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| موضوع: كتاب Permanent Magnet Brushless DC Motor Drives and Controls الأحد 08 سبتمبر 2024, 2:48 am | |
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أخواني في الله أحضرت لكم كتاب Permanent Magnet Brushless DC Motor Drives and Controls Chang-liang Xia Tianjin University, P.R. China
و المحتوى كما يلي :
Contents About the Author xi Preface xiii List of Nomenclature xv 1 Introduction 1 1.1 History of BLDC Motors 1 1.2 Applications for BLDC Motors 3 1.2.1 Automotive BLDC Motor 4 1.2.2 BLDC Motor in Aerospace 5 1.2.3 BLDC Motor in Household Appliances 6 1.2.4 BLDC Motor in Office Automation 7 1.2.5 BLDC Motor in Other Industries 8 1.3 Advances in BLDC Motor Drives 8 1.3.1 Position-Sensorless Control 9 1.3.2 Torque-Ripple Reduction 10 1.3.3 Hardware Implementation 12 1.4 Future of BLDC Motor Drives 15 1.4.1 Impacts of Power Electronics and Microprocessors on BLDC Motor 15 1.4.2 Permanent Magnet and Design Considerations 17 1.4.3 New Types of BLDC Motor 18 1.4.4 Applications of Advanced Control Strategies 20 1.5 Other Kinds of PM Motors 20 Questions 21 References 21 2 Mathematical Model and Characteristics Analysis of the BLDC Motor 25 2.1 Structure and Drive Modes 25 2.1.1 Basic Structure 25 2.1.2 General Design Method 28 2.1.3 Drive Modes 28 2.2 Mathematical Model 332.2.1 Differential Equations 33 2.2.2 Transfer Functions 40 2.2.3 State-Space Equations 45 2.3 Characteristics Analysis 47 2.3.1 Starting Characteristics 47 2.3.2 Steady-State Operation 48 2.3.3 Dynamic Characteristics 52 2.3.4 Load Matching 56 2.3.5 Commutation Transients 58 Questions 62 References 62 3 Simulation for BLDC Motor Drives 63 3.1 S-Function Simulation 63 3.2 Graphical Simulation 69 3.2.1 Simulation of Double Closed-Loop Speed-Control System 72 3.2.2 Advanced Conduction of Phase Current for BLDC Motor Control 76 Questions 82 References 82 4 Speed Control for BLDC Motor Drives 83 4.1 Introduction 83 4.1.1 PID Control Principle 83 4.1.2 Antiwindup Controller 86 4.1.3 Intelligent Controller 88 4.1.4 Representations of Uncertainty 89 4.2 Advanced Speed Control for BLDC Motor Drives 90 4.2.1 Fuzzy Control 90 4.2.2 Neural-Network Control 94 4.2.3 Genetic Algorithm Optimization Control 102 4.2.4 Sliding-Mode Variable Structure Control 107 4.2.5 Grey Control 113 4.2.6 Other Intelligent Control Strategies 117 4.3 Influences of Machine Parameters on Dynamic Response and Speed Range 119 4.3.1 Armature Resistance 119 4.3.2 Armature Inductance 120 4.3.3 Rotor Inertia 122 4.4 Practical Issues on Implementation 123 4.4.1 Type of Power Switches and Circuit Forms 123 4.4.2 Detection of Rotor Position 123 4.4.3 Braking Circuit and Protection Circuit 123 4.4.4 Antidisturbance Measures of Software and Hardware 124 Questions 124 References 124 vi Contents5 Analysis and Reduction of Torque Ripple 127 5.1 Cogging Torque-Ripple-Minimization Techniques Analysis 127 5.1.1 Skewing Slots and Magnets 129 5.1.2 Embedding Magnetic Slot Wedges 130 5.1.3 Auxiliary Slots and Teeth 130 5.1.4 Fractional Number of Slots Per Pole 130 5.2 Torque-Ripple Reduction with Time-Sharing Commutation Strategy 131 5.2.1 Time-Sharing Commutation Strategy 131 5.2.2 Analysis of Time-Sharing Commutation Strategy 140 5.2.3 Optimal Time-Sharing Commutation 144 5.3 Torque-Ripple Reduction with Active Disturbance Rejection Control 146 5.3.1 Principles of ADRC 146 5.3.2 ADRC Controller Design 147 5.3.3 Experimental Results 150 5.4 Torque-Ripple Reduction with BP Neutral Network 152 5.4.1 BP Neural Network 152 5.4.2 Self-Tuning Regulator 155 5.4.3 Experimental Results 155 5.5 Motor Optimization and Torque-Ripple Minimization with Fuzzy Niche Genetic Algorithm 157 5.5.1 Platform-Width Calculation of Back-EMF Waveform 158 5.5.2 Fuzzy Niche Genetic Algorithm 161 5.5.3 Optimization Design of BLDC Motors 163 Questions 165 References 165 6 Sensorless Control for BLDC Motor Drives 167 6.1 Principle of Sensorless Position Detection 167 6.1.1 Back-EMF-Based Method 168 6.1.2 Flux-Linkage-Based Method 178 6.1.3 Inductance-Based Method 179 6.1.4 Intelligence-Based Method 180 6.2 Sensorless Control Strategy 181 6.2.1 Sensorless Control Based on Disturbance Observer 181 6.2.2 Sensorless Control Based on a Kalman Filter 187 6.2.3 Sensorless Control Based on Sliding-Mode Observer 191 6.2.4 Position-Sensorless Control Using Wavelet Neural Network (WNN) 196 6.3 Starting Process for Sensorless Control 200 6.3.1 Determination of Initial Rotor Position at Standstill 200 6.3.2 Starting Methods for Sensorless Control 201 Questions 206 References 206 7 Realization of BLDC Motor Drives 209 7.1 Main Circuit 209 7.2 Driving Circuit 212 Contents vii7.2.1 MOSFET Driving Circuit 212 7.2.2 IGBT Driving Circuit 215 7.2.3 Intelligent Power Module (IPM) 215 7.3 Rotor-Position Sensor Circuit 216 7.4 Microprocessor Control Circuit 218 7.4.1 Introduction 218 7.4.2 MCU Control Circuit 220 7.4.3 DSP Control Circuit 223 7.5 Protecting Circuit 224 7.5.1 Overvoltage Protection 224 7.5.2 Overcurrent Protection 229 7.5.3 Logic Protection 229 7.5.4 Other Protection Circuits 230 7.6 Sensorless Control Circuits 232 7.6.1 Voltage Detection 232 7.6.2 Filtering and Phase Shifting 234 7.6.3 Current Detection 236 7.7 ASIC for BLDC Motor Drives 238 7.7.1 MC33033 238 7.7.2 TB6537P 240 7.8 Software Design 246 7.8.1 BLDC Motor Driving with Position Sensor 246 7.8.2 BLDC Motor Driving Without Position Sensor 247 7.8.3 Reliability 248 7.9 EMC Design 250 7.9.1 EMC Design of High-Voltage Part 250 7.9.2 EMC Design of Low-Voltage Part 251 Questions 253 References 253 8 Applications of BLDC Motor Drives 255 8.1 Elevator-Door Control System 255 8.1.1 Introduction 255 8.1.2 Hardware Design 259 8.1.3 Software Design 261 8.2 Elevator Traction Machine System 265 8.2.1 Introduction 265 8.2.2 Characteristics of a BLDC Motor Gearless Elevator Traction Machine 266 8.2.3 The Technical Requirements of the Elevator Traction Machine 267 8.2.4 Hardware Design 268 8.2.5 Software Design 269 8.3 Inverter Air Conditioner 270 8.3.1 Control Function of Indoor Controller 271 8.3.2 Control Function of Outdoor Controller 271 viii Contents8.4 Electric Vehicles 272 8.4.1 Pure Electric Vehicles 272 8.4.2 Hybrid Electric Vehicles 273 8.5 Electric Bicycles 274 8.6 Others 275 8.6.1 The Applications in the Fan and Pump 275 8.6.2 The Application in the Washing Machine 276 8.6.3 The Application in Medical Instrumentation 277 Questions 277 References 277 Index 279 Contents ix Index AC asynchronous motor 8 acceleration torque 56, 204 AC–DC–AC converter 79 active disturbance rejection control 3, 11, 127, 146, 150 adaptive control 3, 20, 155–157 advanced conduction 76, 78–82, 144, 145, 244 air gap 18, 20, 27, 28, 33, 34, 37, 38, 48, 59, 72, 78–80, 89, 127–130, 158–161, 163 angular position 46 angular velocity 39, 41, 54, 132, 138 antiwindup 86, 87 application-specific integrated circuit (ASIC) 12 armature reaction 11, 33, 46, 51, 89, 147, 186 armature winding 17, 25, 26, 47, 54, 127 asynchronous motor 8 automotive 1, 4, 5, 273 auxiliary rotor winding 10 back-EMF 6, 9–11, 13, 27, 35, 37, 38, 40, 47–49, 52, 54, 56, 58, 59, 60, 62, 65, 67, 69, 76, 78–80, 89, 90, 99, 119, 127, 128, 130, 132–136, 138, 140, 143–148, 152, 157–161, 164, 165, 168–170, 172–175, 177–182, 184–195, 201–204, 206, 223, 233–236, 247, 253, 262, 263 back-EMF-based method 6, 9, 10, 168, 178, 179, 181, 201, 206, 247 basic structure 25 bipolar power transistor (BPT) 17 brake 260, 265–267 brush 20, 26, 277 brushless DC motors (BLDC motor, BLDCM) 1–21, 25–33, 38–45, 47, 48, 50–52, 54, 56–59, 62–67, 72–74, 76, 78–82, 83, 84, 86–92, 94, 95, 97, 99–101, 103, 104, 106–109, 111–117, 119–121, 123, 124, 127–133, 136, 140, 145–147, 149, 150, 152, 155, 157, 158, 161, 163, 165, 167–169, 173, 174, 177, 179, 181–184, 186, 188, 189, 191–194, 196, 200–206, 209–212, 214–216, 218–221, 223, 224, 230, 232–236, 238, 240, 241, 246–253, 255, 259–263, 266–269, 271–277 centrifugal 2, 5 centrifugal pump 5 ceramic capacitor 252 chopper pulses 235 coercivity 17, 18, 27 cogging effect 10, 33 cogging torque 10, 11, 127–130, 160, 165 coil winding 27 commutating current 120 commutation 1–3, 6, 10–13, 19, 25, 28, 31, 39, 51, 52, 58–62, 64, 73, 79–81, 97, 107, 127, 131–146, 152, 154–157, 161, 163, 165, 167, 168, 170, 172–175, 177, 178, 181, 185, 190–193, 196, 199, 203–205, 216, 221, 233, 236, 238, 240, 243, 244, 247, 262–264, 269, 273, 275 commutation torque 10, 11, 19, 31, 58, 62, 127, 132, 133, 135, 140, 143, 144, 146, 152, 155–157, 161, 163, 165, 167 commutator 2, 25, 277 Permanent Magnet Brushless DC Motor Drives and Controls, First Edition. Chang-liang Xia. 2012 Science Press. Published 2012 by John Wiley & Sons Singapore Pte. Ltd.comparator 14, 186, 203, 213, 214, 220, 224, 228, 229, 236, 238, 239, 261 complex programmable logic device (CPLD) 3 computation capability 15 computer peripheral equipment 7 concentrated full-pitch winding 27, 33 conductor 158 copper material 27 core loss 18, 49 coreless BLDC motor 6, 19 current control 94, 95, 97 current sensing 180, 236 DC machine 20 DC motor 1–4, 6, 8, 15, 25, 26, 40, 48, 51, 76, 79, 255, 273, 275 differential equation 25, 33, 39, 45, 62 digital control 8, 14, 20, 44, 45, 85, 124, 273 digital signal processor (DSP) 219 diode 2, 9, 52, 61, 65, 67, 68, 123, 169, 174–177, 209, 210, 212 distributed function 94 distributed inductance 250, 251, 253 distributed winding 27 double-stator type 6 doubly salient PM motor 20 driving circuit 25, 28, 30–33, 48, 52, 109, 123, 209, 211–215, 218, 224, 243, 251, 259, 261, 272 dynamic characteristics 25, 45, 52 dynamic response 5, 48, 85, 99, 117, 119, 120, 124, 199 eccentric wheel 6 efficiency 1, 2, 4, 6, 16–20, 26, 44, 48–50, 56, 57, 62, 120, 121, 123, 147, 157, 161–165, 181, 220, 239, 249, 255, 265–268, 270, 273, 275, 276 electrical angle 16, 29, 30, 33, 73, 132, 144–146, 157, 159, 167, 168, 170, 173, 174, 177, 216, 236, 238, 244 electric bicycle 274, 275 electrical vehicle 273 elevator door 57, 255–264, 269, 270, 277 elevator traction machine 265–270, 277 EMC 250, 251 EMF 2, 9, 10, 34, 240, 260 energy conversion 1, 79 energy loss 7 energy product 17, 18, 128 energy saving 4, 6, 26, 265–267, 272, 275, 276 equivalent circuit 3, 38, 40, 41, 133 estimation 9, 11, 46, 88, 94, 95, 102, 107, 112, 116, 155, 156, 168, 187, 190 extended state observers (ESO) 11 external load 117 fan and pump 275 Faraday 2 feedback controller 181 feedback gain coefficient 184, 185 ferrite magnetic materials 17 field-circuit method (FCM) 28 field programmable gate array (FPGA) 3 floppy disc drives 7 flux 9, 20, 27, 34, 35, 37, 46, 72, 79, 83, 86, 89, 90, 130, 132, 158, 159, 161, 163, 164, 168, 174, 175, 178–180, 195, 267 flux linkage 9, 34, 37, 46, 168, 174, 175, 178–180, 195 flux-linkage-based method 168, 178, 179 four-quadrant 31, 266 frequency conversion 5, 6 frequency response 40 friction loss 49, 80 frictional force 69 full-bridge 16, 30–32, 40, 59, 131, 132, 209, 210, 259 full-pitch windings 27, 158, 159 fuzzy control 3, 10, 20, 88, 90–92, 94, 103, 104, 106–108, 117, 145, 157, 162, 163, 273 gain 44, 57, 84, 89, 104, 173, 182, 184, 185, 190, 192, 194, 239, 269 gate circuit 214, 252 gate signal 65, 73, 186 gate terminal 49 gearless 8, 265–269 genetic algorithm optimization 102, 103, 105, 109 grey control 113, 115, 117, 124 half-bridge 16, 28–31, 133, 175, 209, 210 Hall element 2 Hall sensor 28, 191, 193, 238–240, 247 hardware design 9, 259, 268 heating 26, 52, 79, 271 high efficiency 1, 2, 4, 6, 16, 17, 19, 20, 57, 181, 220, 255, 266, 267, 270, 273, 275 hysteresis losses 33 280 Indeximpedance 124, 211, 213–215, 251–252 induced electromotive force (induced EMF) 2, 34, 260 induction motor 1, 4, 26, 86, 115, 273, 276 inertia 19, 39, 43, 52, 56, 65, 83, 117, 119, 122, 154, 202, 203, 243, 249 initial rotor position 178, 179, 200–203, 248 insulated gate bipolar transistor (IGBT) 3 intelligent power module (IPM) 215 insulation 212 inverter 3, 6, 9, 11, 15, 16, 25, 32, 47, 52, 65–67, 72, 73, 80, 86, 95, 97, 100, 101, 117, 136, 148–150, 152, 174, 175, 193, 202, 209–212, 215, 220, 221, 224, 238, 239, 250, 255, 260, 261, 268–272, 274 inverter air conditioner 255, 270 Kalman filter 9, 112–114, 187, 188, 190, 192, 262 laminations 129 Laplace transformation 41 laser printer 8 linear DC motor 6 linear motion system 6 load matching 56, 58, 62 loss 5–7, 17–19, 32, 38–39, 49–51, 80, 123, 129, 233, 232, 261 magnetic field 18, 25, 27–30, 33, 34, 48, 49, 59, 76, 78–80, 128, 160, 179 magnetic pole 18 maximum efficiency 50, 62 maximum speed 52, 120, 121, 257, 262, 263 mechanical characteristic 1, 2, 51, 56, 81 mechanical loss 39 mechanical time constant 43, 44, 56 medical instrumentation 277 microprocessor 85, 123, 124, 209, 210, 214, 216, 218–220, 224, 228, 229, 232, 236, 249–253, 271 microcontroller 3, 219, 220 microcontroller unit (MCU) 219 micromotor 18 minimizing torque ripple 157 moment of inertia 39, 52, 56, 65, 83, 117, 119, 122, 202 multiple-input multiple-output (MIMO) 46 NEMA 1 neural-network control 3, 94, 100, 102, 118, 273 neutral point 26, 32, 38, 67, 68, 169, 172, 233 niche algorithms 18 no-load condition 52 no-load loss 49 no-load torque 49 nominal flux 90 nominal inductance 90 nominal resistor 90 nominal transfer function 89 nonlinear states error feedback (NLSEF) 11 observer 9, 107, 109, 112, 146, 148, 149, 181–186, 191–194 operating conditions 11, 47, 89, 119 operating frequency 17, 85 operating parameters 106 optical disc drives 7 overload 239 pancake-shaped rotors and stators 20 parallel operation 219 permanent magnet 1–4, 15, 17, 18, 20, 25–28, 86, 94, 127, 128, 179, 267, 275 permanent-magnet synchronous motor PMSM 86 permeability 35, 130 permeance 35 phase shifting 117, 118, 234, 236 PI controller 44, 74, 76, 85, 87, 100, 116 PID 16, 20, 83–86, 91–93, 106–109, 112, 113, 117, 119, 146 pitch 27, 33, 129, 158–160 platform width 27, 157–161, 164, 165 pole placement 183, 185 position control 94, 129 position-sensorless control 5, 6, 8–10, 12, 16, 17, 99, 167, 196, 233, 236, 240, 272 power density 4, 19, 54, 273, 276 power electronic switch 49, 51 power factor 2, 6, 163, 270 power switch 16, 17, 31, 32, 48, 51, 95, 123, 175, 202, 204, 212, 214, 240, 260 power transistor 17 principle 9, 10, 25, 30–32, 44, 78, 80, 82, 83, 84, 91, 107, 124, 127, 133, 157, 165, 167, 169, 177–179, 181, 186, 200, 202–205, 216, 220, 221, 224, 233, 238, 240, 253 protection 6, 123, 124, 202, 212, 214–216, 224, 229–232, 238, 240, 246, 247, 249, 251, 253, 256, 259, 261, 267, 271, 272, 274, 276 Index 281PWM generator 74 PWM modulation 16, 17, 51, 62, 86 quadrant 31, 123, 266 rare-earth permanent magnetic materials 8, 27 ratings 252 rectifier circuit 123, 124, 209, 210 regenerative braking 123, 273 reluctance motor 2, 4, 20, 273 reluctance torque 128 rotating magnetic field 28, 30 rotation speed 25, 191, 195, 273 rotor 1–3, 7–10, 13, 15, 20, 25–30, 33–40, 46, 47, 49, 65, 69, 70, 72–78, 80, 89, 97, 99, 100, 102, 122, 123, 127–129, 131, 132, 135, 138, 140, 144, 150, 163, 167–169, 173, 174, 177–181, 186–188, 194–197, 200–203, 205, 210, 216, 218, 220–223, 232, 233, 238, 240, 246–248, 253, 259, 262, 266, 267, 275 salient pole 35, 36 saturation 33, 51, 86, 89, 180 series excitation DC motor 1 short circuit 230 short-pitch winding 27 single-phase induction motor 276 skewed slot 160 sliding-mode variable structure control 3, 107, 113, 114 slot-type motor 10 slotless-type BLDCM 18 software design 209, 246, 253, 261, 269 speed control 16, 44, 51, 72, 74, 80, 82, speed regulation 83, 85, 86, 90, 94, 95, 97, 100–102, 107, 109, 115–117, 119, 120, 122–124, 129, 149, 177, 195, 223, 229, 238, 239, 262, 265 stabilization 89, 127 starting circuit 204 starting methods for sensorless control 201 starting torque 2, 56, 163, 164, 200, 268, 273 state-space equation 45, 62 static characteristics 104 static stability 85 stator 6, 7, 9, 10, 11, 15, 18, 20, 25–30, 33, 34, 36, 38, 52, 65, 89, 90, 97, 119, 120, 122, 127–130, 159, 163, 164, 179, 180, 193, 196, 201, 216, 218, 232, 239, 240, 248, 266, 275 switch 16, 17, 25, 28, 30–33, 48, 49, 51, 86, 91, 92, 95, 97, 123, 140, 168, 173, 175, 177, 196, 198, 199, 201–204, 210, 212, 214, 232, 239, 240, 251, 260, 263 synchronous motor 1, 3, 26, 72, 73, 76, 86, 115, 202 three-phase conduction mode 31 three-phase two-pole BLDC motor 33 three-phase winding 26, 45, 65, 67, 97, 99 thyristor 2, 3, 123 time constant 43, 44, 52, 56, 84, 89, 90, 119, 120 time-sharing commutation strategy 131, 140, 144, 145 tooth flux 163, 164 torque constant 59 torque ripple 3, 10, 11, 12, 17–19, 27, 54, 56, 62, 79, 81, 100, 102, 121, 127–133, 135–147, 149–153, 155–157, 159–161, 163, 165, 216 tracking differentiator (TD) 11, 146 transfer function 25, 40, 41, 43–45, 47, 89 transformer 232, 259 transient process 40, 52, 58, 68, 133, 136–141, 143, 144, 156, 157 two-phase conduction mode 16, 30, 31, 40, 131, 132, 221, 222, 233 ultrasonic motor 94 uncertainty 88–90, 115 variable-voltage variable-frequency (VVVF) 7 variable 3, 5, 7, 9, 10, 20, 50, 51, 59, 65, 66, 68, 69, 83, 85, 87, 91, 104, 107, 109, 110, 112–115, 129, 150, 161, 163, 177, 182, 185, 267, 268, 270–273 viscous friction coefficient 39, 52, 65 voltage comparator 261 voltage regulation 156 voltage source inverter 11 voltage-controlled oscillator 203 washing machine 276, 277 wavelet neural network 196 winding current 52, 97, 164, 179, ,260 winding inductance 10, 17, 35, 36, 157 winding voltage 157 Y-connection 172 Y-type 26 zero-crossing point 135, 144, 145, 168, 170, 172–174, 177, 181, 186, 203, 262
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