SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

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Figure D.1 show that the PS and NS phasors vectorially sum to zero but the ZS phasors sum to a cophasal phasor whose magnitude is three times that of the ZS phasors. Since the PS and NS components sum to zero we will call them 0 components. Since the ZS component does not sum to zero it could be called the 0 component but since only the ZS component has this property it will be called the ZS component. The consequence of this is that in analyzing symmetrical three-phase systems we can group the harmonic components into 0 components and a ZS component. As will be shown, the reason for the separate treatment is that ZS component affects three-phase systems differently than do 0 components. The ZS component has been defined in the traditional manner using phasors. From Figure D.3 it is seen that in three-phase systems the ZS component is composed of the odd multiples of three; these are called the triplen harmonics. But also, any common-mode component among the phase variables in a set is a ZS component. If a common mode component were plotted against time it would be found to have a spectra consisting of only triplens and/or a DC component. Thus, this report defines the ZS component to be the common-mode component; this is commonly implied in the literature but is often unstated. that ZS current would flow, the current would produce zero net MMF, which obviously cannot rotate. Third, the SV cannot capture ZS terms even if they were present (this is true for any space vector). 312
Implications of the ZS Component There are many aspects of circuit and machine operation that are affected by the ZS component. First we will examine the passive impedance load and then the motor load. Then the results will then be summarized. Passive Impedance Load An impedance load driven by a source is shown in Figure D.4. Figure D.4 – Passive impedance load driven by source. The supply neutral is called the midpoint (M) and is used as the reference; the load neutral (N) is floating. Using KVL on each phase loop results in Equation (D.10). v v v v v v v v v AM AN NM BM BN NM CM CN NM The sum of these equations is given by Equation (D.11). 3 AM BM CM AN BN CN NM (D.10) v v v v v v v (D.11) The source voltages can be written as Equation (D.12) where we assume there is a ZS component v ZS present in each source voltage in addition to the 0 components v xM . v vv v vv v vv AM AM ZS BM BM ZS CM CM ZS (D.12) The sum of the source voltages will be equal to three times the ZS component (Equation D.13) and the 0 components sum to zero. 313
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SENSORLESS FIELD ORIENTED CONTROL O
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Table of Contents List of Figures..
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CHAPTER 5 - Field Oriented Control
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List of Figures Figure 2.1 - Radial
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Figure 3.29 - Arbitrary space vecto
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Figure 4.44 - ZS components of some
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Figure C.13 - Single-turn full-pitc
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List of Symbols Symbol Meaning Unit
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Abbreviations ACIM AC induction mot
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Superscripts * commanded value ref
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CHAPTER 1 - Introduction Historical
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vector theory to model a machine, w
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publications and magazines, and Int
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elationship between SVM and other P
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CHAPTER 2 - Fundamentals of Electri
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Preliminaries In reading the litera
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Taxonomy of Motors There is any num
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characteristics (the DC load curren
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torque component, sturdily construc
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Figure 2.7 - Cross sections of some
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draw the line between the solenoida
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These texts generally attribute the
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N B A B Y x(t) (2.6) The induc
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extended to the rotational case lat
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present analysis). When this is tru
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Figure 2.16 - Components of total f
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As aforementioned a spatial analysi
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clear the meaning, but the reader i
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Figure 2.20 - Elementary brushless
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called the per-phase torque functio
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Expressing bEMF in terms of the bEM
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Equation (2.44) is the component of
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d R( r) ke( r) kt( r) sin( r) (2.
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General Electromechanical Models Th
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Figure 2.28 - Phase-variable simula
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Trapezoidal and Sinusoidal BPMS Mot
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Figure 2.29 - Back-EMF and drive cu
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Figure 2.31 - Back-EMF and drive cu
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3 KT Ke 2 (sinusoidal) K 2 K (tra
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control scheme must keep sinusoidal
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with misconceptions. The primary is
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Part I - Sinusoidal BPMS Motors wit
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grounded-neutral wye or delta conne
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N e f A ( ) i 2 N e f B ( ) i 2
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Figure 3.7 - Developed view at zero
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Figure 3.9 - Developed view showing
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Although Equations (3.6) or (3.7) a
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direction. The contributions always
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sinusoidal electrical variable will
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Figure 3.14 - Cross section of two
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3 N e (3.6): f ( , t) I p cos(
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In the previous chapter the per-pha
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peak value is represented as an upp
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Figure 3.21 - Time relationship bet
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another and thus could be placed in
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more widely understood theory (such
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other methods, although it has clos
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The SV as a Vector The first facet
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j0 j0 j0 aˆ 1 0 1 bˆ j e e e
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j j ee 1 cos( ) (3.45) 2 3 j t x
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Notice that the amplitude of the MM
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Figure 3.27 - Equivalent MMF produc
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Ne 1 jj f , t i e i * e 2 2
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distribution that is cosinusoidal i
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3 Ne j t f Ie p 2 2 . This
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j set θ to anything. Taking the re
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epresent any physically-distributed
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lumped-parameter model in this repo
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x kCx (3.75) abc The set of varia
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phase variable axes; three axes in
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The component MMFs act away from th
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common choice is to force the power
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As an example, find the SV that cor
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the same magnitude, the projection
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Figure 3.32 - Arbitrary SV referenc
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universal and the choice of convent
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stator’s perspective and at R fr
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The potential discrepancy (p.108) w
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x cos( r) sin( r) xd x sin(
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It must be emphasized that we have
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in relative time like an oscillogra
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Part III - SV Theory Applied to Sin
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In Equation (3.135) Z has elements
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to use SV theory. It may be helpful
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Figure 3.42 - Coupling between d- a
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R R d R R v Ri Li j Li dt s
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current does not influence the valu
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d v Ri L i e dt d v Ri L i e
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Figure 3.47 - Simulation diagram fo
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e je ), and (2) it was demonstrate
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Overview of Voltage Source Inverter
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In addition to measuring voltages w
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then there would be periods during
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Figure 4.9 - Gating and POLE voltag
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Figure 4.11 - Ideal voltage wavefor
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inverter is called sine-triangle co
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and it offers the fastest dynamic r
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Figure 4.18 - Fundamental gain and
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In the literature this is called th
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voltage will be below (above) the b
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Figure 4.24 - Instantaneous phase-A
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Figure 4.26 - Base SVs showing the
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Figure 4.27 - Transformed voltage w
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also correspond to six-step squarew
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was fed to the SVM inverter as a SV
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Figure 4.31 - Temporal limit of inv
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Figure 4.34 - SVM overmodulation re
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Checking sextant s 23 again for thi
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SVM Implementation The block diagra
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has been made of using THI in the S
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different triplen signal would be i
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Similarly, when the modulation inde
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Summary and Conclusion The two-leve
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CHAPTER 5 - Field Oriented Control
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torque production; this is called d
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Figure 5.3 - Torque control of sinu
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obviously a change in perspective.
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Figure 5.9 - Comparison of referenc
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variables to the stationary referen
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Figure 5.13 - Torque control of sin
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To analyze a salient machine one mu
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Figure 5.16 - Torque functions: (a)
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Figure 5.19 - Buried permanent magn
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Figure 5.21 - Flux weakening in the
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appears that this is very much rela
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Stationary and Synchronous Regulato
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stationary regulator had. For compl
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This coupling can be mitigated by m
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educes to two independent circuits,
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D, some of the 120° methods are ap
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d d v Ri Ls i R dt dt The r
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section a state-space model for the
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Figure 6.6 - Full state feedback (o
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State-Space Model of BPMS Motor A s
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Figure 6.9 - FOC block diagram. The
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loop). A second way to implement th
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knowing the rotor position from ini
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[11] E. Clarke, Circuit analysis of
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Control Systems, Linear Analysis [4
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[77] J.M.D. Murphy, F.G. Turnbull,
Page 281 and 282: Machine Modeling, Analysis [103] J.
Page 283 and 284: THI, SVM, SPWM [127] J.A. Houldswor
Page 285 and 286: Wisconsin-Madison. [Online]. Availa
Page 287 and 288: Angle Tracking [175] D. Morgan, “
Page 289 and 290: Appendix A - Elementary Electromagn
Page 291 and 292: L i (A.8) S SS S SR S SS SR (A.9
Page 293 and 294: First the self-flux-linkage of an i
Page 295 and 296: vAN R iA LM iA eA d v R i
Page 297 and 298: Figure B.3 - One-half of the flux p
Page 299 and 300: Equations (B.27) and (B.28) are for
Page 301 and 302: Fundamental Relationships Figure C.
Page 303 and 304: Figure C.3 - Sinusoidal winding den
Page 305 and 306: manufactured compared to the steppe
Page 307 and 308: phase winding of Figure C.4 will ha
Page 309 and 310: Distributed N Fp i 2 (C.5) Figu
Page 311 and 312: alanced machine only odd harmonics
Page 313 and 314: sinusoidal windings with a sinusoid
Page 315 and 316: 0, and since the direction of inte
Page 317 and 318: That the rotor-stator flux linkage
Page 319 and 320: Figure C.17 - Summary of rotor-stat
Page 321 and 322: Figure C.19 - Amplitudes of harmoni
Page 323 and 324: triangle with an amplitude whose nu
Page 325 and 326: Returning to Figure C.18 it is clea
Page 327 and 328: torque will describe the torque pro
Page 329 and 330: However, Equation (D.2) is incorrec
Page 331: the same order as the PS set (arran
Page 335 and 336: Figure D.6 - Neutral voltage of loa
Page 337 and 338: 3v 3e 3v v v v v v v 3v AM BM CM A
Page 339 and 340: components of source voltage sum to
Page 341 and 342: Equation (D.25) and instantaneous q
Page 343 and 344: If a ZS component could possibly be
Page 345 and 346: xA X1cos( t) X3cos(3 t) X5cos(5 t)
Page 347 and 348: Figure D.11 - 3-D base vectors of 1
Page 349 and 350: the Clarke transform is used. Howev
Page 351 and 352: Appendix E - Park Transforms This a
Page 353 and 354: Appendix F - Useful Mathematical Re
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