BLDC Motor Modelling and Control - A Matlab®Simulink Implementation
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Vally ZazaBLDC Motor Modelling and Control - A Matlab®Simulink Implementation
Uploaded by
Vally ZazaBLDC Motor Modelling and Control A Matlab/Simulink
Implementation
Master Thesis work by Stefn Baldursson
May, 2005
Institutionen fr Energi och Milj
International masters program in Electric Power Engineering
CHALMERS TEKNISKA HGSKOLA
Gteborg, Sverige, 2005
Examinator: Torbjrn Thiringer
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dcsa9io " tQ w{ls7agja|w{lma7ehgja9ei= hg vagv adcpsVa9ioVcfq{ a9gjn stcfqrs7 qcfgva
wgjknVgjb gjkw{gw{kl npg4s7npib gcfgvwrnpldcfqrqa J4s7w{a9lmgkgjn)c cl ngj a9es7npi w{ldcgjw{nVl
npodcsa9i#o "w{l vwa@gjakingjnpeqrn s@ akw{lma9e gja9ew{gv a9eva9onVehaa9vwrzpl atgjn
stcfqsu qcgjacflb gnVggv ahgcgjaHvbdcs7aikna9q$wrlb gnpqgcfzVa9w{l hgjacnpoTgv a
csugjdcfqb dcfvau~gjnfb dcvanVqgczpa9t#$ aw{lma7ehgja9e$npgjb ggv a9lats7npia9
i3 6= 0
u12 = v12 (e1 e2 ) =
Vs e 1 + e2
u23 = v23 (e2 e3 ) =
e2 + e3
u31 = v31 (e3 e1 ) = Vs e3 + e1
u12 = v12 (e1 e2 ) =
i3 = 0 u23 = v23 (e2 e3 ) =
u31 = v31 (e3 e1 ) =
onpe$gv as7w{ejs7 wgwrl>zp eva r9cdcfl
Vs e 1 + e2
1
(Vs + e1 e2 )
2
1
(Vs + e1 e2 )
2
KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
u12 = v12 (e1 e2 ) = Vs e1 + e2
e2 + e3
i3 =
6 0 u23 = v23 (e2 e3 ) =
u31 = v31 (e3 e1 ) =
Vs e 3 + e1
u12 = v12 (e1 e2 ) =
i3 = 0 u23 = v23 (e2 e3 ) =
u31 = v31 (e3 e1 ) =
Vs e1 + e2
1
(Vs + e1 e2 )
2
1
(Vs + e1 e2 )
2
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cfzVa9 ggjaatmdcgjw{nVl npocfqrqgv eva9anpqgcfzVa9i hgaT lnyl4onVe\gj aTa9ehw{pcgjw{nVl
npo\gv akcs1VnVqgcfzVa7"nty gjdcggj a1npq{gczpa9 u u cl u dc9a=a9a9lau
evwa9gj al ia9ehVcfevaeva9b qcpsuat>m c sw{12l gj 23acb b ehnVb 31ehwcfgjanpeja9e9# a
eva7j qgjw{l zw{lmVa9ehgja7e$npqgcfzVa9Tcehaj ntylwrl>gcf q{a
c q{a H\Hla9ehgva9enpgjbgnpq{gczpa9
\q\lzVq{a
Tw{na eveha9lmg
0 60
ic 6= 0
ic = 0
ib 6= 0
ib = 0
ia 6= 0
ia = 0
ic 6= 0
ic = 0
ib 6= 0
ib = 0
ia 6= 0
ia = 0
60 120
120 180
180 240
240 300
300 360
vab eab
Vs e a + eb
Vs e a + eb
ea + eb
1
(Vs ea + ec )
2
Vs ea + eb
1
(Vs + eb ec )
2
Vs ea + eb
Vs ea + eb
ea + eb
1
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2
Vs e a + eb
1
(Vs + eb ec )
2
vbc ebc
eb + ec
1
(V
s + ea e b )
2
Vs e b + e c
1
(Vs ea + ec )
2
Vs e b + e c
Vs e b + ec
eb + ec
1
(V
s + ea e b )
2
Vs eb + ec
1
(Vs ea + ec )
2
Vs eb + ec
Vs eb + ec
t t d d
F d
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npl)cflnZ vdcq{qcg1c w{zVKejcfgjap@ w{w{stcfq{qratKs npb b w{l z kcevKsnVb b w{l z
iacfl 4gvdcfg4gv a b ba9ecl qrnty a9e4 yTwgsceha|ehw{Va9lmgjaciasnVb b w{l z
vw{zVldcfq~Zlnpgja9eyc9npo/snVb b w{l z@w{ vnVogsj nVb bwrl z #l vnpog$s npb b wrlznVlq{4gv a
b ba9e yTwgsj>w{evwa7l>m4gj as npb b w{l zkvw{zVldcfqclgv aqrnty a9e hywgs wr$q{a9ognpl
KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
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cfqrvn q{nty$a7et a@wrcpclmgczpa@w{gvdcfgjnpogs npb b wrl z eva9m w{eva9inpevaauba9ljwa
dcfej ycehF
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w{lma9e gja9e4npqgcfzVa9t aVnVqgcfzVa|vnp ejs7a9 v cfl v cpsug>cf w{na9cflgv a
w{lma9e gja9e4npq{gczpa9>cehastcfqs7 qcgjat cfa9onpevaVd1$w~ aV a9wd3gv a9emwrl vbatsugvwrnplnpem
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$aeha9v q{gvw{l zTnpqgcfzVa9
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A
B
A
B
D2
D3
D6
D2
D5
Vs
Vs
0o - 60o
60o - 120o
D5
D2
D1
D4
Vs
120o - 180o
180o - 240o
D1
Vs
240o - 300o
D5
Vs
A
D6
C
D4
D3
A
C
D4
D3
D6
D1
Vs
300o - 360o
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KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
1
e1
Z
i3
e2
2
Vs
i1
Z
vd3
+
vd1
i3
i1
+
+
vd1
e3
e3
e2
2
e1
vd3
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(a)
(b)
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\q\lzVq{a
0 60
60 120
120 180
180 240
240 300
300 360
Tw{na eveha9lmg
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
vab eab
Vs ea + eb
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1
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2
0
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1
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2
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0
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1
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2
1
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2
0
Vs e a + eb
Vs e a + eb
1
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2
0
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1
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2
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0
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1
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2
1
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2
0
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1
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2
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0
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1
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2
1
(Vs + ea eb )
2
0
Vs eb + ec
Vs eb + ec
1
(V
s e a + ec )
2
0
Vs eb + ec
1
(V
s + ea e b )
2
Vs eb + ec
0
eb + ec
1
(Vs ea + ec )
2
1
(V
s + ea e b )
2
0
Vs e b + e c
Vs e b + ec
1
(Vs ea + ec )
2
0
KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
t t d
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rt# aeva7j qgvwrl zkVnVqgcfzVa7cfevav ntyTlw{lgc q{a
A
C
B
D2
B
D3
D6
D2
0o - 60o
60o - 120o
A
C
D4
Vs
C
B
D2
D5
D4
D6
120o - 180o
180o - 240o
B
A
D4
A
C
D6
240o - 300o
Vs
300o - 360o
D1
Vs
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KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
i1
i3
e2
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vd3
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2
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\q\lzVq{a
0 60
60 120
120 180
180 240
240 300
300 360
Tw{na eveha9lmg
ia 6= 0, ic 6= 0
ia 6= 0, ic = 0
ia = 0, ic 6= 0
ia = 0, ic = 0
ia 6= 0, ib 6= 0
ia 6= 0, ib = 0
ia = 0, ib 6= 0
ia = 0, ib = 0
ib 6= 0, ia 6= 0
ib 6= 0, ia = 0
ib = 0, ia 6= 0
ib = 0, ia = 0
ib 6= 0, ic 6= 0
ib 6= 0, ic = 0
ib = 0, ic 6= 0
ib = 0, ic = 0
ic 6= 0, ib 6= 0
ic 6= 0, ib = 0
ic = 0, ib 6= 0
ic = 0, ib = 0
ic 6= 0, ia 6= 0
ic 6= 0, ia = 0
ic = 0, ia 6= 0
ic = 0, ia = 0
vab eab
ea + eb
ea + eb
1
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2 b
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1
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2
1
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2
0
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1
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1
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2
0
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ea + eb
1
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2
0
ea + eb
1
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2
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0
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1
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2 b
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0
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1
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2 a
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0
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1
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0
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1
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2
0
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1
(e eb )
2 a
1
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2
0
eb + ec
1
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a + ec )
2
1
(e eb )
2 a
0
eb + ec
eb + ec
1
(Vs + ea eb )
2
0
KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
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4
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
t(s)
Fw{zp eva{t~H$npgvnVe$jba7at
0.1
KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
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0.5
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0.4
0.3
0.2
0.1
0.05
t (s)
0.1
w{zV eha r-H\q{atsugjehwrstcqgjnpej a
0.28
0.26
T (mNm)
0.24
0.22
0.2
0.18
0.09
0.0905
0.091
0.0915
0.092
0.0925
t (s)
0.093
0.0935
0.094
0.0945
0.095
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0.6
0.5
0.3
T (mNm)
0.4
0.2
0.1
0.5
1.5
2.5
3
Mech. speed (rpm)
3.5
Fw{zp eva{&~H#/npejm aHvba9at>b q{npg
4.5
x 10
i (A)
0.5
0.5
0.05
0.1
0.05
0.1
0.05
t (s)
0.1
i (A)
0.5
0.5
i (A)
0.5
0.5
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KMLONQPSR TVUYNSR NQ Z]*bZ]\n +_a`T
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0.2
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0.093
0.0935
0.094
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0.095
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0.2
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0.4
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0.2
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KMLONQPSR TVU,YKa_a\^R U_
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s7nplmgjehnVq{q{a9ew{@ vat$ w{@hgjejcfgva9zmZv zpzpa9hgjatclb eha9va9lmgjatw{
l CG EZw{jw{ib q{a
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amhgja7eva9vw{#dcl 4sunVlmgvevnpqw{#acfv=gjnw{ib q{a9ia9lmgZyTwgj4ceha9qct qrn skcf#jnyl
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a9q{ntyXgj aqrnty a9eq{w{iwggj anVgvb gnpo#gja@eva7qc9| q{nsjwrcq{nty'vw{zpldcq#cfl|gv a
s7nplmgjehnVq q{nshgjnpb $gj as npb b w{l znVba9ejcfgvwrnplnpo/gj aw{lmVa9ehgja7et
Iref =
Position
chop
Firing Signals
Control block
Te ref
.
kt
Firing Signals
Vs
DC source
voltage
uab,ubc
Vs
Inverter block
Idc
Relay
uab,ubc
Position
iabc
BLDC motor block
1/2
Gain
|u|
Abs
w{zV eha=r(Hhgva9eva9vw{$gjnpejm as7nplmgvevnpqhhgja9i
wrzp eha @v nygj aa9q{atsugvevwrstcfqgjnpej ayTa9lgv aeva7oa9eva9l s7apcfqr aw{ 0.2 mN m
cflKq{nmcgjnpejm aa9mdcfq\gjn>gv aeva9oa9eva9lsuapcfqr aw{=cb bqrw{atcg 0.05 s ^
wgj npg
c@gjnVevm a=s7nplmgjehnVq{q{a9etdgv a=a9q{atsugvevwrstcfq/gjnpej ay$np qrevatcps 0.5 mN m cfgTgja1vgce g
KMLONQPSR TVU,YKa_a\^R U_
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a9l gj a>q{ncp
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gvnVevm aeva9icfw{l gj aciavngj avba9ato cfq{qr
ntyTlkgjn9a9evn1c#v nylwrlkzp evaZlkgj w{s9cva$gj as7npiigcgjw{nplevw{b b q{a9ceha
l n>q{nVl zpa9e1cb evnp q{a9i@ akevw{b b q{a9b ehn s7atKmgjwrs7nplmgjehnVqZhgjejcfgva9zp|dc9a4c
isjqcfevzpa9ew{ibdcsug a9vbats7wcfq{q{yT a7lgv ahgja9eva9vw{dcflwr$ywraV
wrzp eva=
v ntyT$gjab dcvas7 eveha9lmgjt
0.25
0.2
T (mNm)
0.15
0.1
0.05
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
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4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
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0.2
ia (A)
0.1
0
0.1
0.2
0
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
0.2
ib (A)
0.1
0
0.1
0.2
0.2
ic (A)
0.1
0
0.1
0.2
wrzp ehaH\xZdcvas7 eheva9lmgvwrlmhgva9eva9vw{gjnpejm as7nplmgvevnpqaubnpvatgjn@cq{nmchgja9b
KMLONQPSR TVU,YKa_a\^R U_
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M W YY [R E [ G
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b evw{ls7w{b q{a=w{vw{iwrqcfegjngj a1npl a=w{lgj agjnpej a=s7nVlgjevnpq/js a7iaa9js7evw{atw{lgv a
b evauwrnp vatsugvwrnpla9eha=gv aehnpgvnVevba9at|w{oa9gjngv aeva7qc9 qrn s$ a= b ba9e
cflKgj a4q{ny a9e1q{w{iwgj1nVogv a4eva9qc9K q{nscfeva4w{lgj w{s9cvagj a4vba9ateva9oa7eva9ls7a
pcq{ ab qr cliw{l dcq{onVoTgj am vgva9eva9vw{4cl yTwrgjeva9vbatsugjwa7q{ a
ywgvnVo/gv amhgja9eha9vwrdcfl>wrl nty 1% npo/gj aeha9oa9eha9ls7avba9at
$ a bnpvw{gvw{nVlvwrzpldcfq$s7nVq a vatgjns9cqrs7 qcfgva gja evngjnpevba7at g@gv a
csugjdcfqevngjnpevba9at>w{ vat> a9evaw{eva9sugjq>vw{ls7awgw{Tcq{evacctpcfwrqcf q{aoevnpi gv a
hgcgjauvbdcs7a q{ns/n4stcfqrs7 qcgjagj abnpvw{gvwrnpljw{zpldcqoevnpi gv aevngjnpejba9a9|cfl
gj a7ls9cqrs7 qcfgvagj avba9atoevnpigj abnpvw{gvwrnpl)vwrzpldcfqZy$np qracl l l atsua9jcfeh
s7npib gcgjw{npldcq# eja9l b ecsugjwrs7aVy a9l)w{ib qra7ia9lmgvwrl zjba9a9 cflbnVvwgjw{nVl
s7nplmgjehnVq w{zpeva9vnVq{gvwrnplbnpjwgjw{nplva9l vnVehcfeva vat
Position
chop
Firing Signals
Firing Signals
Control block
Vs
DC source
voltage
Vs
uab,ubc
Inverter block
uab,ubc
Position
wm
BLDC motor block
Relay
Fw{zp eva1~H#hgja9eha9vwrvba9ats7nVlgjevnpqhhgja9i
wrzp eha|v ntyTkgv aevngjnpekjba7aty a9lcqrncgvnVevm aw{cb bqratcg 0.01 s
aeva9oa9eva9lsuavba9atw{
cflgv aicfzpl w{gvanVogj aq{ncpw{gj a
icw{i i s7nplmgjw{l np qrn20,000
cpcfqrq{ntrpm
y$atX 0.23 mN m s9cl ava9a9lw{l gj a
zp evaV gj aoehatm a9lsu>nVo
gja1vba9atehwrbb qra9Tw{ls7evacfva9cogja9egv a1q{ncphgva9b wr
sdcfl zpanpo\oevat a9lsu>yTw{q{qFa=w{lma9hgvwrzcfgvat|w{lvatsgjw{nVl avba9a9| nty$a7Va9et
hgc9 ywgj w{lgjamhgja9eha9vwrdcflcfevnp l gj aeha9oa9eha9ls7apcfqr ap
Fw{zp evay v ntyTgj aa9q{atsugvevwrstcqgjnpejm ap\$ agjnpej aevw{b b q{a9cehavgvevnpl zcfl
gjejcl vw{a9lmgvq{zpncq{qZgj ayc9ntylgjn>9a9evn gjnpejm aVk^a9onVehakgv akq{nmcwr1cfb b qrw{at
gj agjnpejm a@wrnpl qldcehevnty'jb w{Va7 gy a9lgj a@qrncKw{1cfb b qrw{atgj aklnVl 9a9ehn
gjw{iaknVogj akba9evw{nKats7nVika91qcfevzpa9egvdclKgv a9a9ehngvwrikaV4$ a sqrw{l s7 eheva9lmg
w{Tl npgTv ntyTl a7eva1 gTw{gTw{Tb evnpbnVe gjw{nVldcfqgjngj aa9q{atsugjehwstcfqgjnpej acfldcgv a
cikaoehatm a9lsu>s7nplmgja7lmg#
w{zV eha1kv ny$gj ab dcfva1s7eveva9lgjt
KMLONQPSR TVU,YKa_a\^R U_
,
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.002
0.004
0.006
0.008
0.01
t(s)
0.012
0.01
t (s)
0.012
0.014
0.016
0.018
0.02
Fw{zp eva1H#ngjnpevba9at>w{lhgja9eva7jw{vba7atsunVlmgvevnpqaubnpvat>gvncqrncpvgva9b
0.7
0.6
0.4
T (mNm)
0.5
0.3
0.2
0.1
0.002
0.004
0.006
0.008
0.014
0.016
0.018
0.02
wrzp ehay-H\\q{atsugvevwcqgjnpejm aTw{lmhgja9eha9vwrvba9ats7nVlmgvevnpqaubnVvatgjncq{nmchgja9b
KMLONQPSR TVU,YKa_a\^R U_
ia (A)
0.5
0.5
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
0.002
0.004
0.006
0.008
0.01
t (s)
0.012
0.014
0.016
0.018
0.02
ib (A)
0.5
0.5
0.4
ic (A)
0.2
0
0.2
0.4
w{zV eha=~HxZdcvas7 eveha9lmgjw{lmhgja9eha9vwrvba9ats7nplmgjevnpqaubnVvat gjncq{nmchgja9b
KMLONQPSR TVU,YKa_a\^R U_
,
*?-=:./0 -=6
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oehatm a9lsuw{1at) g1gj aq{a9l zgjnpo gj ag!sus7q{aa9ba9lnpl)gv as7nplmgjehnVq
a9ehevnVe9 ao csuggjdcggj aoevatm a7lsuKw{atKicpa9q{gva9evw{l znpo$cps7np hgjwrscfl
a9q{atsugjehnVi4czpl a7gjwrsl npw{vaacfvwra9e9$ ahywgs w{l z)oehatm a9lsw{sunViiknVl qp!
cfl vw{ls7agj aingjnpev vat a7eva>s9clnpba9ecgja>cfgk w{gva w{zVvba9atZgj a
kHz
oehatm a9lsu w{s npja9lcf kHz
wa]
[
$P Y [R E [ G
as7 eveha9lmg$s7nplmgjehnVqhgjejcfgva9zp4v zVzpa9hgjatw{lCGEyc ehwra# a9js7evw{atwrl vatsugvwrnpl
rprp\a9eva$gv acikas7 eveha9lmgva9l vwrl zia7gj n kwr vatkjngvdcfgnpl qknpl aTs7 eheva9lmg
s7nplmgjehnVq{q{a9eFw{Fl a7atatF
w{zV eha$' Tv ny gv a s7nplmgvevnpq hhgja9i ab dcfva s7 eheva9lmgv
cfevas7nplma9e gjatgjn1cflkatm wVcfq{a9lmgsqrw{l @s7eveva9lg\Vcfq{ aVZ wrZVcfq{ aw{#v gjejcpsgjat
oehnVi?ceha9oa9eha9ls7apcq{ a stcfqrs7 qcfgvatoehnVi gv agvnVevm aeha9oa9eha9ls7a$cfFw{lvatsugvwrnplk{V{V
as7 eheva9lmg/a9ehevnpe/w{/oatgjncs7 eveha9lmg s7nVlgjevnpq{qra9e clgj anpgjb g npogv as7nplmgjehnVq{q{a9e
w{ s7npibdcfevat4gvn@cgjevwcfl zV qcfeyctVaVZ$ anpgjbg npogv as7npibdcfecgjnpewr c1wrzpnpe
q{ny vwrzpldcfqyT wrsva9eha7cfTcks npb b w{l zvwrzpldcfqonpe$gj aw{lma7ehgja9e9
|u|
Signal
Generator
Abs1
Vs
Constant
Position
Iref
Iref step
Vs
Current controller
>=
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
Inverter block
uab,ubc
Position
iabc
BLDC motor block
|u|
Abs
wrzp eva1~Hx
gjnpejm as7nVlgjevnpqhhgja9i
as7 eheva9lmgs7nVlgjevnpq{qra9e$wrTckx#s7nVlgjevnpq{qra9eTcfl>wgja7jw{zplw{dcfvat>nVlc@s7 eheva9lmg
s7nplmgjehnVq{q{a9eonVe1c> s@ingjnpeb eha9va9lmgjatwrlCGEk a4a9vw{zVlhgcfehgvmva9qra9sugjw{l z|c
a9vw{evatevw{vagvwrika t onpegj as7 eheva9lmgt\
evnpi gjdcgc1s7nVlvgclg wr a7gja7eviw{l at
re
e
cf
e =
cfl gj as7nplmgjehnVq{q{a9ebdcejciaugja9evonVq{q{ny cf
ln 9
tre
KMLONQPSR TVU,YKa_a\^R U_
aja7qratsgjatehwrvagvwriawr
0.1 ms
kp = e L
ki = e R.
y wsjw{a9qr
kp = 2.00 103
ki = 2.75 105
a4sunVlmgvevnpqrq{a9e1cq{vn va9dcsHstcfqrs7 qcgjw{nplgjn>b eva7Va9lmgw{lmgja9zpecgjnpeyTw{l bva9a
CGEcfldcf>cKVnVqgcfzVacfgv ecgjw{nVl q{nsjgjdcgq{wrikw{gvgj a|a9i4clatnpq{gczpa
gjn 6 V vn>gjdcggv a4s7npibdcehw{jnplyTwgjgj akgvevwcl zp qceyc9a@yw{qrq#zpwa4s7npeveva9sug
eva7j qgjt
wrzp eva r9v ntyT1gv aa9q{atsugjehws9cqgvnVevm aV$ a4eva9oa7eva9ls7a4gvnVevm a cfl
gj aq{nmchgja7b)w{1hgjw{q{q 0.2 mN m ggj akgjnpej
a sgjdcgjw{nVl)w{1qcfevzpa9egvdclw{l
gj aTmhgja7eva9vw{$s7nplmgvevnpq~Z$ aehacfjnplonpegv wrw{gjdcggv aa9q{atsugjehws9cqldcfiwrs7$ceha
a9e o cfhgTsunVibdcfeva9 yw{gv>gj a yw{gjs w{l zoevat a9lsu
0.5
0.45
0.4
0.35
0.25
T (mNm)
0.3
0.2
0.15
0.1
0.05
0
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
w{zV eha=r9H#\q{atsugjehwstcfqgjnpejm aw{lbyi gvnVej as7nplmgjevnpqaubnVvat gjn4c@q{nmchgja9b
wrs9clava9a9l)ms7nVikbdcehwrl zgj a4b dcfjas7 eveva7lmgj=w{l)zp eva9@rtcfl
as npb b w{l z@l ngs a9 zpnis a9a9ba9ewrlgj abyijs a9iapZ wrzp a9e yw{gjs
w{l z>oevat a9lsuyw{qrqZb evn s7akq{a9vpcehwcgjw{nVlwrlKs7 eveha9lmg1cflgv a9eva9onVeva@vin ngj a7e
gjnpej aVZ$ aevngjnpevba9at4w{v nylw{lzV eharpclw{gonpq{qrntyTgv aTcfiaTs7 ehVa
cf$gj avba9atw{l>gj am vgva9eva9vw{s7nVlgjevnpqjsj a9iaV
KMLONQPSR TVU,YKa_a\^R U_
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
w{zVeva=rp(H$npgvnVe$vba9atw{lbyTigjnpejmas7nVlmgvevnpqaubnpvat>gvncqrncvgva9b
ia (A)
0.5
0.5
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
ib (A)
0.5
0.5
ic (A)
0.5
0.5
wrzp eha=rt~HxZdcvas7 eheva9lmgvwrlbyi gvnVevm as7nplmgjehnVqaubnVvat gjn4c@q{nmchgja9b
KMLONQPSR TVU,YKa_a\^R U_
wa{
M W YY [R E [ G
a bVyTi vba9ats7nplmgjevnpqhhgja9iQw{Zv ntyTlw{lzp ehar9 F a s7 eveha9lmg\s7nplmgjehnVq{q{a9e
w{gj acfiakcfa9onpeva gc x\$vba9ats7nVlgjevnpq{qra9eca9a9lKc at$ avba9at
s7nplmgjehnVq{q{a9ebdcfecfia7gja9ehcehaka9evwat vw{l z>vwrikwrqcfeevacfvnVl w{l zconVegj aks7 eheva9lmg
s7nplmgjehnVq{q{a9ebdcejcika7gja9ehwr
l CG E\$ abdcfecfia7gva9evTcfevastcfqsu qcgjatcf
kp = J
m
cfl
a7ba9lnplkgj aa9jw{eva9kevw{ja gjw{ianpogv avba9at\ eva7a$Vcfq{ a9npo yTw{q{q
agvevw{at a9evap aevhgpcq{ aicpa9gj ajba9a9sunVlmgvevnpq
cfo cfhgcfgv a1s7 eheva9lmg
s7nplmgjehnVq gj avats7nplicpa9 w{g leva9gvwrika9 jq{nty$a7eclgv aqcfhg pcq{ a9 icpa9
wggva9l>gjw{ia9vqrnty a9et
ki = kf
|u|
Signal
Generator
Abs1
Vs
Constant
wm ref
wm step
wm
Position
I ref
Speed
controller
Iref
i
Vs
Current controller
>=
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
Position
uab,ubc
wm
iabc
Inverter block
BLDC motor block
|u|
Abs
wrzp eva1{t~Hx
vba9atsunVlmgvevnpqhhgja7i
a7ghgjw{l z
= e
zVwa7gv aonpqrq{ntyTw{l zbdcejciaugja9ev&H
kp = 1.10 105
ki = 3.03 104
aeha9oa9eha9ls7avba9atwr 20,000 rpm ca9onpevaV
w{zVevar7v ntyTgjdcggj a7ja
s7nplmgjehnVq bdcfecfia7gva9evFb ehnsuacji4cq{q nVa9evv nmnpgFw{lvba9at@clgj a9eha$cfqrvncbbaceh
gjna#jnpia#hgvacphgcfgvaa7evevnpet/
w{zV eha9F{cl1r9v ntygj a#a9q{atsugvevwrstcqVgjnpej a
cflgj aTb cvas7 eveha9lmgvZ aTbyigH4sus7qraTw{9p ? lmgjw{qdgv aTvba9at4evacs a9
gj akeva9oa7eva9ls7akVcfq{ aV$ ab dcfvas7eveva9lgjj nty gvdcg1wggcfVa9npl q{cfnVg1npl a
evngjnpeeha7npq{gjw{nVl>gjnkevacshgjac hgcgjaV
KMLONQPSR TVU,YKa_a\^R U_
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zV eha=r7H$npgvnVe$jba7atw{lbVyTi vba9ats7nplmgvevnpq/cfgl nq{ncp
= e
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
w{zV eha=rt~H#\q{atsugjehwstcfqgjnpejm aw{lbyi vba9atsunVlmgvevnpq/cgl nq{ncp
= e
a7ghgjw{l z = 0.01 eva9v qgj@wrlc|i=svqrnty a9e@eha9jbnpl vacf@j ntylwrl zp eva
r# as7nplmgjehnVq{q{a9eebdcejciaugja9evTcfeval nty
kp = 1.10 107
KMLONQPSR TVU,YKa_a\^R U_
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eva1{t~HxZdcvas7 eveha9lmgvw{lbyi vba9ats7nVlgjevnpq/cgl nkqrnc)
= e
ki = 3.03 106
a9evaw{@l nnVa9evv n ng@ a9eva ggv avgvacp hgcfgvaa9evevnpeeha9icfwrl t=zp eva9
r9clrjny1 gj abyTi nVba9ejcfgvwrnpla9zpwrl Tevw{zpmgcggj ahgcfehgTw{lnVeva9egjn
vq{ny nyl>gj aehwrvanpo/gj avba9at
`jw{l z
w{$gjnmno cfvgTcfl
w{vq{ny1 vn
wr vat
a9eha1cTcksunVi=b ehnVeikwrvaV# aeva7j qgjw{l z4=s7nplm0.01
gjehnVqbde cejcika7gja9ehTceva = 0.1e
kp = 1.10 106
ki = 3.03 105
wrzp ehak v ntyTTgjdcggv a9va=bdcejciaugja9evzpw{Vaaugvgja9eTeva9v qgjt$a9eva@cbbaceh
gjnal nna9ehv n ng= g1gj a9ehaw{@c>ji4cq{qhgjacKvgcfgva4a9evevnpet`vw{l zcq{nVl zpa9e
vw{i qcfgvwrnplgjw{iaeva7Vacfqrgvdcfggja9eva1w{ckvicfqrqna9ehv n ngcflgv a1hgjachgcgja
a9ehevnVeats7npia91ji4cq{q{a9egjclgv a4a9evehnVeva9a9l)w{l)zp eva >
w{zV eha9@ cfl
p@v nty gv aa9qra9sugjevwrsgjnVevm a1cfl gj ab dcfva1s7 eheva9lgjeva9vbatsugjwa7q{
Fw{zp eva$ Tj ntyF ntygj ahhgja9iQehacpsgj gvncqcfevzpaq{nmc=hgja9b=npo 0.23 mN m
y wsj=wr/gv aicw{i iQs7nplmgvwrl np qrncgjdcgZstcfl=a cfb b q{wratgjngjaingjnpet a
vba9atevnpbw{s7npl jwra9ejc q{aV
KMLONQPSR TVU,YKa_a\^R U_
14000
12000
Mech. speed (rpm)
10000
8000
6000
4000
2000
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zVeva=r-H$npgvnVe$vba7atw{lbVyTi vba9ats7nplmgvevnpq/cfgl nq{ncp
= 0.01e
0.45
0.4
0.35
Te (mNm)
0.3
0.25
0.2
0.15
0.1
0.05
0
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp ehar9H#ZqratsgjevwcfqgvnVevm awrl byTivba9at s7nplmgjehnVqcg$l n@q{nmcK
= 0.01e
KMLONQPSR TVU,YKa_a\^R U_
0.4
i (A)
0.2
a
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
b
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.1
i (A)
0
0.1
0.2
0.3
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eva1rHxZdcvas7 eheva9lmgvwrlbyi vba9ats7nVlgjevnpq/cgl nkqrnc)
= 0.01e
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
w{zV eha= H#ngjnpe$jba9a9w{lbVyTi vba9ats7nplmgjehnVqcfgl nq{nmc)
= 0.1e
KMLONQPSR TVU,YKa_a\^R U_
-
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eha1 (H\q{atsugvevwrstcfqgjnpejm aw{l>byi vba9at>s7nVlgjevnpqcgl n@q{nmcK
= 0.1e
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eva1VHxZdcvas7 eveha9lmgjw{lbyTi vba9ats7nVlmgvevnpq/cgl nq{ncp
= 0.1e
KMLONQPSR TVU,YKa_a\^R U_
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.001
0.002
0.003
0.004
0.005
t(s)
0.006
0.007
0.008
0.009
0.01
wrzp ehap~HZngjnpe#vba9atwrlbyi vba9at4sunVlmgvevnpqcgicwri= i'q{nmcvgva9b =
0.1
e
KMLONQPSR TVU,YKa_a\^R U_
wa
[ N E N![R [R E [ G
abnpvwgjw{nVlsunVlmgvevnpqrq{a9e$wrcfl npgv a9ex#s7nplmgjevnpq{qra7eTcfv ntylw{l zV eha # a
7s nplmgjehnVq{q{a9estcfll npgTaa9e ochgTatstcf va1wro\cflna9ehv n ngTns9s7 ehtgj anpl q yct
gjnzpn@s7q{nVva9e nylgvn=gj aeha9oa9eha9ls7acfl zVq{aTy nV qragjneha7a9ehjaTgj aevngjnpejba7at
wr qr singjnpeikna9qnma9@l ng@v b bnpehgjba7at eha7a9ehcq$ as7nVlgjevnpq{qra9ew{
gj a7eva9onpevai4cpavq{nygjnkb eva7Va9lmgcflnVa9evv nmnpgt
|u|
Signal
Generator
Abs1
Vs
Constant
thetam step
thetam ref
wm ref
thetam
Position
controller
wm ref
wm
Position
I ref
Speed
controller
Iref
i
>=
Vs
Current controller
Relational
Operator
chop
Firing Signals
Firing Signals
Vs
Control block
Inverter block
DC source
voltage
Idc
1/2
Gain
uab,ubc
Vs
uab,ubc
Position
thetam
wm
iabc
BLDC motor block
|u|
Abs
Fw{zp eva1Hx
bnVvwgjw{npls7nplmgjehnVqv vgva9i
as7nplmgjehnVq{q{a9e#bdcfecfia7gva9ev\ vatk a9ehaTcfeva$nVgcw{l atk@ vw{l zgj a gjevwcfqdcl ka9evehnVe
ia7gv n#`vw{l z
kp = 6.59
cfl
ki = 9.10 108
zpw{Va9/gv azVnmn1eha9v qgjt
Fw{zp evaVv nty/gjaevngjnpeFclzVq{a cg
l nTq{ncpnVba9ejcfgvwrnpl
aeha9oa9eha9ls7acfl zpqraw{ 3600 \ aa7evevnpew{ npl q coecsugvwrnpl npo/c=a7zVeva7aV\
wrzp eva
1v nygv acfiagj w{l zyT a7lgj aTicw{i is7nplmgvwrl nV q{ncp
w{cfb b q{w{atcfg$gj ahgcehgt# aeva9v qgjTcfevawra9lmgvwstcfqyTwgjb ecsugjwrstcfq{q{ 0.23
9a9evnkmN
a9evevnpmet
KMLONQPSR TVU,YKa_a\^R U_
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
wrzp eva1 p~H#ngjnpeTcfl zpqrawrlbyi bnpvwgjw{nVls7nplmgvevnpq/cgl nkqrncp
4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
wrzp eva1p~H$ngjnpeTcfl zVq{awrlbyi bnpjwgjw{npls7nplmgjehnVqcfgicw{i i qrnc
KMLONQPSR TVU,YKa_a\^R U_
v
<10 87<675+(*&)89: -=6./<1;15 *?-=:./0 -=6
`vw{l zc>pcehwcf q{a sVnVqgcfzVavnp ejs7a4gjn|s7nplmgjehnVq#gj acb b q{w{at)npqgcfzVastcfldctVa
vnVikacpclmgczpa9$nVa9egv agHy nia7gv n b eha7w{nV vqwrjs7 vvatZ q{wrl acfe bnty$a7e
hgcfzVaTwr s acfba9egjdcfl>c1b qrvatbny a9evgczpa@ byi\ ggj aq{nVvva9 stcla wrzp
cg$q{ny npqgcfzVacl w{zVs7 eheva9l
g C$ E\ny a7Va9et cg$ wrzp>vba9atc=q{w{l acfe$bnty$a7e
hgcfzVastcfla>gj aa9hgcfq{gva9evldcgjwa yT a7l yw{gjs w{l zq{nVvva9cfls7npiigcfgjw{npl
a9qc9>npoZcb q{jat>bnty$a9e$vgczpaats7npiavw{zpl w{ds9clm
g C{9d E~
{j]
[
$P Y [R E [ G
agjnpejmas7nplmgjevnpq{qra7e ja9 a9evaw{F! hg qrw{Vagv anVl ajatonpegjabyTis7nplmgjehnVq
au s7a7bg$gjdcg$gj anpgjb g nVqgczpaw{$q{wriwgja9 gjnkfH=}@ ax#s7npl vgclgjTcfevagv a
cikacflgj aeva9oa9eva9lsuagjnpejm aw{4gj acfiaV
w{zV eha v ny4gjay npqra
hhgja9i
Position Firing Signals
Iref
Iref step
Vs
Current controller
Control block
Firing Signals
Vs
uab,ubc
Inverter block
uab,ubc
Position
idc
BLDC motor block
Fw{zp eva1-HZ}cehwrqra sq{wrlnpqgcfzVagjnpej as7nVlgjevnpqhhgva9i
wrzp ehapv ntyT@gv a>a7qratsugvevwrstcfq gjnpejm aV "nty gj a npl q wreheva9zp qcehw{gva9w{lgv a
gjnpej ans9su e=cfggj a4s7npii=gcgjw{nVlw{l hgcflmgjt4 aevw{b b q{a9cfeva4m wgjaqcehzVa g
a9e ldcehevnty2cfll ngcfoehatm a9lmgkc=gv aevw{b b q{a9wrlgv amhgja7eva9vw{dclcfl
byisunVlmgvevnpq\js a9ika9@
wrzp eva91( clp>v nty'gv akevngjnpevba9atcl gv a
b dcfva1s7eveva9lgjeva9vbatsugvw{Va9qm
KMLONQPSR TVU,YKa_a\^R U_
0.25
0.2
T (mNm)
0.15
0.1
0.05
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
w{zVeva= ~H\q{atsugjehwrstcqgjnpej awrl>pcfevwc q{a1 sq{w{l nVqgczpagvnVej as7nplmgjehnVq
x 10
4.5
4
Mech. speed (rpm)
3.5
3
2.5
2
1.5
1
0.5
0
0.05
0.1
0.15
t(s)
0.2
0.25
0.3
Fw{zp eva1(~H$npgvnVe$vba9atw{l>Vcfevwcf q{a1 sq{wrlnpqgcfzVagjnpejmas7nVlgjevnpq
KMLONQPSR TVU,YKa_a\^R U_
0.2
ia (A)
0.1
0
0.1
0.2
0
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
0.2
0.25
0.3
0.05
0.1
0.15
t (s)
0.2
0.25
0.3
0.2
ib (A)
0.1
0
0.1
0.2
0.2
ic (A)
0.1
0
0.1
0.2
w{zV eha=pH#x\dcfjas7 eheva9lmgvwrl>pcehwc q{a1 sHq{w{l VnVqgcfzpagvnVevm as7nplmgjehnVq
KMLONQPSR TVU,YKa_a\^R U_
{j{
M W YY [R E [ G
a@vba9ats7nVlmgvevnpq{qra9e vata9evawrgj acia@sunVlmgvevnpqrq{a9egjdcgyc vatonVegv a
byiQvba9ats7nplmgjehnVqF
w{zVeva$v nty
gj a#y nVq{ahhgja9i
aeva9oa7eva9ls7avba9at
w{hgvwrq{q 20,000 rpm cl gj acfia1x\s7npl hgcflmgjTcfeva vat
wm ref
wm step
wm
Position Firing Signals
I ref
Speed
controller
Iref
i
Vs
Current controller
Control block
Position
Firing Signals
Vs
uab,ubc
uab,ubc
wm
idc
Inverter block
BLDC motor block
w{zVeva1 (HZ}cehwr q{a sq{wrl npqgcfzVaV vba9ats7nplmgjehnVqv vgva9i
agva9hgjw{l z|b evnsuat eva a7evawr1gj acia cfw{l vatsugvwrnpl | a s7nplmgjehnVq{q{a9e
w{Tevhgica1a7eho cfvgy wsj|eva9v qgjw{lcvicq{q/na9evv nmnpgcfj ntyl|w{lzp eva
VZ
w{zp eva9p1cflv nygv aa9q{atsugjehwstcfqgvnVevm aTcl@gjab dcfvaTs7 eheva9lmgv
eva7jbatsgjwa9q#~gw{w{lmgja7eva9hgjw{l z@gjn@l npgvagvdcfg$gv aa9q{atsugjehwstcfqgjnpejm aats7npia9l a9zf
cgjwaonpecv npehg\gjw{iaVZ w{dcfb ba9l \y a9lgv aTcbb qrw{atkVnVqgcfzVaats7npia9q{nty$a7e
gjdcflgv a=b dcfvau~gjnfb dcva=dcpsja9io!cl|s7eveva9lghgcfehgvTgvF
n nyQgjn4gv a1npq{gczpa
vnVejs7agj ehnVzV>gj aoeva9auy a9a9q{wrl z4w{na9t
Fw{zp eva9Vp cl , kj nty gjacfias7 ehVa9Ty a9l|gj as7nplmgjehnVq{q{a9ew{
ica@a9e vqrnty = 0.01 u@$ akeva9v qgj1ceha@gj akcfia4cyTwgjgv akbyTi
s7nplmgjehnVqau s7a9bggvdcggj agvnVevm eaw{i=svinmnpgv a9et
Fw{zp eva9V( 4clVv nty gj aeha9v qgj$y a9lgj a1s7nplmgjehnVq{q{a9ew{ica
o cfhgja9e| = 0.1 zcw{lgv aeva9v qgj cfevajw{iw{qcegjneva9v qgjw{lgv abyTi
e
s7nplmgjehnVq
Fw{zp eva9T cfl m=v ny ntygjas7nVlgjevnpq{qra9e$ehacpsugv gjncqcehzVaq{nmc>hgva9b
i4cw{i i s7nVlgjw{l np q{nmc 0.23 mN m u\$ aatsuevacfvaw{lvba9at>wrs7npl vwa9e!
cf qra1cf$ywgj>gj abVyTi s7nVlmgvevnpqrq{a9e9
KMLONQPSR TVU,YKa_a\^R U_
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzp eha1V~H#$ngjnpe$vba9at>w{l pcehwcf q{a sq{wrlVnVqgcfzVavba9at>s7nVlmgvevnpqs7nplmgvevnVqcg
l nkqrncp =
0.6
0.5
0.3
T (mNm)
0.4
0.2
0.1
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eha1p~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcf qra sq{wrl 4VnVqgcfzpavba9at>s7nplmgvevnVqcgl n
q{nmc =
KMLONQPSR TVU,YKa_a\^R U_
i (A)
0.5
0.5
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp ehaH1x\dcfvasu eveva7lmgjw{lKVcfevwcf qra4 sqrw{l |npqgcfzVavba9ats7nVlgjevnpqcg1l n
q{nmc =
14000
12000
Mech. speed (rpm)
10000
8000
6000
4000
2000
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzp ehaV~H\$npgvnVevba7atw{lpcfevwcqrasqrw{l VnVqgcfzpavba9ats7nVlgjevnpqcg l nq{nmc
= 0.01
KMLONQPSR TVU,YKa_a\^R U_
0.25
0.2
Te (mNm)
0.15
0.1
0.05
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eha1p~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcf qra sq{wrl 4VnVqgcfzpavba9at>s7nplmgvevnVqcgl n
q{nmc = 0.01
0.6
i (A)
0.4
0.2
0
0.2
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
0
0.2
0.4
0.5
1.5
2.5
3.5
4.5
x 10
0.05
i (A)
0
0.05
0.1
0.15
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp ehaH1x\dcfvasu eveva7lmgjw{lKVcfevwcf qra4 sqrw{l |npqgcfzVavba9ats7nVlgjevnpqcg1l n
q{nmc = 0.01
KMLONQPSR TVU,YKa_a\^R U_
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.5
1.5
2.5
t(s)
3.5
4.5
x 10
wrzp ehapH\$npgvnVevba7atw{lpcfevwcqrasqrw{l VnVqgcfzpavba9ats7nVlgjevnpqcg l nq{nmc
= 0.1
0.7
0.6
Te (mNm)
0.5
0.4
0.3
0.2
0.1
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp eha1(~HZqra9sugjevwrstcfqgjnpejmawrlVcfevwcf qra sq{wrl 4VnVqgcfzpavba9at>s7nplmgvevnVqcgl n
q{nmc = 0.1
KMLONQPSR TVU,YKa_a\^R U_
0.6
i (A)
0.4
0.2
0
0.2
0.5
1.5
2.5
3.5
4.5
i (A)
x 10
0.5
0.5
0.5
1.5
2.5
3.5
4.5
x 10
0.4
i (A)
0.2
c
0
0.2
0.4
0.5
1.5
2.5
t (s)
3.5
4.5
x 10
wrzp ehaVH1x\dcfvasu eveva7lmgjw{lKVcfevwcf qra4 sqrw{l |npqgcfzVavba9ats7nVlgjevnpqcg1l n
q{nmc = 0.1
2.5
x 10
Mech. speed (rpm)
1.5
0.5
0.001
0.002
0.003
0.004
0.005
t(s)
0.006
0.007
0.008
0.009
0.01
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0.6
0.4
T (mNm)
0.5
0.3
0.2
0.1
0.001
0.002
0.003
0.004
0.005
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0.007
0.008
0.009
0.01
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controller
Position Firing Signals
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Speed
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Vs
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Vs
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Inverter block
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wm
idc
BLDC motor block
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4000
3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
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KMLONQPSR TVU,YKa_a\^R U_
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3500
3000
m (deg)
2500
2000
1500
1000
500
0.5
t(s)
1.5
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0.055
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0.06
0.05
0.045
0.04
0.09
0.0905
0.091
0.0915
0.092
0.0925
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0.093
0.0935
0.094
0.0945
0.095
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0.26
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0.24
0.22
0.2
0.18
0.09
0.0905
0.091
0.0915
0.092
0.0925
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0.093
0.0935
0.094
0.0945
0.095
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Power spectrum of current
0.8
0.6
0.4
0.2
4
f (Hz)
x 10
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4.5
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Power spectrum of current
3.5
3
2.5
2
1.5
1
0.5
0
2000
4000
6000
8000
10000
f (Hz)
12000
14000
16000
18000
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Power spectrum of current
7
6
5
4
3
2
1
0
2000
4000
6000
8000
10000
f (Hz)
12000
14000
16000
18000
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150
100
50
0.5
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2.5
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100
80
60
40
20
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f (Hz)
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3
2.5
2
1.5
1
0.5
0
0.01
0.02
0.03
0.04
0.05
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0.06
0.07
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0.03
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0.06
0.07
0.08
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0.1
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0.07
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