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Motor Types
Pros: Electronic control is simple, no need to commutate in controller Requires only four power transistors Cons: A sensor is required for speed control The brushes and commutator create sparks and wear out Sparks limit peak power Heat in armature is difficult to remove Low power density
Brushless DC Motors
Permanent magnet rotor within stationary windings Pros: No brushes or commutator to wear out No sparks and no extra friction More efficient than DC motor Higher speed than DC motor Higher power density than DC motor Cons: Rotor sensor OR sensorless methods needed to commutate Requires six power transistors
Stator windings
Brushed DC Commutation
The windings in the armature
are switched to the DC power by the brushes and armature Each winding sees a positive voltage, then a disconnect, + then a negative voltage The field produced in the armature interacts with the stationary magnet, producing torque and rotation
N
+
U -
DC Motor Bridge
The DC motor needs four transistors to operate the DC motor
motor in either direction The transistors can be Pulse Width Modulated to reduce the average voltage at the motor, useful for controlling current and speed
but without the Brushes and Commutators The mechanical switches are replaced with transistors The windings are moved from the armature, to the stator The magnet is moved from the outside to become the rotor
U V W
Six-step Commutation
STEP1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP1 STEP2 STEP3
U V W
The rising and falling edges are sloped, giving the trapezoidal shape The amount of slope is a function of the winding inductance
10
Hall Sensors
Hall Sensors detect magnetic fields, and can be used to sense rotor angle The output is a digital 1 or 0 for each sensor, depending on the magnetic field nearby Each is mounted 120-degrees apart on the back of the motor As the rotor turns, the Hall sensors output logic bits which indicate the angle
H1 H2 H3
H1 N S
H2
H3
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H1
The combination of all three sensors produce six unique logic combinations or steps
These three bits are decoded into the motor phase combinations
H2 H3
12
13
rather than in 60 degree jumps Each phase is utilized all of the time
Cons: Needs higher resolution feedback to calculate sine
waves with low distortion Needs more sophisticated processing to calculate sine PWM values on the fly Bandwidth of currents are limited due to motor impedance, this hurts high speed performance
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current into a simple DC motor representation Uses this data to calculate the best angle for commutation Creates new 3-phase sinusoidal PWM based on calculation Repeats the calculations at PWM frequency Pros:
Highest Torque efficiency Highest Bandwidth Widest Speed Range Lowest Audible Noise
r*
r
DC Bus
iq
Speed Regulator
id 0
*
iq
iq PI Regulator id PI Regulator
Uq
d,q
Ud
*
U
U
PWM1~6
,
*
, T 1 ( )
to
to a, b, c
SIN PWM
id
iq
,
to d,q
ia i
i
id
T ( )
a,b,c to
ib
Speed Estimation
3-phase PMSM
15
Control Speed Control systems are more or less complicated, depending on accuracy required The simplest speed control is Open-Loop, that is, without speed feedback In this configuration, a speed command is converted to a fixed voltage (PWM duty) which is sent to the motor The motor may go the right speed, or it may not, it depends on the load Without feedback, there is no way to tell internally what the real speed is and so may require outside adjustment
Pulse Width Modulator Transistors Motor Load
Speed Command
16
Closed-Loop Control
To get automatic speed control, feedback is needed Feedback systems could be Hall Sensors, Encoders,
Resolvers, tachometers or other devices Below is a block diagram of a simple control loop
PI Controller
PWM Generation
Motor
Speed Calculation
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Hall Sensors
Summary
PMBLDC Motor and its control strategies were seen.
Thank You