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 1 9  pLI 

VI. TORQUE BEHAVIOR ∆T IP ,θ d #1


≈ −2kI  +  
 2 4π  k 
A. Torque equation of the motor (6.5)
V 9  pLI 
General expression for the motor torque for all the ∆T NP ,θ d #1
≈ −2kI  d +  
switching patterns during commutation is given by  4 E 4π k 

 3θ '  B. Average motor torque


T = −2k inon − commutating , D + idecaying , D  s (6.1)
 π  Average motor torque is given by
Where s = −1 ; for commutation at θ1 and s = 1 for θ2 θ 2 −θ1
3 3
commutation at θ2. During the commutation motor torque
depends on both non-commutating current and decaying
Tavg =
π ∫
θ1
Tdθ =
π ∫ Tdθ '
0
(6.6)

current. Thus any swing or change in non-commutating


current and decaying current directly appears in the motor Equation of the motor torque during subintervals is given
torque. Before the commutation, second term in (6.1) by (6.7). θ1 = π 6 and θ 2 = π 2 .
vanishes, as before commutation θ’=0, and after commutation
decaying current is zero. So during SI6 torque follows the   3θ ' 
behavior of non-commutating current as discussed in section − 2k ib, DI 1 + π ic , DI 1  0 ≤ θ ' ≤ θ d #1
  
IV and during DI1 it follows the current through the two

conducting phases. Expressions for the torque, for switching T = 2kia, SI 1 θ d #1 ≤ θ ≤ θ s #1 (6.7)
patterns IP and NP as obtained from (4.2), (4.8) and (6.1) are 
written as. 2kI θ s #1 ≤ θ ' ≤ θ 2 − θ1

 6k 3k  δVd  2  
− θ '3 + 1 + θ ' 
pLπ 2
pLπI  3E  
T IP, DI 1 = 2kI  For the switching pattern IP θ’d#1 and θ’s#1 are given by
 3 4k  δVd  
−  π + 3 pLI 1 − 4 E θ '+1 
equations (6.8) and (6.9).
    −1
(6.2) 3 pLI  δVd  3 pLI
θ 'd #1 = 1 +  ≈ (6.8)
 6k 3k  ( 2 − δ )V   2k  2E  4k
− θ '3 + 1 + d
θ ' 
2
pL π 2
pL πI  3 E  −1
T NP, DI 1 = 2kI   pLI  ia, DI 1 (θ 'd #1 )  δVd 
 3 4k  (1 − 2δ )Vd   θ 's #1 = θ 'd #1 + 1 −  − 1 (6.9)
− +
  π 3 pLI  1 +  θ '+1  k  I  2 E 
  4 E  
at θ=θ’s#1 ia,SI1 achieves final value I. and for the switching
In the interval 0 ≤ θ ' ≤ θ d #1 as θd#1 is very small compared pattern NP θ’d#2 and θ’s#1 are given by (6.10) and (6.11) with
to 1 so in (6.2) terms containing higher power of θ’ can be the consideration that resistance is neglected.
neglected. This reduces (6.2) to (6.3) 3 pLI 3 pLI  E  3 pLI
 3 4k  δVd   θ 'd # 2 = ≅  = δ (6.10)
T IP, DI 1 = 2kI 1 −  + 1 − θ '  (2 − δ )Vd  2k  Vd  4k
2k 1 + 
  π 3 pLI  4 E    2E 
(6.3) −1
 3 4k  (1 − 2δ )Vd   pLI  ia, DI 1 (θ 'd #1 )  (2 − δ )Vd 
T NP, DI 1 = 2kI 1 −  + 1 + θ ' θ 's #2 = θ 'd #1 + 1 −  − 1 (6.11)
  π 3 pLI  4E   k  I  2 E 
Swing in the motor torque during DI1 for IP and NP are from (6.6) and (6.7) expression for average torque is written as
3 4k  δVd 
∆T IP , DI 1 = −2kI  + 1 − θ ' Tavg =
6kI  π  S − S1 
 −θs  + 2
 π 3 pLI 
(6.12)
4E  π  3  I 
(6.4)
3 4k  (1 − 2δ )Vd 
θ '
Where, S1 and S2 are given by (6.13)
∆T NP , DI 1 = −2kI  + 1 +
 π 3 pLI  4E  θ d #1
 3θ ' 
S1 = ∫ ib , DI 1 + π ic , DI 1 dθ '
Negative value of ∆T in (6.4) confirms the drop in motor
torque during commutation. At θ’d#1, maximum swing in the 0
motor torque, with the consideration of negligible coil
(6.13)
resistance and (4.4), is given by (6.5) and it can be up to 50%
θ s #1
of the rated torque.
S2 = ∫i dθ '
a , SI 1
θ d #1

For the switching patterns IP and NP S1 and S2 are given by


(6.14) after it increases non-linearly at higher rate with speed and
results in around 53% swing as shown in Fig.14.
With speed second term, (S2-S1) of (6.12) increases with
 3k k  δVd  3  speed as shown in Fig.14, increase in θs is much lower and
 2 pLIπ 2 θ d #1 − pLIπ 1 + 3E θ d #1 
4
slower in rate for CM#2 compared to CM#1. This results in
 
S1 IP = I  lower drop in average torque for CM#1 as shown in Fig.10.
  3 2k  δVd  2 
+  + 1 − θ d #1 − θ d #1 
  2π 3 pLI 
1
4 E   theta
d,#1

0.8 theta
s,#1

thetad, thetas [for CM#1]


 3k k  (2 − δ )Vd  3 
 2 pLIπ 2 θ d #1 − pLIπ 1 + θ d #1 + 
4
0.6
 3E 
S1 NP = I 
 3 2k  (1 − 2δ )Vd  2 
+ 1 + θ d #1 − θ d #1 
0.4

 2π 3 pLI  4E  
0.2

 k  δVd 2
 2 pLI  2 E − 1(θ s #1, 2 − θ d #1 ) 
 0
0 100 200 300 400 500 600

S2 = I     speed [rpm]

 ia , DI 1 (θ d #1 )
Fig.7 Variation in θd, θs for CM#1with speed

+ (θ s #1,2 − θ d #1 ) 
 I  1
(6.14)
theta
s,#2
C. Discussion on torque behaviour for CM#1 and CM#2
0.8 thetad,#2
thetad, thetas [for CM#2]

As per the above discussion various plots from Fig.7 to


Fig.10 has been considered to understand the torque behavior.
Variation of decay interval, θ’=θd and rising current settling 0.6
interval, θ’=θs for CM#1and CM#2 are shown in Fig.7 and
Fig.8 respectively. 0.4
For CM#1 at lower speed θd is greater than θs, i.e incoming
current reaches to final value before decaying current falls
0.2
down to zero, this is because of quit weaker back emf. Thus
during DI1 rise in non-commutating current takes place and
result in positive swing in motor torque as shown in Fig.9 and 0
0 100 200 300 400 500 600
can even be up to 70% at much lower speed and increase in
speed [rpm]
average torque appears as in Fig.10. With the increase in Fig.8 Variation in θd, θs for CM#2
speed θs starts becoming dominant and non-commutating
current and motor torque decreases and continues with the
increase in speed making current and motor torque to swing. 80
CM#1
This makes average torque to reduce with increase in speed. 60 CM#2
At higher speed θd, almost becomes constant but θs continues
to increase as shown in Fig.7. This results in current and 40
Torque swing [in %]

torque to become constant at around 50% but time taken by 20


the incoming current increase as θs continues to increase so
from (6.12) we can say that at higher speed average torque 0
continues to reduce even though current and torque swing
-20
becomes constant.
Whereas for the case of CM#2 for quite lower speed to -40
higher speed value all the time θs is lower than θd as shown in
-60
Fig.8, i.e incoming current reaches to final value after the
decaying current fall down to zero. Therefore negative swing -80
in the current hence in takes torque takes place as shown in 0 100 200 300 400 500 600
speed [rpm]
Fig. 9. For much lower speed here also torque swing is around Fig.9 Variation in torque swing for CM#1 and CM#2 with speed
70% due to lower back emf and then reduces to 50% at motor
speed around 200 rpm after that it starts increasing with speed
as θd increases linearly with lower rate up to 200 rpm, then
52 80
CM#1 CM#1
50 CM#2 60
Average torque [N-m]

Torque swing [in %]


40
48
20
46
0
44
-20

42 -40

40 -60
0 100
300 400200 500 600 0 100 200 300 400 500 600
speed [rpm] speed [rpm]
Fig.10 Variation in average torque for CM#1 and CM#2 with speed Fig.13 Variation in torque swing for CM#1 with speed

0.12
-45
CM#1
0.1
Torque swing [in %] -50

0.08
-55
thetad

0.06
-60

0.04
-65

0.02 CM#1
-70
CM#2
0
0 100 200 300 400 500 600 -75
0 100 200 300 400 500 600
speed [rpm]
speed [rpm]
Fig.11 Variation in θd for CM#1 and CM#2 with speed
Fig.14 Variation in torque swing for CM#2 with speed

60
1
CM#1
CM#1
50 CM#2
CM#2
0.8
40
[S2-S1]

0.6
thetas

30

0.4
20

0.2 10

0
0 0 100
300 200
400 500 600
0 100 200 300 400 500 600
speed [rpm]
speed [rpm]
Fig.15 Variation in (S2-S1) in (6.12) for CM#1 and CM#2 with speed
Fig.12 Variation in θs for CM#1 and CM#2 with speed

D. Determination of θs with the consideration of stator resistance


Equation of current during interval SI for CM#1 and CM#2
are given by (6.14) and (6.15) respectively.
θ' θ'
− E  δV  −
ia , SI1 (θ ' ) = ia , DI 1 (θ ' d #1 )e α +  d − 1(1 − e α ) (6.14)
R  2E 
θ' θ'
− E  (2 − δ )Vd  −
ia , SI1 (θ ' ) = ia , DI 1 (θ 'd # 2 )e α +  − 1(1 − e α )
R  2E 
(6.15)
ia,SI1 reaches to its final value I at θ’=θs#1, θs#2 for the two
modes are written as (6.16) and (6.17) respectively.

 ia , DI 1 (θ ' DI 1#1 ) 
 1− 
θ 'SI1#1 = α loge 1 − I  (6.16)
 E  δVd 
 1 − RI  2 E − 1 
  

 i (θ ' ) 
 1 − a , DI 1 DI 1#1 
θ 'SI1# 2 = α log e 1 − I  (6.17)
 E  (2 − δ )Vd 
 1 − RI  2 E − 1 
  

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