-Width Calculation of Back-EMF Waveform 158
5.5.2 Fuzzy Niche Genetic Algorithm 161
5.5.3 Optimization Design of BLDC Motors 163
Questions 165
References 165
6 Sensorless Control for BLDC Motor Drives 167
6.1 Principle of Sensorless Position Detection 167
6.1.1 Back-EMF-Based Method 168
6.1.2 Flux-Linkage-Based Method 178
6.1.3 Inductance-Based Method 179
6.1.4 Intelligence-Based Method 180
6.2 Sensorless Control Strategy 181
6.2.1 Sensorless Control Based on Disturbance Observer 181
6.2.2 Sensorless Control Based on a Kalman Filter 187
6.2.3 Sensorless Control Based on Sliding-Mode Observer 191
6.2.4 Position-Sensorless Control Using Wavelet Neural Network (WNN) 196
6.3 Starting Process for Sensorless Control 200
6.3.1 Determination of Initial Rotor Position at Standstill 200
6.3.2 Starting Methods for Sensorless Control 201
Questions 206
References 206
7 Realization of BLDC Motor Drives 209
7.1 Main Circuit 209
7.2 Driving Circuit 212
Contents vii7.2.1 MOSFET Driving Circuit 212
7.2.2 IGBT Driving Circuit 215
7.2.3 Intelligent Power Module (IPM) 215
7.3 Rotor-Position Sensor Circuit 216
7.4 Microprocessor Control Circuit 218
7.4.1 Introduction 218
7.4.2 MCU Control Circuit 220
7.4.3 DSP Control Circuit 223
7.5 Protecting Circuit 224
7.5.1 Overvoltage Protection 224
7.5.2 Overcurrent Protection 229
7.5.3 Logic Protection 229
7.5.4 Other Protection Circuits 230
7.6 Sensorless Control Circuits 232
7.6.1 Voltage Detection 232
7.6.2 Filtering and Phase Shifting 234
7.6.3 Current Detection 236
7.7 ASIC for BLDC Motor Drives 238
7.7.1 MC33033 238
7.7.2 TB6537P 240
7.8 Software Design 246
7.8.1 BLDC Motor Driving with Position Sensor 246
7.8.2 BLDC Motor Driving Without Position Sensor 247
7.8.3 Reliability 248
7.9 EMC Design 250
7.9.1 EMC Design of High-Voltage Part 250
7.9.2 EMC Design of Low-Voltage Part 251
Questions 253
References 253
8 Applications of BLDC Motor Drives 255
8.1 Elevator-Door Control System 255
8.1.1 Introduction 255
8.1.2 Hardware Design 259
8.1.3 Software Design 261
8.2 Elevator Traction Machine System 265
8.2.1 Introduction 265
8.2.2 Characteristics of a BLDC Motor Gearless Elevator
Traction Machine 266
8.2.3 The Technical Requirements of the Elevator Traction
Machine 267
8.2.4 Hardware Design 268
8.2.5 Software Design 269
8.3 Inverter Air Conditioner 270
8.3.1 Control Function of Indoor Controller 271
8.3.2 Control Function of Outdoor Controller 271
viii Contents8.4 Electric Vehicles 272
8.4.1 Pure Electric Vehicles 272
8.4.2 Hybrid Electric Vehicles 273
8.5 Electric Bicycles 274
8.6 Others 275
8.6.1 The Applications in the Fan and Pump 275
8.6.2 The Application in the Washing Machine 276
8.6.3 The Application in Medical Instrumentation 277
Questions 277
References 277
Index 279
Contents ix
Index
AC asynchronous motor 8
acceleration torque 56, 204
AC–DC–AC converter 79
active disturbance rejection control 3, 11, 127,
146, 150
adaptive control 3, 20, 155–157
advanced conduction 76, 78–82, 144, 145, 244
air gap 18, 20, 27, 28, 33, 34, 37, 38, 48, 59, 72,
78–80, 89, 127–130, 158–161, 163
angular position 46
angular velocity 39, 41, 54, 132, 138
antiwindup 86, 87
application-specific integrated circuit (ASIC) 12
armature reaction 11, 33, 46, 51, 89, 147, 186
armature winding 17, 25, 26, 47, 54, 127
asynchronous motor 8
automotive 1, 4, 5, 273
auxiliary rotor winding 10
back-EMF 6, 9–11, 13, 27, 35, 37, 38, 40, 47–49,
52, 54, 56, 58, 59, 60, 62, 65, 67, 69, 76, 78–80,
89, 90, 99, 119, 127, 128, 130, 132–136, 138,
140, 143–148, 152, 157–161, 164, 165,
168–170, 172–175, 177–182, 184–195,
201–204, 206, 223, 233–236, 247, 253,
262, 263
back-EMF-based method 6, 9, 10, 168, 178, 179,
181, 201, 206, 247
basic structure 25
bipolar power transistor (BPT) 17
brake 260, 265–267
brush 20, 26, 277
brushless DC motors (BLDC motor,
BLDCM) 1–21, 25–33, 38–45, 47, 48, 50–52,
54, 56–59, 62–67, 72–74, 76, 78–82, 83, 84,
86–92, 94, 95, 97, 99–101, 103, 104, 106–109,
111–117, 119–121, 123, 124, 127–133, 136,
140, 145–147, 149, 150, 152, 155, 157, 158,
161, 163, 165, 167–169, 173, 174, 177, 179,
181–184, 186, 188, 189, 191–194, 196,
200–206, 209–212, 214–216, 218–221, 223,
224, 230, 232–236, 238, 240, 241, 246–253,
255, 259–263, 266–269, 271–277
centrifugal 2, 5
centrifugal pump 5
ceramic capacitor 252
chopper pulses 235
coercivity 17, 18, 27
cogging effect 10, 33
cogging torque 10, 11, 127–130, 160, 165
coil winding 27
commutating current 120
commutation 1–3, 6, 10–13, 19, 25, 28, 31, 39,
51, 52, 58–62, 64, 73, 79–81, 97, 107, 127,
131–146, 152, 154–157, 161, 163, 165, 167,
168, 170, 172–175, 177, 178, 181, 185,
190–193, 196, 199, 203–205, 216, 221, 233,
236, 238, 240, 243, 244, 247, 262–264, 269,
273, 275
commutation torque 10, 11, 19, 31, 58, 62, 127,
132, 133, 135, 140, 143, 144, 146, 152,
155–157, 161, 163, 165, 167
commutator 2, 25, 277
Permanent Magnet Brushless DC Motor Drives and Controls, First Edition. Chang-liang Xia.
2012 Science Press. Published 2012 by John Wiley & Sons Singapore Pte. Ltd.comparator 14, 186, 203, 213, 214, 220, 224,
228, 229, 236, 238, 239, 261
complex programmable logic device (CPLD) 3
computation capability 15
computer peripheral equipment 7
concentrated full-pitch winding 27, 33
conductor 158
copper material 27
core loss 18, 49
coreless BLDC motor 6, 19
current control 94, 95, 97
current sensing 180, 236
DC machine 20
DC motor 1–4, 6, 8, 15, 25, 26, 40, 48, 51, 76, 79,
255, 273, 275
differential equation 25, 33, 39, 45, 62
digital control 8, 14, 20, 44, 45, 85, 124, 273
digital signal processor (DSP) 219
diode 2, 9, 52, 61, 65, 67, 68, 123, 169, 174–177,
209, 210, 212
distributed function 94
distributed inductance 250, 251, 253
distributed winding 27
double-stator type 6
doubly salient PM motor 20
driving circuit 25, 28, 30–33, 48, 52, 109, 123,
209, 211–215, 218, 224, 243, 251, 259, 261, 272
dynamic characteristics 25, 45, 52
dynamic response 5, 48, 85, 99, 117, 119, 120,
124, 199
eccentric wheel 6
efficiency 1, 2, 4, 6, 16–20, 26, 44, 48–50, 56, 57,
62, 120, 121, 123, 147, 157, 161–165, 181, 220,
239, 249, 255, 265–268, 270, 273, 275, 276
electrical angle 16, 29, 30, 33, 73, 132, 144–146,
157, 159, 167, 168, 170, 173, 174, 177, 216,
236, 238, 244
electric bicycle 274, 275
electrical vehicle 273
elevator door 57, 255–264, 269, 270, 277
elevator traction machine 265–270, 277
EMC 250, 251
EMF 2, 9, 10, 34, 240, 260
energy conversion 1, 79
energy loss 7
energy product 17, 18, 128
energy saving 4, 6, 26, 265–267, 272, 275, 276
equivalent circuit 3, 38, 40, 41, 133
estimation 9, 11, 46, 88, 94, 95, 102, 107, 112,
116, 155, 156, 168, 187, 190
extended state observers (ESO) 11
external load 117
fan and pump 275
Faraday 2
feedback controller 181
feedback gain coefficient 184, 185
ferrite magnetic materials 17
field-circuit method (FCM) 28
field programmable gate array (FPGA) 3
floppy disc drives 7
flux 9, 20, 27, 34, 35, 37, 46, 72, 79, 83, 86, 89,
90, 130, 132, 158, 159, 161, 163, 164, 168, 174,
175, 178–180, 195, 267
flux linkage 9, 34, 37, 46, 168, 174, 175,
178–180, 195
flux-linkage-based method 168,
178, 179
four-quadrant 31, 266
frequency conversion 5, 6
frequency response 40
friction loss 49, 80
frictional force 69
full-bridge 16, 30–32, 40, 59, 131, 132, 209,
210, 259
full-pitch windings 27, 158, 159
fuzzy control 3, 10, 20, 88, 90–92, 94, 103, 104,
106–108, 117, 145, 157, 162, 163, 273
gain 44, 57, 84, 89, 104, 173, 182, 184, 185, 190,
192, 194, 239, 269
gate circuit 214, 252
gate signal 65, 73, 186
gate terminal 49
gearless 8, 265–269
genetic algorithm optimization 102, 103,
105, 109
grey control 113, 115, 117, 124
half-bridge 16, 28–31, 133, 175,
209, 210
Hall element 2
Hall sensor 28, 191, 193, 238–240, 247
hardware design 9, 259, 268
heating 26, 52, 79, 271
high efficiency 1, 2, 4, 6, 16, 17, 19, 20, 57, 181,
220, 255, 266, 267, 270, 273, 275
hysteresis losses 33
280 Indeximpedance 124, 211, 213–215, 251–252
induced electromotive force (induced EMF) 2,
34, 260
induction motor 1, 4, 26, 86, 115, 273, 276
inertia 19, 39, 43, 52, 56, 65, 83, 117, 119, 122,
154, 202, 203, 243, 249
initial rotor position 178, 179, 200–203, 248
insulated gate bipolar transistor (IGBT) 3
intelligent power module (IPM) 215
insulation 212
inverter 3, 6, 9, 11, 15, 16, 25, 32, 47, 52, 65–67,
72, 73, 80, 86, 95, 97, 100, 101, 117, 136,
148–150, 152, 174, 175, 193, 202, 209–212,
215, 220, 221, 224, 238, 239, 250, 255, 260,
261, 268–272, 274
inverter air conditioner 255, 270
Kalman filter 9, 112–114, 187, 188, 190,
192, 262
laminations 129
Laplace transformation 41
laser printer 8
linear DC motor 6
linear motion system 6
load matching 56, 58, 62
loss 5–7, 17–19, 32, 38–39, 49–51, 80, 123, 129,
233, 232, 261
magnetic field 18, 25, 27–30, 33, 34, 48, 49, 59,
76, 78–80, 128, 160, 179
magnetic pole 18
maximum efficiency 50, 62
maximum speed 52, 120, 121, 257, 262, 263
mechanical characteristic 1, 2, 51, 56, 81
mechanical loss 39
mechanical time constant 43, 44, 56
medical instrumentation 277
microprocessor 85, 123, 124, 209, 210, 214, 216,
218–220, 224, 228, 229, 232, 236, 249–253, 271
microcontroller 3, 219, 220
microcontroller unit (MCU) 219
micromotor 18
minimizing torque ripple 157
moment of inertia 39, 52, 56, 65, 83, 117, 119,
122, 202
multiple-input multiple-output (MIMO) 46
NEMA 1
neural-network control 3, 94, 100, 102, 118, 273
neutral point 26, 32, 38, 67, 68, 169, 172, 233
niche algorithms 18
no-load condition 52
no-load loss 49
no-load torque 49
nominal flux 90
nominal inductance 90
nominal resistor 90
nominal transfer function 89
nonlinear states error feedback (NLSEF) 11
observer 9, 107, 109, 112, 146, 148, 149,
181–186, 191–194
operating conditions 11, 47, 89, 119
operating frequency 17, 85
operating parameters 106
optical disc drives 7
overload 239
pancake-shaped rotors and stators 20
parallel operation 219
permanent magnet 1–4, 15, 17, 18, 20, 25–28,
86, 94, 127, 128, 179, 267, 275
permanent-magnet synchronous motor
PMSM 86
permeability 35, 130
permeance 35
phase shifting 117, 118, 234, 236
PI controller 44, 74, 76, 85, 87, 100, 116
PID 16, 20, 83–86, 91–93, 106–109, 112, 113,
117, 119, 146
pitch 27, 33, 129, 158–160
platform width 27, 157–161, 164, 165
pole placement 183, 185
position control 94, 129
position-sensorless control 5, 6, 8–10, 12, 16, 17,
99, 167, 196, 233, 236, 240, 272
power density 4, 19, 54, 273, 276
power electronic switch 49, 51
power factor 2, 6, 163, 270
power switch 16, 17, 31, 32, 48, 51, 95, 123, 175,
202, 204, 212, 214, 240, 260
power transistor 17
principle 9, 10, 25, 30–32, 44, 78, 80, 82, 83, 84,
91, 107, 124, 127, 133, 157, 165, 167, 169,
177–179, 181, 186, 200, 202–205, 216, 220,
221, 224, 233, 238, 240, 253
protection 6, 123, 124, 202, 212, 214–216, 224,
229–232, 238, 240, 246, 247, 249, 251, 253,
256, 259, 261, 267, 271, 272, 274, 276
Index 281PWM generator 74
PWM modulation 16, 17, 51, 62, 86
quadrant 31, 123, 266
rare-earth permanent magnetic materials 8, 27
ratings 252
rectifier circuit 123, 124, 209, 210
regenerative braking 123, 273
reluctance motor 2, 4, 20, 273
reluctance torque 128
rotating magnetic field 28, 30
rotation speed 25, 191, 195, 273
rotor 1–3, 7–10, 13, 15, 20, 25–30, 33–40, 46,
47, 49, 65, 69, 70, 72–78, 80, 89, 97, 99, 100,
102, 122, 123, 127–129, 131, 132, 135, 138,
140, 144, 150, 163, 167–169, 173, 174,
177–181, 186–188, 194–197, 200–203, 205,
210, 216, 218, 220–223, 232, 233, 238, 240,
246–248, 253, 259, 262, 266, 267, 275
salient pole 35, 36
saturation 33, 51, 86, 89, 180
series excitation DC motor 1
short circuit 230
short-pitch winding 27
single-phase induction motor 276
skewed slot 160
sliding-mode variable structure control 3, 107,
113, 114
slot-type motor 10
slotless-type BLDCM 18
software design 209, 246, 253,
261, 269
speed control 16, 44, 51, 72, 74, 80, 82,
speed regulation 83, 85, 86, 90, 94, 95, 97,
100–102, 107, 109, 115–117, 119, 120,
122–124, 129, 149, 177, 195, 223, 229, 238,
239, 262, 265
stabilization 89, 127
starting circuit 204
starting methods for sensorless control 201
starting torque 2, 56, 163, 164, 200,
268, 273
state-space equation 45, 62
static characteristics 104
static stability 85
stator 6, 7, 9, 10, 11, 15, 18, 20, 25–30, 33, 34,
36, 38, 52, 65, 89, 90, 97, 119, 120, 122,
127–130, 159, 163, 164, 179, 180, 193, 196,
201, 216, 218, 232, 239, 240, 248, 266, 275
switch 16, 17, 25, 28, 30–33, 48, 49, 51, 86, 91,
92, 95, 97, 123, 140, 168, 173, 175, 177, 196,
198, 199, 201–204, 210, 212, 214, 232, 239,
240, 251, 260, 263
synchronous motor 1, 3, 26, 72, 73, 76, 86,
115, 202
three-phase conduction mode 31
three-phase two-pole BLDC motor 33
three-phase winding 26, 45, 65, 67, 97, 99
thyristor 2, 3, 123
time constant 43, 44, 52, 56, 84, 89, 90, 119, 120
time-sharing commutation strategy 131, 140,
144, 145
tooth flux 163, 164
torque constant 59
torque ripple 3, 10, 11, 12, 17–19, 27, 54, 56, 62,
79, 81, 100, 102, 121, 127–133, 135–147,
149–153, 155–157, 159–161, 163, 165, 216
tracking differentiator (TD) 11, 146
transfer function 25, 40, 41, 43–45, 47, 89
transformer 232, 259
transient process 40, 52, 58, 68, 133, 136–141,
143, 144, 156, 157
two-phase conduction mode 16, 30, 31, 40, 131,
132, 221, 222, 233
ultrasonic motor 94
uncertainty 88–90, 115
variable-voltage variable-frequency (VVVF) 7
variable 3, 5, 7, 9, 10, 20, 50, 51, 59, 65, 66, 68, 69,
83, 85, 87, 91, 104, 107, 109, 110, 112–115, 129,
150, 161, 163, 177, 182, 185, 267, 268, 270–273
viscous friction coefficient 39, 52, 65
voltage comparator 261
voltage regulation 156
voltage source inverter 11
voltage-controlled oscillator 203
washing machine 276, 277
wavelet neural network 196
winding current 52, 97, 164, 179, ,260
winding inductance 10, 17, 35, 36, 157
winding voltage 157
Y-connection 172
Y-type 26
zero-crossing point 135, 144, 145, 168, 170,
172–174, 177, 181, 186, 203, 262
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