Permanent Magnet Brushless DC Motor Drives and Controls

Chang-liang Xia, Tianjin University, ChinaChang-liang Xia received the Ph.D. degree in electrical engineering from Zhejiang University, China, in 1995. He is currently a Professor in the School of Electrical Engineering and Automation, Tianjin University. In 2008, he became “Yangtze Fund Scholar” Distinguished Professor and is currently supported by National Science Fund for Distinguished Young Scholars. Professor Xia has been engaged in the design, modelling, control and application of BLDC motors for more than 10 years. In this field, he has published more than 50 papers in refereed journals and conferences.His book, Brushless DC motor control systems, was published in Chinese by Science Press in 2009 and the material from it has been used at Tianjin University for the Masters course "Electrical motor drives and Power Electronics" since 2002 as well as a textbook for the graduate course “Intelligent control of Electrical machines” since 2009.

• About the Author xiPreface xiiiList of Nomenclature xv1 Introduction 11.1 History of BLDC Motors 11.2 Applications for BLDC Motors 31.2.1 Automotive BLDC Motor 41.2.2 BLDC Motor in Aerospace 51.2.3 BLDC Motor in Household Appliances 61.2.4 BLDC Motor in Office Automation 71.2.5 BLDC Motor in Other Industries 81.3 Advances in BLDC Motor Drives 81.3.1 Position-Sensorless Control 91.3.2 Torque-Ripple Reduction 101.3.3 Hardware Implementation 121.4 Future of BLDC Motor Drives 151.4.1 Impacts of Power Electronics and Microprocessors on BLDC Motor 151.4.2 Permanent Magnet and Design Considerations 171.4.3 New Types of BLDC Motor 181.4.4 Applications of Advanced Control Strategies 201.5 Other Kinds of PM Motors 20Questions 21References 212 Mathematical Model and Characteristics Analysis of the BLDC Motor 252.1 Structure and Drive Modes 252.1.1 Basic Structure 252.1.2 General Design Method 282.1.3 Drive Modes 282.2 Mathematical Model 332.2.1 Differential Equations 332.2.2 Transfer Functions 402.2.3 State-Space Equations 452.3 Characteristics Analysis 472.3.1 Starting Characteristics 472.3.2 Steady-State Operation 482.3.3 Dynamic Characteristics 522.3.4 Load Matching 562.3.5 Commutation Transients 58Questions 62References 623 Simulation for BLDC Motor Drives 633.1 S-Function Simulation 633.2 Graphical Simulation 693.2.1 Simulation of Double Closed-Loop Speed-Control System 723.2.2 Advanced Conduction of Phase Current for BLDC Motor Control 76Questions 82References 824 Speed Control for BLDC Motor Drives 834.1 Introduction 834.1.1 PID Control Principle 834.1.2 Antiwindup Controller 864.1.3 Intelligent Controller 884.1.4 Representations of Uncertainty 894.2 Advanced Speed Control for BLDC Motor Drives 904.2.1 Fuzzy Control 904.2.2 Neural-Network Control 944.2.3 Genetic Algorithm Optimization Control 1024.2.4 Sliding-Mode Variable Structure Control 1074.2.5 Grey Control 1134.2.6 Other Intelligent Control Strategies 1174.3 Influences of Machine Parameters on Dynamic Response and Speed Range 1194.3.1 Armature Resistance 1194.3.2 Armature Inductance 1204.3.3 Rotor Inertia 1224.4 Practical Issues on Implementation 1234.4.1 Type of Power Switches and Circuit Forms 1234.4.2 Detection of Rotor Position 1234.4.3 Braking Circuit and Protection Circuit 1234.4.4 Antidisturbance Measures of Software and Hardware 124Questions 124References 1245 Analysis and Reduction of Torque Ripple 1275.1 Cogging Torque-Ripple-Minimization Techniques Analysis 1275.1.1 Skewing Slots and Magnets 1295.1.2 Embedding Magnetic Slot Wedges 1305.1.3 Auxiliary Slots and Teeth 1305.1.4 Fractional Number of Slots Per Pole 1305.2 Torque-Ripple Reduction with Time-Sharing Commutation Strategy 1315.2.1 Time-Sharing Commutation Strategy 1315.2.2 Analysis of Time-Sharing Commutation Strategy 1405.2.3 Optimal Time-Sharing Commutation 1445.3 Torque-Ripple Reduction with Active Disturbance Rejection Control 1465.3.1 Principles of ADRC 1465.3.2 ADRC Controller Design 1475.3.3 Experimental Results 1505.4 Torque-Ripple Reduction with BP Neutral Network 1525.4.1 BP Neural Network 1525.4.2 Self-Tuning Regulator 1555.4.3 Experimental Results 1555.5 Motor Optimization and Torque-Ripple Minimization with Fuzzy Niche Genetic Algorithm 1575.5.1 Platform-Width Calculation of Back-EMF Waveform 1585.5.2 Fuzzy Niche Genetic Algorithm 1615.5.3 Optimization Design of BLDC Motors 163Questions 165References 1656 Sensorless Control for BLDC Motor Drives 1676.1 Principle of Sensorless Position Detection 1676.1.1 Back-EMF-Based Method 1686.1.2 Flux-Linkage-Based Method 1786.1.3 Inductance-Based Method 1796.1.4 Intelligence-Based Method 1806.2 Sensorless Control Strategy 1816.2.1 Sensorless Control Based on Disturbance Observer 1816.2.2 Sensorless Control Based on a Kalman Filter 1876.2.3 Sensorless Control Based on Sliding-Mode Observer 1916.2.4 Position-Sensorless Control Using Wavelet Neural Network (WNN) 1966.3 Starting Process for Sensorless Control 2006.3.1 Determination of Initial Rotor Position at Standstill 2006.3.2 Starting Methods for Sensorless Control 201Questions 206References 2067 Realization of BLDC Motor Drives 2097.1 Main Circuit 2097.2 Driving Circuit 2127.2.1 MOSFET Driving Circuit 2127.2.2 IGBT Driving Circuit 2157.2.3 Intelligent Power Module (IPM) 2157.3 Rotor-Position Sensor Circuit 2167.4 Microprocessor Control Circuit 2187.4.1 Introduction 2187.4.2 MCU Control Circuit 2207.4.3 DSP Control Circuit 2237.5 Protecting Circuit 2247.5.1 Overvoltage Protection 2247.5.2 Overcurrent Protection 2297.5.3 Logic Protection 2297.5.4 Other Protection Circuits 2307.6 Sensorless Control Circuits 2327.6.1 Voltage Detection 2327.6.2 Filtering and Phase Shifting 2347.6.3 Current Detection 2367.7 ASIC for BLDC Motor Drives 2387.7.1 Mc 33033 2387.7.2 Tb6537p 2407.8 Software Design 2467.8.1 BLDC Motor Driving with Position Sensor 2467.8.2 BLDC Motor Driving Without Position Sensor 2477.8.3 Reliability 2487.9 EMC Design 2507.9.1 EMC Design of High-Voltage Part 2507.9.2 EMC Design of Low-Voltage Part 251Questions 253References 2538 Applications of BLDC Motor Drives 2558.1 Elevator-Door Control System 2558.1.1 Introduction 2558.1.2 Hardware Design 2598.1.3 Software Design 2618.2 Elevator Traction Machine System 2658.2.1 Introduction 2658.2.2 Characteristics of a BLDC Motor Gearless Elevator Traction Machine 2668.2.3 The Technical Requirements of the Elevator Traction Machine 2678.2.4 Hardware Design 2688.2.5 Software Design 2698.3 Inverter Air Conditioner 2708.3.1 Control Function of Indoor Controller 2718.3.2 Control Function of Outdoor Controller 2718.4 Electric Vehicles 2728.4.1 Pure Electric Vehicles 2728.4.2 Hybrid Electric Vehicles 2738.5 Electric Bicycles 2748.6 Others 2758.6.1 The Applications in the Fan and Pump 2758.6.2 The Application in the Washing Machine 2768.6.3 The Application in Medical Instrumentation 277Questions 277References 277Index 279