SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

Figure 4.44 – ZS components of some popular PWM methods. ................................................. 200
Figure 5.1 – Torque control of sinusoidal motor. ........................................................................ 210
Figure 5.2 – Hysteresis CRPWM.................................................................................................210
Figure 5.3 – Torque control of sinusoidal motor; phase variable form. ......................................211
Figure 5.4 – Torque control in stationary reference frame. .........................................................211
Figure 5.5 – SV diagram for most efficient torque production; stationary frame........................212
Figure 5.6 – Torque control in rotor reference frame. .................................................................212
Figure 5.7 – SV diagram for most efficient torque production; rotor frame................................213
Figure 5.8 – Comparison of reference signals under steady state operation................................214
Figure 5.9 – Comparison of reference signals; rotor locked........................................................215
Figure 5.10 – Torque control of sinusoidal motor; phase-variable form. ....................................216
Figure 5.11 – Torque control of sinusoidal motor; stationary reference frame. ..........................217
Figure 5.12 – Torque control of sinusoidal motor; rotor reference frame. ..................................218
Figure 5.13 – Torque control of sinusoidal motor in rotor reference frame using SVM. ............219
Figure 5.14 – Field oriented control with SVM...........................................................................219
Figure 5.15 – Rotor types: (a) nonsalient (surface magnet); (b), (c) salient (interior magnet). ...222
Figure 5.16 – Torque functions: (a) components; (b) combined. ................................................ 223
Figure 5.17 – Required position of stator current SV for maximum torque. ...............................223
Figure 5.18 – Current command generator for FOC of salient motor. ........................................224
Figure 5.19 – Buried permanent magnet rotor.............................................................................225
Figure 5.20 – Maximum values for operation below and above base speed. .............................. 226
Figure 5.21 – Flux weakening in the rotor reference frame.........................................................227
Figure 5.22 – "Torque" and "flux" control...................................................................................227
Figure 5.23 – Field weakening controller. ...................................................................................228
Figure 5.24 – Model of motor load (ideal inverter) viewed from three perspectives. ................. 230
Figure 5.25 – Stationary current control. .....................................................................................231
Figure 5.26 – Stationary regulator in stationary frame. ...............................................................231
Figure 5.27 – Stationary regulator in synchronous frame............................................................232
Figure 5.28 – Synchronous regulator in synchronous frame. ......................................................232
Figure 5.29 – Synchronous regulator in stationary frame............................................................233
Figure 5.30 – Top-level model of rotor-oriented FOC. ...............................................................234
Figure 5.31 – Simulation diagram for BPMS motor in synchronous frame. ...............................234
Figure 5.32 – bEMF offset and d-q current decoupling controller in synchronous frame...........235
xi