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2016 Kappa Electronics Motor Control Training Series
-Vth
Dave WilsonCo-OwnerKappa Electronics
© 2016 Kappa Electronics LLC
Presented to: Bombardier Recreational Products May 11, 2016
2016 Kappa Electronics Motor Control Training Series
BLDC Motors
Control Structures
Field Oriented Control
Space Vector Modulation
Sensorless Control
Dave WilsonKeeping your motors spinning.
N
STo
rqu
eC
lock
wis
eC
ou
nte
r-C
lock
wis
e
360°
Torque in a BLDC Motor
Dave WilsonKeeping your motors spinning.
B
B
C
C
N
S
A
A
Cu
rre
nt
A
B
C
N
S
Commutating a BLDC Motor
2016 Kappa Electronics Motor Control Training Series
B
B
C
C
N
S
A
ATo
rqu
eC
urr
en
t
0°
A
B
C
A
B
C
0°
)()4( INBlrTorque )()( IkT
Dave WilsonKeeping your motors spinning.
Control of a Brushless D.C. Motor
12 zones in 360 degrees
of mechanical rotation
1
2
3
4
5
6
B
A
C
s
r
tContr
olle
r
Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure
1
1
0
120 0 hall spacing is preferred over 60 0
spacing since unpowered or
unconnected sensors produce 111 or 000 codes, which can be
used for fault detection.
Dave WilsonKeeping your motors spinning.
A
A
B
C
C
V+
B
H1
H3
H2
H1
H2
H3
A
B
C
Hall Sensor Signals
Inductive Flyback
Transistor ON
Transistor OFFNorth Pole
South Pole
Dave Wilson
Phase Voltages
Dave WilsonKeeping your motors spinning.
PWM with BLDC Motors
Q1
Fault input signal
Q3
Q4
Q5
Q6
Q2
Hall C
Hall B
Hall A
Dave WilsonKeeping your motors spinning.
Commutation of a Brushless DC Motor
NS
NS
N
NS
NS
C
C
CC
A
A
A
A
B
B
B
B
N N
S
S
N
N
S S
NS
NS
NS
NS
NN
S
S
NN
S
S
N
S
N
S
N
N
S
S
N
S
S
N
N
N
S
S
N
N
S
S
S
N
S
N
S
N
S
N
N
S
S
N
C
C
CC
A
A
A
A
B
B
B
B
C
C
CC
A
A
A
A
B
B
B
B
C
C
CC
A
A
A
A
B
B
B
B
C
C
CC
A
A
A
A
B
B
B
B
C
C
CC
A
A
A
A
B
B
B
B
N
S
N
S
N
S
S
N
Dave WilsonKeeping your motors spinning.
N
S
S
N
N
N
S
S
N
S
N
S
N
S
S
N
NN
S
S
NNN
S
S
N
N
S
S
S
N
S
N
N
S
N
S
N
N
S
S
S
N
S
N
N
S
S
N
A
C
C
CC
A
A
A
B
B
B
B
Brushless DC Motor Animation
Dave WilsonKeeping your motors spinning.
Spoke Design BLDC Motor
Dave WilsonKeeping your motors spinning.
BLDC Control
Contr
olle
r
Source: Eastern Air Devices, Inc. Brushless DC Motor Brochure
Conditioning
Dave WilsonKeeping your motors spinning.
Back-EMF Integration Technique!
MCU
ADC0
ADC1
ADC2
PWM0
PWM1
PWM2
PWM3
PWM4
PWM5
Gate Drivers
Power Inverter
Phase A
Phase C
Phase B
BLDCMotor
This technique performs sensorless commutation on three-phase BLDC motors which enables quick commissioning, robust control (even at low speeds), and exceptional adaptation to velocity perturbations.
Dave WilsonKeeping your motors spinning.
Phase A
Phase B
Phase C
0 60 120 180 240 300 360
Rotor Electrical Position (Degrees)
Back-EMF Integration…A Peek Under the Hood
Commutate
Vth
-Vth
Dave WilsonKeeping your motors spinning.
Speed Invariant Performance
Zero-crossing line1/6 Amplitude
Zero
-Vth
Start Integrating
CommutateCommutate
mdt
d
dt
dvoltage
Dave WilsonKeeping your motors spinning.
Torque Ripple from Commutation
0 30 60 90 120 150 180 210 240 270 300 330 360 390
uiA
PsiA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
uVA
uA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
id0
iA
0 30 60 90 120 150 180 210 240 270 300 330 360 390
u0
0 30 60 90 120 150 180 210 240 270 300 330 360 390
Torgue
Dave WilsonKeeping your motors spinning.
Permanent Magnet AC Motor
• This motor exhibits a smoothly rotating magnetic field
where the magnetic gradient of the stator flux is
illustrated by the color shading. There is no
commutation to cause motor jerking. But how do you
create such a smoothly rotating magnetic field????
Dave WilsonKeeping your motors spinning.
Sinusoidal Winding Distribution
Stator winding density is sinusoidally distributed,thus creating a sinusoidally distributed flux density
Phase A shown
Source: Electric Drives, an Integrative Approach,by Ned Mohan, University of Minn. Printing Services, 2000
Dave WilsonKeeping your motors spinning.
Flux Resulting from Single-Phase Current
Source: Mahmoud Riaz, Sc.D., Professor of Electrical Engineering, Department of Electrical and Computer Engineering, University of Minnesota
Pretty cool, but no
rotatingvector!
Dave WilsonKeeping your motors spinning.
Phase A Phase B Phase C
A
B
C
Adding More Phases
Dave WilsonKeeping your motors spinning.
Space Vector Addition
Source: Mahmoud Riaz, Sc.D., Professor of Electrical Engineering, Department of Electrical and Computer Engineering, University of Minnesota
