Beruflich Dokumente
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PERMANENT MAGNET
BRUSHLESS DC MOTOR
T he conventional DC motors are highly efficient and their characteristics make them
suitable for use as servomotors. But the only drawback is that they need a commutator
and brushes which are subjected to wear and requires maintenance. In a conventional
DC motor, commutation is undertaken by brushes and commutator but in brushlesses DC
motor, it is done by using semiconductor devices such as transistors. The commutation refers
to the process which coverts the input direct current to an alternating current and properly
distributes it to each winding in the armature.
4.1 CONSTRUCTION
• The basic principle of operation of motor can be easily understand by considering simple
three phase unipolar motor as shown in the figure 4.2
• It uses optical sensors (photo transistors) as position detectors. Three photo transistors
PT1, PT2, and PT3 are placed on the end plates at 120° interval and they are exposed to
light in sequence through a revolving shutter coupled to the motor shaft.
• As shown in the figure 4.2, the south pole of the rotor now faces the salient pole P2 of
the stator, and the phototransistor PT1 detects the light and turns transistor Tr1 ON.
• In this state, the south pole which is created by the salient pole P1 by the electrical
current flowing through the winding w1 is attracting the north pole of the rotor to move it
in the direction of the arrow (CCW).
Stator Frame
Stator Pole
P1 P3
N Stator Winding
Permanent Magnet Rotor
Optical Disc with Shutter
S
P2
Fig 4.1
Special Electrical Machines 4.3
Shutter
PT1
P1 P3
N
PT3
PT2 S
P2
IB
EB
Tr1 Tr2 Tr3
Fig 4.2
• When the south pole comes to the position to face the pole P1 the shutter which is
coupled to rotor shaft will shade PT1 and PT2 will be exposed to the light and current
will flow through the transistor Tr2.
• When a current flows through the winding W2 and creates a south pole on pole P2, then
the north pole of the rotor will revolve in the direction of the arrow and face the pole P2.
At this moment, the shutter shades PT2 and PT3 is exposed to light.
• Thus the P2 is de-energised and P3 is energized. By repeating such a switching action in
the sequence the permanent magnet rotor revolves continuously.
• In order to reverse the direction of rotation of the motor, we can’t change the supply
terminal because most of the semiconductor devices are unidirectional switches.
• Therefore some circuit is necessary when the motor is to be driven in either direction. So
we go for circuit connections change between the phototransistors and the transistors as
given below.
4.4 Permanent Magent Brushless DC motor
For CW rotation
PT1 → TR3
PT2 → TR2
PT3 → TR1
CCW CW
PT1 1 0 0 1 1 0 0 1
PT2 0 1 0 0 0 1 0 0
PT3 0 0 1 0 0 0 1 0
TR1 1 0 0 1 0 0 1 0
TR2 0 1 0 0 0 1 0 0
TR3 0 0 1 0 1 0 0 1
The above switching sequences between the phototransistors and the transistors can be
implemented by using integrated logic gate circuits. The rotation of stator magnetic field with
respect to the excitation of the winding and the respective photo transistor waveforms are
shown in the figure 4.3 for CCW rotational direction.
Special Electrical Machines 4.5
PT1 I1
PT2 I2
PT3 I3
240 360 240 360
P1 P3
P2
Time
Fig 4.3
LOGIC SEQUENCER
2
3
4
5
6
PT
PT6
PT3 W
PT1
PT2
PT4
PT5
Revolving V U
Shutter
Figure 4.4
Special Electrical Machines 4.7
• Consider that initially PT1, PT4 & PT5 are exposed to the light and electrical current
flows through TR1, TR4 & TR5.
• The terminals U and W have the battery potential and terminal V has zero potential. In
this condition, current will flow from terminal U to V and another current from W to V
as shown in the figure 4.5.
V U
Fig 4.5
• The resultant magnetic field will be at the centre. The rotor is placed in such a position
that the field flux will have a 90° angle with respect to the stator’s magnetic field as
shown in the figure 4.6.
Fig 4.6
• In this condition a clockwise torque will be produced on the rotor and it revolves by 30°,
then PT5 is tuned off and PT6 is ON which makes the stator’s magnetic pole revolve 60°
clockwise.
• Thus when the rotor’s south pole gets nearer to the stator’s south pole, it repeals (or)
goes away further to create a continuous clockwise rotation. The ON/OFF sequence and
the rotation of the transistor are shown in the figure 4.7.
4.8 Permanent Magent Brushless DC motor
ON-OFF 1 2 3 4 5 6
Sequence
TR1 1 1 1 0 0 0
TR2 0 0 0 1 1 1
TR3 0 0 1 1 1 0
TR4 1 1 0 0 0 1
TR5 1 0 0 0 1 1
TR6 0 1 1 1 0 0
E O O O
D E O E E E E O
Fig 4.7
• The rotational direction may be reversed by arranging the logic sequencer in such a way
that when a photo-detector marked with a certain number is exposed to light, the
transistor of the same number is turned OFF and the photo-detector not exposed to light,
the transistor of the same number is turned ON.
• Therefore, in this position, TR2, TR3 and TR6 are ON and the battery voltage appears at
V while U and W has zero electric potential.
• Then the magnetic field in the stator is reversed and rotor’s torque is counter clockwise.
Then the motor rotates about 30 degree and then TR2 turn OFF and TR1 in ON.
• At this point the field revolves by 60 degree as shown in the figure 4.8. So that the rotor
starts rotating continuously in CCW direction
Special Electrical Machines 4.9
ON-OFF 1 2 3 4 5 6
Sequence
TR1 0 1 1 1 0 0
TR2 1 0 0 0 1 1
TR3 1 1 0 0 0 1
TR4 0 0 1 1 1 0
TR5 0 0 0 1 1 1
TR6 1 1 1 0 0 0
O O O E
E O E EO E O E
Fig4.8
Advantages
1. Brushes maintenance is no longer required and many problems associated with
brushes are eliminated
2. Radio-frequency interference and the sparking associated with the brushes are
eliminated.
3. The conduction of heat through the frame is improved.
4. Increase in the electric loading is possible by providing greater specific torque.
5. The efficiency is likely to be higher than that of DC motor of equal size.
6. Motor length is reduced.
7. The maximum speed of brushless motor is limited by the retention of the magnets
against centrifugal force.
8. Better efficiency, power factor and greater output power.
Disadvantages
The figure 4.9 shows the cross section of a two pole brushless DC motor having high
energy rare - earth magnets on the rotor. The demagnetization curve of the magnet is shown in
figure 4.10 The axial length of stator and rotor is same. First, we will consider the open circuit
case, ie with no stator current.
r1
Figure 4.9
4.12 Permanent Magent Brushless DC motor
Load line
Br
Operating Bm
Point Magnetic Flux
Density B (T)
Demagnetization
curve
- µoHc - µoHm 0
-µoH (T)
Figure 4.10
Whenever magnetic circuits are used to analysis a magnetic field, the first task is to
identify the main flux paths and assign reluctance (or) permeances to them. Figure (3) shown
the equivalent magnetic circuit (ie) only half of the equivalent circuit is shown because the
lower half is the mirror image of the upper half about the horizontal axis which is an equi-
potential. In the analysis the steel core of the stator and the rotor shaft are assumed to be
infinitely permeable. Each magnet is represented by a Norton equivalent circuit consisting of a
flux generator in parallel with an internal leakage permeance as shown in Figure 4.11
φg/2 φg/2
Rg
φm
Pmo Pr1
Fm φr
Magnet
Rotor Shaft
Fig 4.11
Special Electrical Machines 4.13
µoµrec Am
Pmo =
lm
Where Am → Pole area of the magnet
Let us assume outer pole area and inter-pole area as an average value then
2 l
Am = π r1 − g − m × l
3 2
Most of the Magnet flux crosses the airgap via the airgap reluctance Rg given as
g′
. Rg =
µ 0 Ag
Where g ′ → equivalent air gap length including slotting
g ′ = Kc x g
Assume Kc=1.05
The air gap Ag is the area through which the flux passes as it crosses the gap. and it is given as
2 g
Ag = π r1 − + 2g ( l + 2g )
3 2
The remaining permeance in the magnetic circuit is the rotor leakage Permeance Pr1 which
4.14 Permanent Magent Brushless DC motor
represents the paths of magnet flux components that fail to cross the airgap. The rotor leakage
permeance is difficult to estimate because the flux paths are not obvious. The rotor leakage
permeance is quite small, typically 5-20% of the magnet internal permeance and it can be
added to it.
Then
Pm = Pmo+Pr1 = Pmo(1 + þr1)
Equating the MMF across the magnet to the MMF across the airgap.
φr − φ g
Fm = = φ g Rg
Pm
Φr Φ g
− = Φ g Rg
Pm Pm
Φr Φg
= + Φ g Rg
Pm Pm
Φr 1
= ( + Rg )Φ g
Pm Pm
Φr 1 + R g Pm
= ( )Φ g
Pm Pm
Φr
Φ g = ( )
1 + Pm R g
Φ Φr 1
g
= ( ). (1)
Ag 1 + Pm R g Ag
The flux concentration factor Cφ is ratio of magnet pole area to air gap area given as
Special Electrical Machines 4.15
Am
Cφ =
Ag
Am
Ag =
Cφ
Φ
Bg = g
Ag
Φr 1
Bg = ( ).
1 + Pm R g Ag
Φr C
Bg = ( ). φ
1 + Pm R g Am
Cφ Φr
Bg = × Br Br =
(1+ P × R )
m g
Where
Am
Similarly we can get for the magnet flux density Bm which can be written as
1 + Pr1 R g
Bm = Br
1 + Pm R g
4.16 Permanent Magent Brushless DC motor
Br − Bm A
−Hm =
µo µrec m
The negative sign signifies a demagnetizing force and indicates that the magnet operates in the
second quadrant of the B-H curve.
The line drawn from the origin through the operating point is called the “Load line” and the
absolute value of its slope, normalized to µo is called the “Permeance Coefficient” (PC) and
written as
1 + Pr1 Rg
PC = µrec
Pmo Rg
If figure (2) is drawn with µoHm along the x-axis instead of Hm then the units of both axes
are same (Tesla) and the PC is the actual slope of the load line. The PC is ratio of magnet
length to effective airgap length and if Cφ is approximately unity and Pr1 is approximately
zero.
In motors with weak flux concentration factor the magnet should operate on open circuit at a
high permeance coefficient to maximize the airgap flux density and the torque per ampere and
to provide adequate margin against demagnetization by armature reaction.
The airgap flux density on open circuit is plotted is Figure 4.12
B(T) 120
0.543 T
270
0 30 90 180 360 θ
Fig 4.12
Special Electrical Machines 4.17
In practice ,because of fringing, the distribution is not perfectly rectangular and there are
circumferential as well as radial components of B at the edges of the magnets. There will be
appreciable ripple superimposed on the wave form because of slotting of the stator bore.
The torque speed characteristics of the ideal brushless motor can be derived from the
following equations. If the commutation is perfect and the current waveforms are exactly
rectangular and if the converter is supplied from an ideal direct voltage source V, then at any
instant the following equation can be written for the DC terminal voltage.
V = E + RI
Where R is the sum of two phase resistance in series and E is the sum of two phase Emf’s in
series. This equation is exactly the same as that of the commutator motor.
The voltage drops across two converter switches in series are omitted, but they correspond
exactly to the two brush voltage drops in series in the commutator motor.
The torque speed equation is written as
T
ω = ωo 1 −
To
V
Where the no load speed is w = rad/sec
kφ
o
This is the torque with the motor stalled (ie) at zero speed.
V
The stalling current is given by Io =
R
T
T0
Intermittent
0
ω0 ω
Fig 4.13
If the phase resistance is small, as it should be an efficient design, then characteristic is similar
to that of a DC shunt Motor.
The speed is essentially controlled by the voltage V, and may be varied by varying the supply
voltage. The motor then draws just enough current to drive the torque at this speed. As the
load torque is increased, the speed drops and the drop is directly proportional to the phase
resistance and the torque.
The voltage is usually controlled by chopping or PWM. This gives rise to a family of the
torque-speed curve as shown. Note the boundaries of continuous and intermittent operation.
The continuous limit is usually determined by heat transfer and temperature rise. The
intermittent limit may be determined by the maximum rating of semiconductor Devices in the
controller (or) by temperature rise.
In practice the torque speed curve deviates from the ideal form because of the effects of
inductance and other parasitic influences. The curve also shows the possibility of extending
the speed range by advancing the phase (or) the dwell of the conduction period relative to the
rotor position (ie) Angle control.
The basic Torque & Emf equations of the BLDC motor are quite simple and resemble those of
the DC commutator Motor.
A simple concept machine is shown in figure 4.14 Note that the two pole magnet has a pole
arc of 1800 instead of 1200 analyzed in the previous section.
300
a1
a2
S N
θ0
A2
A1
Fig 4.14
The airgap flux density waveform is ideally a square wave as shown 4.15a. In practice,
fringing causes to be somewhat rounded. The co-ordinate axes have been chosen so that the
centre of a north pole of the magnet is aligned with x-axis (ie) at θ = 0. The stator has 12 slots
and three phase winding. Thus there are two slots per pole per phase. Each phase winding
consists of two adjacent full pitch coils of N1 turns each, whose axes are displaced from one
another by 30 degree.
The winding is a single layer winding. This winding is equivalent with only one coil per pole
per phase having a fractional pitch of 5/6. This is more practical winding than the one
analyzed because it has less bulky end windings and is generally easier to assemble and its
copper losses are lower.
Consider the flux linkage ψ1 of coil a1A1 as the rotor rotates. This is shown in the figure 4.14
Note that θ now represents the movements of the rotor from the reference position in the
figure 4.14 The flux linkage varies linearly with rotor position because the airgap flux density
is constant over each pole pitch of the rotor. Maximum positive flux linkage occurs at 00 and
maximum negative flux linkage at 1800. By integrating the flux density around the airgap, the
maximum flux linkage of the coil can be found as
4.20 Permanent Magent Brushless DC motor
π
Ψ1max = N1 ∫ B(θ ) r1 l dθ
0
= N1Bg π r1 l
The variation of flux linkage with θ as the rotor rotates from 00 to 1800 is given by
θ
ψ 1 (θ ) = 1 −
ψ 1max
π
2
dψ 1 dψ 1 d θ dψ 1
e1 = − = − × = −ω Volts
dt dθ dt dθ
which gives
e1 = 2N1Bg l r1 ω (volts)
Therefore e1 = N ph B g l r1 ω volts
Similarly e 2 = N ph B g l r1 ω Volts
B(θ)
a) 180
0 360 θ
ψmax 30
b) ψ(θ)
c) ea1
30
d) ea2
θ
150
ea = ea1 + ea2
e)
θ
120
f) ib ic ia
Fig 4.15
This represents the magnitude of the square wave Emf ea1 shown in the figure4.15c The
Emf induced in the second coil of phase A is identical, but rotated in phase by 300. If the two
coils are connected in series, the total phase voltage is sum of the two separate coil voltages
and this is shown in figure4.15e The basic effect of distributing the winding into two coils is
to produce a stepped Emf waveform. In practice, fringing causes its corners to be rounded.
The wave form then has the “trapezoidal” shape, ie., characteristics of the brushless DC
Motor. With 1800 magnet arcs and two slots per pole per phase, the flat top of this waveform
is ideally 1500 wide but in practice the fringing field reduces this to smaller value (ie) 1200.
The magnitude of the flat topped phase emf is given by
4.22 Permanent Magent Brushless DC motor
In the figure 4.15f shows an ideal rectangular waveform of phase current, in which the current
pulses are 1200 electrical degree wide and of magnitude I. The positive direction of current is
motoring current. The conduction periods of the three phases are symmetrically phased so as
to produce a three phase set of balanced 1200 square waves.
If the phase windings are star connected as shown, then at any time there are just two phases
and two transistors conducting.
During any 1200 interval of phase current, the instantaneous power being converted from
electrical to Mechanical is
P = ω Te = 2 e I
The number 2 in this equation arises from the fact that two phases are conducting.
The above equation is valid for any number of pole pairs. The similarity between the brushless
motor and the commutator motor can now be seen. Writing E = 2 e to represent the
combined Emf of two phases in series, the Emf and torque equations can be written in the
form
E = K φ ω and T = K φ I
Where K is the armature constant and φ is the flux. In practice, of course, none of the ideal
conditions can be perfectly realized. The main result of this is to introduce ripple torque but
Special Electrical Machines 4.23
the basic relationships of Emf proportional to speed and torque proportional to current remain
unchanged.
1 3 5
4 6 2
A B C
• The use of AND Gates as a simple way of combining the commutation and chopping
signals to the lower transistors.
• From the control point of view the brushless motor is similar to the dc commutators
motor, as the simple torque & voltage equations are similar.
• It is possible to implement current & speed feed back in the same way as in the dc
motor. It may be necessary in either (or) both loops to improve stability and transient
response. Therefore wide range of speed control and torque control using relatively
simple techniques that are familiar with commutator motors.
• The instantaneous current in the brushless PM motor is regulated in each phase by a
hysteresis type regular which maintain the current with in the adjustable limits.
• This is called “Current mode” control and several algorithms are possible in each phase
and their bandwidth must obviously be wider than that of the sensing resistor as shown.
• The speed feedback from a Tacho-generator TG, can also be derived from the shaft
position sensor by a frequency to voltage converter. This technique only works at high
speed.
• Many of the functions of the circuit can be performed digitally and it is increasingly
common to have a serial communication interface that permits the system to be
computer controlled.
• In high performance systems, the special purpose decoding circuit are used.
• So it is possible to fine tune the firing angles and the PWM control as a function of
speed and load to improve various aspects of performance such as efficiency, dynamic
performance and speed range.
Special Electrical Machines 4.25
The function of a brush in a DC motor is replaced with two switches (or) transistors. This is
shown in the below figure4.17
A A A
Fig4.17
Direction of commutator
movement
A A A B
spark
S1 Spark
S2
A smaller inductance will reduce sparking. That is, the number of turns of the coil
connected to one commutator segment should be small for sparkless commutation. In
conventional motors, the windings are separated into many coils, and in some motors, there
are more coils than the commutator segments.
The figure shown above is a commutator circuit which uses two transistors. When
Tr1=S1 is ON and a current is being supplied from the power supply through this transistor to
the coil1. When Tr1 turn OFF the current will flow through diode D2 for a transient period
until it falls to zero. If this diode is not provided, the current will decrease all at once. Hence a
di
high voltage which is L will be produced in the coil and will be applied across the
dt
collector and emitter of Tr1 and will damage the transistor. Thus, in a brushless DC motor the
electromagnetic energy stored in the coil can return to the power supply through this diode.
Therefore, there is no spark. We see that diode D2 is needed to protect Tr1 from being
damaged and D1 protects Tr2=S2.
4.28 Permanent Magent Brushless DC motor
1
VH = B IC R H
d
Where
RH is the Hall constant (m3c-1)
IC is the electrical current(A)
B is the flux density (T)
d is the thickness of the material (m)
Special Electrical Machines 4.29
Ic
IH
_
VH +
Fig 4.21
The Hall effect is strong in some specific metal compounds and semiconductos.
Semiconductor devices which are made for use in detecting magnetic fields are called Hall
elements. In modern brushless motors, n-type InSb (Indium – Antimony) is extensively used,
as well as GaAs (Gallium – Arsenide).
An equivalent circuit for a Hall element expressed as a four terminal network as shown
figure 4.22. When a current Ic which is called the control current or bias current, flows from
terminal 3 to 4 in the Hall element exposed to a magnetic field which is perpendicular to the
element plane, a voltage VH is generated across the terminal 1 and 2 as explained before.
When terminal 4 is taken as the reference point, the potentials at terminals 1 and 2 are
VH/2 and -VH/2 respectively where R1 = R2 and R3 = R4 assumed. Moreover the polarity
reverses as the flux direction reverses.
4.30 Permanent Magent Brushless DC motor
Ic
3
d
R3
1 2
R1 R2
R4
4
B
VH1 VH2
_
VH +
Fig 4.22
Thus when a Hall element is placed near a permanent magnet rotor, the Hall element
can accurately detect the pole position and the flux density providing output voltage VH1 and
VH2.
4.73 Practical methods of position detection:
The simplest brushless DC motor using one Hall element placed is shown in figure
4.23 & 4.24 The output signal from the Hall element operate the two transition Tr1 and Tr2 to
control the electrical currents in stator windings W1 and W2.
W1 W2
ic
+ _
Tr1 + Tr2
_
iB
Fig 4.23
Special Electrical Machines 4.31
S
N
W2
B
W1
Figure 4.24
i. The Hall element detects the north pole of the rotor magnet and W2 is energized to
produce the south pole which drives the rotor in the CCW direction
ii. Since no magnetic field is applied to the Hall element in this positional relation, both
transistors are in the OFF state, and no currents flow in W1 and W2. The rotor
continues to revolve due to inertia.
iii. The Hall element detects the south pole of the rotor and winding W1 is energized to
create the south pole which attracts the north pole of the rotor to continue the CCW
motion.
S N
S N
N S
ω1 ω2
Torque
(CCW)
Dead point Dead point
θ
Torque
(CW)
ii. Since the back Emf is small at the low torque positions, a large current will flow
and increase the conduction loss. Hence the motor efficiency which is the ratio of
the output mechanical power to the input electrical power is not high.
As far as the elimination of the dead points, there are two major methods.
i. First one uses a polyphase structure (ie) three phase bipolar driven scheme.
ii. Second one , space harmonic magnetic field.
The principle of operation of Three Phase Bipolar driven BLDC motor is already seen using
photo-transistor. These photo-transistors are replaced by Hall element.
This type of motor in which two additional magnets are set up has not been used in practical
application. The methods of exploiting this effect are as follows.
i. The method which has auxiliary salient poles in its stator and an auxiliary magnet
in the rotor, the magnet having twice as many magnetic poles as the main magnet.
ii. The method which uses a second harmonic magnetization in the rotor, the winding
pitch being moved from 1800 on the stator.
iii. The method which uses a non uniform airgap to create a second harmonic torque.
N
S S S S
N
S
N
Figure 4.25
Curve B
Curve C Curve A
(CCW)
↑
Torque
θ
↓
(CW)
Dead point Dead point
Fig 4.26
4.34 Permanent Magent Brushless DC motor
PROBLEM
1. A brushless DC. motor has the cross section r1 = 30 mm, lm = 80mm, g = 0.8 mm
and axial length l = 35mm. slotting is rejected and a single full – pitch stator coil
with 30 turns. The cross magnet has Br = 0.35T, Prec = 1 and H0 = 278 KA/m. The
current in the stator cell is zero.
i. Calculate Bg in the average at the centre of the magnet arc ie on the direct
axis.
ii. Determine the m.m.f across the magnet and the internal magnetizing force
Hm.
iii. Calculate the flux linkage of the coil.
iv. Determine the peak value of e.m.f induced in stator coil if the rotor rotates at
4000 r.p.m.
April / May 2003
Given data
r1 = 30 mm, lm = 8 mm,
g = 0.8 mm, l = 35 mm,
N = 30, Br = 0.35T,
µrec = 1, Hc = 278KA/m.
To find
i. Bg in the airgap
ii. MMF across the magnet and internal magnet force
iii. Magnetizing force Hm
iv. Flux linkage in the coil (stator)
v. Peak value of e.m.f induced.
Solution
C φ Br
Bg =
1 + Pm R g
Kg
Rg = c
µ0Ag
3 ( 2 )
A g = 2 π r1 − 3 + Zg ( l + 2g )
= 2 π ( 30 − 0.4 ) + 1.6 ( 35 + 1.6 )
3
Rg = 23275 mm2
Kg 1.05 × 0.8 ×10 −3
Rg = o =
µ o A g 4π× 10−7 × 0.2327 × 10−6
Special Electrical Machines 4.35
R g = 2.87 ×105
µ o µ rec A m
Pmo =
lm
2
π r1 − g − m l
l
Am =
3 2
2
= π [30 − 0.8 − 4] × 35
3
A m = 1847mm 2
µ o µ rec A m
Pmo =
lm
4π×10−7 × 1× 1847 × 10−6
=
8 ×10−3
A m = 2.9 × 10−7
Pm = Pmo [1 + Pr1 ]
Am 1847
Cφ = = = 0.7935
Ag 23275
= 2.9 × 10−7 [ +0.1]
Pm = 3.19 × 10−7
Cφ Br
Bφ =
1 + Pm R g
0.7935 × 0.35
=
1 + ( 3.19 ×10 −7 × 2.89 ×10−7 )
Bg = 0.248 T
B r − Bm
C. −H m =
µ 0µ rec
Pr1 = Pm − Pmo
= 3.19 ×10 −7 − 2.9 × 10−7
Pr1 = 0.29 ×10−7
1 + Pr1R g
Bm = × Br
1 + Pm R g
1 + ( 0.29 ×10−7 × 2.8785 )
= × 0.35
1 + ( 3.19 × 10−7 × 2.87 × 105 )
Bm = 0.323
0.35 − 0.323
−H m =
4π× 10−7 × 1
Hm = 20.7 kA/m
If the iron loss is modeled by means of a resistor connected in series parallel with
each phase of the motor determine the value of this resistance.
Given data
Torque constant, Kφ = 0.12 N-m
Supply voltage V = 48 volts
Armature resistance/ phase, Ra = 0.15 ohm
Voltage drop in the controller transistor Vdrop = 2 volts
Mechanical power to the load = 3000 rpm
DC supply current = 8.2 amps
Friction torque = 0.046 N-m
To find
a. No load speed , no in rpm
b. Stall torque To and stall current Io.
c. Efficiency of the3complete drive
i. Power loss due to voltage drop in transistor
ii. Power loss due to winding resistance
iii. Power loss due to friction
iv. Total iron loss
Solution
V
a. No Load speed, ωo =
Kφ
48
= = 400 rad
0.12 sec
400 × 60
no = = 3820 rpm
2π
no = 3820 rpm
Mechanical output
c. Efficiency of the complete drive = × 100
Electrical input
4.38 Permanent Magent Brushless DC motor
330
η= × 100 [Q V = 48V, I 8.2 A]
( 48 × 8.2 )
η = 83.84 %
i. Power loss due to voltage drop in the transistor = Voltage drop x current
= 2 x 8.2
= 16.4 watts
ii. Due to winding resistance = I2R
= 8.22 x 0.15
= 20.2 watts
2πNT
iii. Power loss due to friction P=
60
2π× 3400 × 0.046
= [Friction Torque T = 0.046 Nm given ]
60
iv. Iron loss = Electrical input – [power loss due to [transistor + winding resistance
+ friction + mean output]
= 4.8 x 1.2 – [16.4 + 20.2 + 330]
= 393.6 – 383.6
Iron loss Pi = 10.6 watts
v. The value of resistance Pi = I2R = 10.6
10.6
R= = 0.157 omhs
8.22
3. A permanent magnet DC commutator motor has a no load speed of 6000 rpm when
connected to a 120 V supply. The armature resistance is 2.5 Ω and rotational and
iron losses may be neglected. Determine the speed when the supply voltage is 60V
and the torque is 0.5 Nm.
Given data
To Find
Solution
Stall current Io = V
Ra
Special Electrical Machines 4.39
120
= = 48 amps
2.5
Stall torque, To = Kφ Io
V
But, Kφ =
ωo
120 2πN o
= = 0.1909 ωo = 60
6000
2π×
60
To = 0.1909 x 48
To = 9.167 Nm
T = 0.5 Nm
T
ω = ωo 1 −
To
T
N = n o 1 −
To
0.5
N = 6000 1 − [no = 6000 and T = 0.5 Nm given]
9.167
N = 5672 rpm
At 60 V and 0.5 Nm
V1 = K φ ω1
120 = K φ × 5672 _____ (1)
V2 = K φ ω2 _____ (2)
60
N2 = × 5672
120
4.40 Permanent Magent Brushless DC motor
N2 = 2863 rpm
Given data
Stall torque To = 1 Nm
Stall current Io = 5 amps
DC supply voltage V = 28 V
To find
No load speed (no) in rpm
Solution
V = Kφωo To = KφIo
28 = Kφωo 1 = Kφ x 5
28
ωo = Kφ=0.2 Nm/A
0.2
ωo = 140 rad/sec
2πn o
= 140
60
140 × 60
no =
2π
no = 1336.9 rpm
5. In problem 4 during an overload the motor temperature becomes excessive and the
magnet lose 12 percent of their permanent flux density. If the armature resistance
is 0.8 Ω. Determine the speed at which the motor will run when the load torque is
0.3 Nm. Assume a total brush voltage drop of 2 V and a supply voltage of 28 V DC.
Ignore friction and other losses
Nov/Dec 2005
Given Data
V− Vdrop 28− 2
ωo' = = = 147.7 rad/sec
Kφ '
0.176
T
ω = ω'o 1 − ' _____ (1)
To
To' = 5.726 Nm
0.3
(1) ⇒ ω = 147.7 1 −
5.726
ω = 140 rad/sec
2πn
=140
60
140 × 60
n=
2π
N = 1337 rpm
lm
r1