Manual

1 On-Line OJTM anual52/73 bldc .Chapter 4. Chapter 4. 1. bldc ?2. bldc 3. Inverter 4. ?On-Line OJTM anual53/73 bldc ? : BRUSHLESS DC motor (DC motor ) ROTOR MAGNET . STATOR , ROTOR . INVERTER SWITCHING .( drive )S N N bldc motor (MAGNETiCTORQUE)ROTORSTATOR NEMA StandardA Brushless DC Motoris a Rotating Self-Synchronous Machine with aPermanent Magnetand with Known Rotor Shaft Positions for ? Why is bldc motor needed?On-Line OJTM anual54/73 FilBTrF= = BFil B : i : l : ( ) F : r : T : motor Torque( )MAGNETIC TORQUEW=12 LiTdWd12idLdm2m2==qqi =0 TWm : L : i : T : RELUCTANCE TORQUE bldc ?

2 On-Line OJTM anual55/73 bldc ? SPM* ( )IPM** ( )* SPM : Surface Permanent Magnet** IPM : Interior Permanent MagnetNNSSM agnetNNSSM agnet Torque090180 (Deg)Torque ReluctanceTorqueMagneticTorque090180 (Deg)Torque MagneticTorque motor Magnet Can Loss motor Torque (5~10%) motor (1~3%)-Reluctance Torque / Can ( , ) motor On-Line OJTM anual56/73 GateDrivePFC Micom Braking / Sensor motor Induction bldc SRMS witching Transistor MOSFET IGBT IPM Peak Dynamic Braking / Linear Regulator SMPS Harmonics PWM / / motor Vector Flux WeakeningAC bldc & AC DCV, f bldc ?

3 On-Line OJTM anual57/73 bldc ROTOR bldc motor .RaRaLaEMFaRb LbEMFbRcLcEMFcABCIaIbIc 1. bldc motor Ra, Rb, RcLa, Lb, LcEMFa,EMFb,EMFcIa,Ib,Ic: STATOR : INDUCTANCE: : .VaRaIaLadIadtEMFaVbRbIbLbdIbdtEMFbVcRcI cLcdIcdtEMFc= ++= ++= ++(/)(/)(/) (1) bldc motor (Back EMF) rotor stator coil link ( ).. What is BEMF? Explain OJTM anual58/73 bldc Speed-Torque (1) motor , INDUCTANCE (2) , EMF motor EMF EMF (3) . (3) (2) VabIaRaRbEMFabIaRabEMFab= ++= +() (2).

4 bldc motor motor TORQUE . AB motor TORQUE w=- ()/VabIabRabKe (4)Te = Kt Iab (5) , (4), (5) motor (6) .EMFabKe= w (3)EMFabKe= w( : EMF ) (6)w=- (/)/VabTeRabKtKeBLDC motor On-Line OJTM anual59/73 bldc Speed-Torque (2) (6) bldc Speed-Torque Graph .< bldc motor S-T GRAPH >VdcKt/RabVdc/Ke-KtKe/RabTorqueSpeed 0 rETTTTrERkkVRkREVkTikTkEEdtdiLiRVww - = - = = =++ = bldc motor .Vdc> V3 > V2 > V1 VdcV3V2V1 bldc motor On-Line OJTM anual60/73 2 bldc motor Inverter bldc motor . bldc motor Torque ripple 6 Switching 2 Switching On motor .

5 ( 2 ). motor , On 2 Switching DC Link Positive, DC Link Negative On , 9 . , 3 On , 6 Switching . 6 Switching 1 .Switching A+A-B+B-C+C-On Off Off On Off OffOn Off Off Off Off OnOff Off On Off Off OnOff On On Off Off OffOff On Off Off On OffOff Off Off On On Off++ 2. Inverter motor PositiveNegativeA+A-B+B-C+ bldc bldc motor On-Line OJTM anual61/73 Switching Inverter motor 3.

6 Switching ~ . Stator Rotor bldc motor . 3. bldc bldc motor On-Line OJTM anual62/73 EMFaIaEMFbIbEMFcIc 4. EMF bldc motor Magnetic Torque . (7) motor Magnetic Torque EMF Torque .EMF motor EMF . EMF Rotor Stator Flux linkage , Stator Sensor EMF . EMF 4 .T = (Ia EMFa+ Ib EMFb+ Ic EMFc)/ (7) bldc motor What is advanced angle?On-Line OJTM anual63/73 Switching 6 , 3 Sensor.

7 3 Sensor Logic . LOGICS ensorHaSensorHbSensorHcSwitchingstateSwi tchA+SwitchA-SwitchB+SwitchB-SwitchC+Swi tchC-HHL OnOffOffOnOffOffHLH OnOffOffOffOffOnHLL OffOffOnOffOffOnLHH OffOnOnOffOffOffLHL OffOnOffOffOnOffLLH OffOffOffOnOnOffBLDC motor On-Line OJTM anual64/73 5 L1 motor Vdc motor X1 . L2 motor X2 . L2 X1 motor Vdc V3 motor X1 . motor motor . motor Speed Torque motor Speed Torque . motor . motor motor .

8 SPEEDTORQUEV1V2V3 VdcX1X2L1L2 5 bldc motor On-Line OJTM anual65/73 Inverter . Inverter , motor Low-Pass Filter motor .Inverter 6 motor Mode FreeWheeling Mode .BLDCMOTOR BLDCMOTORU V W U V W (a) Mode (ton)(b) Free Wheeling Mode (toff) 6 Inverter A B C A B C Inverter (1) bldc motor On-Line OJTM anual66/73 mode Vdc= Rabx Iab+ Lab (dIab/ dt) + EMFab Inductance .Free wheeling Mode 0 = Rabx Iab+ Lab (dIab/ dt) + EMFab Inductance . motor Vab (8).

9 Vab= Vdc ton / (ton + toff) --- (8) ton+toff ton .ton+toff PWM , PWM , ton . Inverter (2) tontoffVdc0 Pulse Width Modulation (PWM)- motor On,Off Pulse Amplitude Modulation (PAM)- motor bldc motor On-Line OJTM anual67/73 bldc (SPM)M M6 wiresMagnetM3 wiresMagnetBLDC (IPM, Hybrid)Synchronous ReluctanceSwitched Relutance ( ) ( ) - Rotor ( ) Force ( ) Short through fault IC Module Short through fault Topology IC Module (INVERTER motor ) On-Line OJTM anual68/73 motor .

10 Synchronous Reluctance motor SIM : System in Module PEBB : Power Electronic Building Block Low Cost Compact Key FeaturesMotor Control Topology 80 90 00 DiscretePower ModuleIPMSIM 2 3 R1L1L2 LmR2/S3 + bldc (SPM) bldc (IPM) 85% / Cost ( 100% )89 / 13091 / 12088 / 110 PEBBSIZE (Discrete 100% )80503030 05 (System Matching) V/F Hybrid (PWM + PAM)Sine INVERTER On-Line OJTM anual69/73 600 Thessaly Magnesia 'Magnes' .1600 William Gilbert.