IC-GWBT2012, Ahmad Dahlan University, March 23-24, 2012

Modeling and Simulation of Brushless DC Machines

Rizanaliah Kasim, Khairatul Akmal Ismail, Auzani Jidin, Norhazilina Bahari Faculty of Electrical Engineering University of Technical Malaysia, Melaka Melaka, Malaysia E-mail: cendol_aries87@yahoo.com Abstract This paper discussed a model of a three phase star-connected Brushless DC motor (BLDCM), permanent magnet external rotor, Hall Sensor device to sense the rotor position, the trapezoidal backEMF and sixth step inverter to interaction with the motor. The dynamics of the motor are describe by a mathematical differential model and were simulated using MATLAB/SIMULINK toolbox. Simulation and experimental results was obtained in order to verify the proposed method. Due to its characteristics such as high efficiency, good dynamic response and low maintenance, the Brushless DC motor (BLDC) is one of the electrical drives that are rapidly gaining popularity and by using a simple, accurate, easy to modified and fast running DC motor, the aim to make a model was achieved.

Keywords: component;brush-less DC motor,three phase, hall sensor,six-step inverter and permanent magnet. 1 Introduction In the past decade, the brush DC motor has been used extensively in many industrial applications due to its simplicity and high performance torque control. Its mechanical commutation action forms the torque and flux components that are always orthogonal which allows fast torque dynamic control under optimal conditions. Despite of its excellent performance and simple control structure, the existence of mechanical commutator and brush in the construction of the motor can cause some limitations. For example, it requires a regular maintenance and cannot be operated in the dirty or explosive environment; its speed is very limited and expensive. Nowadays, the brushless DC motor (BLDC) is attracting much interest in industry, due to its high efficiency, high power factor, high power density, compactness, high torque, simple control and lower maintenance. During these past two decades, the BLDC motor has actively considered by many researchers.[1] A BLDC motor is a permanent magnet synchronous motor that is powered by a direct current (DC). As its name implies, it did not use brush to operate. It operates with a controller through the electronic commutation. An electronic brushless DC controller replaces the mechanical commutation system applied by a BLDC motor and required by most BLDC motor. A BLDC motor consists of inverter, Hall sensor, rotor and stator. The hall sensor is used to sense the rotor position while the inverter replaces the commutator part. A type of inverter which is the sixth-step inverter, are used to operate. [2]

Fig. 1. Brushless DC motor.[3]

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Modeling of BDLC Machines Mathematical model

Fig. 2. Tree phase BLDC machine equivalent circuit and mechanical model .[2] Electrical equation [2] (1) Where, Van (t) = per phase voltage ia = per phase current ea = per phase voltage back-EMF Ra = per phase resistance La = per phase inductance Mechanical equation [2] (2) Where, Tem (t) = Developed electromagnet torque (t) = rotor angular velocity b = viscous friction constant J = rotor moment of inertia T= load torque Equation 1 and 2 are coupled through developed electromagnet torque (Tem) and the back EMF (e phase) which are describe by equations 2.3 and 2.4 respectively.[2] (3) (4) Where k t-x = per phase torque sensitivity k e-x = per-phase back EMF Voltage equation in Laplace domain [2] (5) Phase current [2]

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(6) Electromagnetic torque in Laplace domain [2] (7) (8)

(9) Torque equation [2] (10) Transfer function [2]

(11)

Fig. 3. Model of BLDC motor.[4][5] 3. Switching Pattern of BDLC Drives In BLDC motor, the rotor position was guided by the electronic switches which to ensure proper commutation occurs and the motor rotates. Thus the detection of the rotor position is crucial in order for the BLDC motor to work properly. Generally, the Hall sensor is used to sense the rotor position and placed 120 apart. In every 60 of rotation, the Hall sensor changed its state and each combination of hall sensors states represents a specific rotor position.[6]. The BLDC motor uses sixstep inverter operation to replace the commutator part. Six-step commutation is a cost-effective due to its simple and relatively inexpensive feedback and drive dives.
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In six-step inverter, only two winding are energized at a time. Each step rotates at 60 electrical degrees, which six paths make a full 360 degree rotation. One full 360 degree loop is able to control the current, due to the fact that there is only one current path.[2][7]

Fig. 4. Standard switching frequency. [3] TABLE 1 Truth table for switching frequency [3]

Fig. 5. Winding energizing sequence with respect to the hall sensor.[2]

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The timing diagram of Figure 6 for sequencing operation was explained. The drive timing of A, B, and C were turn on and off as they rotates through the mechanical revolution and its signals correspond to a binary code output.[8]

Fig. 6. Sensor versus drive timing.[3] 4. Result The simulation studies of a BLDC motor drive was obtained using MATLAB/SIMULINK with a modeled BLDC motor. The generations of reference currents are based on the torque demand (i.e. Iref = Te,ref x G1) and decoded signals (HA, HB and HC) which are derived from the Hall Effect signals (HA, HB and HC) as given in Table 1. The Hall devices of A, B, and C were turned on and off as they rotate through one mechanical revolution. The on and off signals correspond to a binary code output. Decoder block is used to extract the back-EMF information from the Hall Effect signals. The output obtained is a three-level signal (1, 0, 1); represent the normalized ideal phase currents to be injected in the motor phases. These types of currents will produce a constant torque

Fig. 7. Simulation result for hall sensor.

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Fig. 8. Simulation result for back-emf.

Fig. 9. Simulation result for phase current 5. Conclusion In this paper, a MATLAB/SIMULINK model of three phase star-connected BLDC motor was developed and the dynamic of machine are described by a set of mathematical differential equation. This paper offers several advantages of BLDC motor which are have a high efficiency and performance, longer life operation, low maintenance and generate less noise. Due to its advantages, a BLDC motor is widely used in industrial sector and was rapidly gaining popularity; bringing the aim of making a model that is simple, accurate; easy to modified and fast running was achieved. Acknowledgment The first author would like to thank Norhazilina binti Bahari, Dr. Auzani bin Jidin and Khairatul Akmal binti Ismail for their assistance and guidance in preparing this paper and also to University Technical Malaysia Malacca (UTEM) for preparing the funds in a short term grant. References [1] El-Sharkawi, A Mohamed.Fundamental of Motor Drives, Brooks/Cole Publishing Company, 2000 [2] Anand Satyan,.Digital PWM Control of Brushless DC (BLDC) Motor Drives, December 2008 [3] Stefa Baldursson, BLDC motor Modeling and Control, Gteborg, Sverige, 2005 [4] Kuo, B.C. Automatic Control Systems, Prentice Hall of India, 1990 [5] Ogata, K. Modern Control Engineering, Prentice Hall of India, 1991 [6] Hendershot, J.R and Miller T. Design of Brushless Permanent Magnet Motors, Magna Physics and Oxford Science Publication, 1994 [7] John Mazurkiewicz. How a Brushless Motor Operates, Baldor Electric. [8] Brown, War., Brushless DC Motor Control Made Easy, Microchip Application Notes AN857 Microchip Technology Inc, 2002

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