Dynamic modeling of electrical machines BLDC machines
Lecture 9 - contents
• Modeling of BLDC / PMSM machines
• Steady-state analysis
• Dynamic analysis – a Simulink model
1
Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
Surface mounted or buried PM machines
q
θr
d
a
c
a-axis
2
Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
Surface mounted or buried PM machines
3
Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
Sinusoidal or trapezoidal back EMF
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Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
Voltage equations
uq = Riq + pλq +ωrλd ( )
λq = Llsiq + Lmq iq + i'kq
(i +i +i )
Synchronous Motor
Stator winding equations ud = Rid + pλd −ωrλq λd = Llsid + Lmd d
'
fd
'
kd
BLDB motor uq = Riq + pλq +ωrλd ( )
λq = Lls + Lmq iq = Lqiq
Stator winding equations
ud = Rid + pλd −ωrλq λd = (Lls + Lmd )id + λmpm = Ldid + λmpm
Peak value
No rotor winding equations! No need for turns ratio transformation!
How should we draw / define the reference frame with respect to the
motor drawing?
5
Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
The instantaneous torque equation
( )
3 The same expression as the
Te = p λd iq − λqid synchronous motor that has been
2 discussed. Why?
3
[ (
Te = p λmpmiq − Ld − Lq id iq
2
) ]
If d and q axes inductances are equal
3
(
Te = p λmpmiq
2
) Compare this with the average
interaction torque equation given on
lecture 5 P4, which is
1 1
T pm,ave = I m λmpm cos θ t = I q λmpm (assuming in steady-state, for single-phase)
2 2
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Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
It was mentioned in lecture 5 that . . . . . .
d-axis
π π
ia = − I m sin (θ ev + θ t ) − <θt <
N 2 2
θr
q-axis d-axis ia
q-axis
S
a-axis
dq0 reference frame! θe
This required current waveform corresponds to
ia = I m cos(θ ev + θ t ) In qd0 reference frame!
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Dynamic modeling of electrical machines BLDC machines
Modeling of BLDC / PMSM machines
So we have
⎡ ⎤
⎡ ⎛ 2π ⎞ ⎛ 2π ⎞⎤ ⎢ I cos(θ +θ ) ⎥
⎢cos θ r cos⎜θ r − ⎟ cos⎜θ r + ⎟⎥
⎡Iq ⎤ ⎢ ⎝ 3 ⎠ ⎝ 3 ⎠⎥ ⎢ m ev t ⎥
⎢ I ⎥ = ⎢ sin θ
2 ⎛ 2π ⎞ ⎛ 2π ⎞ ⎥ ⎛
⎢I cos θ +θ − 2π ⎞ ⎥
⎢ d⎥ 3⎢ r sin ⎜θ r − ⎟ sin ⎜θ r + ⎟ ⋅
3 ⎠⎥ ⎢ m ⎜⎝ ev t 3 ⎟⎠⎥
⎢⎣ I 0 ⎥⎦ ⎢ ⎝ 3 ⎠ ⎝ ⎥ ⎢ ⎥
⎢ 1 1 1 ⎥ ⎢I cos⎛⎜θ +θ + 2π ⎞⎟⎥
⎢⎣ 2 2 2 ⎥⎦ ⎢⎣ m ⎝ ev t 3 ⎠⎥⎦
⎡ I q ⎤ ⎡+ I m cos(θ ev + θ t − θ r )⎤ ⎡ I q ⎤ ⎡ + I m cos θ t ⎤
⎢ I ⎥ = ⎢ − I sin (θ + θ − θ )⎥ ⎢ I ⎥ = ⎢− I sin (θ )⎥
⎢ d⎥ ⎢ m ev t r ⎥ ⎢ d⎥ ⎢ m t ⎥
⎢⎣ I 0 ⎥⎦ ⎢⎣ 0 ⎥⎦ ⎢⎣ I 0 ⎥⎦ ⎢⎣ 0 ⎥⎦
θ ev = ωe t = ω r t = θ r
That is why we have the same torque expressions on P4!
Normally it is defined that (in the book)
θ ev = ωe t + θ ev (0) If we let θ r (0) = 0 so we have θ ev (0) = θ t Steady-state
θ r = ω r t + θ r (0) It can also be defined that φv = θ ev − θ r = θ ev (0)
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Steady-state equations
uq = Riq +ωrλd λq = Lqiq
Why the differential item
can be eliminated?
ud = Rid −ωr λq λd = Ld id + λmpm
Denoted as Vas in the book
Fqd = Fq − jFd
(uq = Riq +ωrλd ) − (
j × ud = Rid −ωrλq ) [
Uqd = RIqd + jωr Lq Iqd +ωr (Ld − Lq)Id + λmpm ]
⎛ 2
π
2 ⎞
2⎜ ⎛ 2π ⎞ 3
j ⎛ 2π ⎞ 3π ⎟
− j
Uabc = ⎜ 2Vs cosθev + 2Vs cos⎜θev − ⎟e + 2Vs cos⎜θev + ⎟e ⎟⎟
3⎜ ⎝ 3⎠ ⎝ 3⎠
⎝ ⎠
1
(
cosθ = e jθ + e− jθ
2
)
Uabc = 2Vse jθev = 2Vse jθr e jφv Uqd = 2Vse jφv = Uabce− jθr
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Torque vs. speed curve in steady-state
Assuming φv = 0 Uq = 2Vs cosφv = 2Vs uq = Riq +ωrλd λq = Lqiq
Ud = − 2Vs sinφv = 0 ud = Rid −ωr λq λd = Ld id + λmpm
Assuming Ld = Lq = Ls
ωr Lq
Id = Iq Iq =
R
(Uq −ωrλmpm)
R R + (ωr Ls )
2 2
2
1.5
Rλmpm
( )
1
3
T= p Uq −ωr λmpm
2 R + (ωr Ls )
0.5
Torque (Nm)
2 2
0
-0.5
-1
-1.5
-2
-250 -200 -150 -100 -50 0 50 100 150 200 250
Rotor electrical angular speed (radians)
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Torque vs. speed curve in steady-state
Assuming φv ≠ 0 Uq = 2Vs cosφv uq = Riq +ωrλd λq = Lqiq
Ud = − 2Vs sinφv ud = Rid −ωr λq λd = Ld id + λmpm
Assuming Ld = Lq = Ls
Ud +ωr Lq Iq 2Vs R ⎛ λ ⎞
Id = Iq = ⎜cosφv +ωr Ls sinφv −ωr mpm⎟
R R2 + (ωr Ls )2 ⎜⎝ R 2Vs ⎟⎠
2
L λmpm
τs = s τv =
1.5
Rs Unit is second!
2Vs 1
0.5
[cosφv +ωr (τ s sinφv −τv )] Torque (Nm)
2Vs R 0
Iq =
R + (ωr Ls )
2 2 -0.5
-1
3
T = pλmpmIq -1.5
2 -2
-250 -200 -150 -100 -50 0 50 100 150 200 250
Rotor electrical angular speed
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Torque vs. speed curve in steady-state
π
If φv = 2 T = Kωr (τ s −τ v )
τ s <τv T <0 τ s >τv T >0
0.25 1.5
0.2
1
0.15
0.1
0.5
0.05
T 0
T 0
-0.05
-0.5
-0.1
-0.15
-1
-0.2
-0.25 -1.5
-250 -200 -150 -100 -50 0 50 100 150 200 250 -250 -200 -150 -100 -50 0 50 100 150 200 250
ωr ωr
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Dynamic modeling
uq = Riq + pλq +ωrλd ( )
λq = Lls + Lmq iq = Lqiq
ud = Rid + pλd −ωrλq λd = (Lls + Lmd )id + λmpm = Ldid + λmpm
1
uq − Riq − ωr λd λq × iq
Lq
1
ud − Rid + ωr λq λd × id
Ld
− λmpm
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Dynamic modeling
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Dynamic modeling
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Dynamic modeling of electrical machines BLDC machines
Analysis of steady-state operation
Dynamic modeling
More discussions of the Simulink model will be given in the class!
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Dynamic modeling of electrical machines Induction motor modeling
Excises
• Change the Simulink model of the BLDC motor to use Ua, Ub, Uc as the voltage sources. Let the
voltage electrical frequency always equal to the rotor electrical angular speed.
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