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Abstract
The paper describes the design, analysis, simulation, modeling and control implementation of a high-torque, low-speed,
multiphase, permanent magnet, brushless dc machine. The main focus is on issues regarding the high-level modeling,
comprised of a transient model, in conjunction with corresponding experimental evaluation. The general assumption of
ideal rectangular current waveforms for brushless-dc machines is not encountered in practice; the existing distortions
can be modeled by incorporating mutual inductance and armature reaction in order to avoid erroneous control strategy
development. Analyses are made to put together modeling efforts with the expected behavior so as to build a model of the
expected behavior so realistic simulation results can be verified. Coherent and consistent results were observed by comparing simulation and experimentation. A digital signal processing (DSP) system control was developed to implement the
strategies that corroborate the work.
Introduction
The majority of electrical drive systems are three-phase systems.
Recently some quasi-four-phase systems employing neutral leg
also have been used for harmonic optimization and fault-tolerant
drives. Three-phase drive systems have been widely used for
years because of the availability of such machines, their inverters,
modeling and control. However, polyphase schemes have been
used in the past in drive systems where an induction machine with
asymmetric windings has three-phase sets advanced by 30 degrees
for twelve-step industrial applications. Such multiphase drives are
likely to be limited to specialized applications where high performance and reliability are required (such as EV, HEV, aerospace,
ship propulsion and high power applications) and when cost
requirements are not so oppressive when compared to the overall
environment.
The recent literature indicates several advantages for using a multiphase multi-pole electrical machine in hub-wheel systems
high-torque low-speed motors can directly drive systems, avoiding mechanical losses incurred by the clutch, reduction and
differential gear during power transmission from the motor to the
wheels. This work presents the design, analysis, simulation,
modeling and control implementation of a high-torque, lowspeed, multiphase, permanent magnet, brushless dc-machine. The
paper focuses on issues regarding the high-level modeling,
comprised of a transient model, in conjunction with corresponding experimental evaluation. Analyses were made to put together
the modeling efforts with the expected behavior in order to have
realistic simulation results verified by the experimental setup;
comprehensive experimental results corroborate the work.
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a)
b)
16
275 mm
130 mm
3.2 HP
12
5
140 V
7.5 A
750 rpm
30 Nm
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dia
1
=
4 Ria 3ea + eb + ed + ee + 2Vs 4Vq
dt
4L
dib
1
=
4 Rib + ea 3eb + ed + ee + 2Vs 4Vq
4L
dt
(1)
( )
( )
did
1
=
4 Rid + ea + eb 3ed + ee 2Vs + 4Vq
4L
dt
die
1
=
4 Rie + ea + eb + ed 3ee 2Vs + 4Vq
dt 4 L
)
)
(3)
dia 1 2
=
ea Ria
dt
L 3
(5)
did 1 1
=
ea Rid
dt
L3
(6)
die 1 1
=
ea Rie
dt
L3
(7)
( )
eb = eb + Lba
dib
di
di
di
+ Lac c + Lad d + Lae e
dt
dt
dt
dt
dia
di
di
di
+ Lbc c + Lbd d + Lbe e
dt
dt
dt
dt
( )
di
di
di
di
ec = ec + Lca a + Lcb b + Lcd d + Lce e
dt
dt
dt
dt
ed = ed + Lda
dia
di
di
di
+ Lbd b + Ldc d + Lde e
dt
dt
dt
dt
ee = ee + Lea
dia
di
di
di
+ Leb b + Lec c + Led d
dt
dt
dt
dt
( )
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leakage inductance
air-gap inductance
stator resistance
inverter voltage supply
diode and transistor voltage drop
1
M
d
Iabde ] = [ I ]
[ Mabde ]
[
4L
dt
3 1 1 1
1 3 1 1
1
[ E ] + Vs Vq
R
I
+
4
[
]
[
]
abde
1 1 3 1 abde
4L
1 1 1 3
(8)
where :
ia
i
[ Iabde ] = ib
d
ie
[ Mabde ] =
(2 M1 + M2 )
( 2 M1 + M2 )
(2 M1 3M2 )
( 2 M1 + M2 )
(3M1 + 2 M2 )
( M1 + 2 M2 )
( M1 2 M2 )
( M1 2 M2 )
( M1 2 M2 ) (2 M1 + M2 )
( M1 2 M2 ) (2 M1 3M2 )
( M1 + 2 M2 ) (2 M1 + M2 )
(3M1 + 2 M2 ) (2 M1 + M2 )
[ R] =
0
0
4 R
0
0
0
4 R
0
b)
0
1
0
0
0
0
1
0
0
0
1
is the identity matrix
[Vs Vq]
c)
n
K v (t ) t 2 +
5
1
Te =
in (t ) (9)
(t ) n = 0
n
Ka in (t ) c t 2
5
19
n
Kv
a)
Ka
In
c
b)
c)
20
a)
c)
b)
d)
Fig. 7: Closed loop behavior. An outer torque loop commands the machine operation (a) Terminal current, (b) Terminal voltage,
(c) Machine torque, (d) Machine speed.
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a)
b)
c)
d)
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real implementation (Fig. 12) was not possible because that would
require much more elaborated instrumentation that is only available in Fine Mechanics laboratories. However, the overall simulated behavior was very close to the observed electrical response,
validating our simulation strategy of the optical encoder mechanical adjustment.
A torque controller was implemented in the DSP system in accordance with Fig. 10; the PI parameters were fine tuned to Kp = 1
and Ki = 0.01. Fig. 13 (a) shows a step torque response from
5 Nm to 15 Nm, where the real mechanical torque is presented
with the reference value, showing a very fast response. Figs. 13
(b) and (c) show the steady-state current and voltage waveforms
before and after the step torque command. The five-phase
machine was connected to a dc-machine with shunt resistances to
a)
b)
c)
Fig. 13: Torque control (a) step response, (b) terminal voltage
and current for low torque level, (c) terminal voltage and
current for high torque level
absorb incoming power and the speed was kept within the range
650 rpm to 750 rpm. The steady-state voltage and current waveform indicated in Figs. 13 (b) and (c) confirmed the expected
duty-cycle and average current evaluation in open-loop as indicated
previously by Fig. 11.
Conclusion
The paper showed that the design and evaluation of a polyphase
brushless dc-machine direct drive system suitable for high performance and reliability is critical for applications such as EV, HEV,
aerospace and the requirements are not cost oppressive. This work
presented the design, analysis and issues regarding the high-level
modeling comprised of a transient model in conjunction with their
corresponding experimental evaluation. Analysis was made to put
together the modeling efforts with the expected behavior so as to
have realistic simulation results verified by the experimental
setup. The dynamic modeling permitted the control strategy
design and validation with a DSP-based torque loop control and
comprehensive experimental results validated the work.
References
[1] A. Bouscayrol, B. Davat, B. B. De Fornel, B. Francois, J.P.
Hautier, J.P. F. Meibody-Tabar, M. Pietrzak-David: Multi-machine
multi-converter system for drives: analysis of coupling by a global
modeling, Conf. Rec. of IEEE IAS Annual Meeting, Oct. 812,
2000, Rome, Italy, vol. 3, pp. 14741481.
[2] P. Delarue, A. Bouscayrol and B. Francois: Control implementation of a five-leg voltage-source-inverter supplying two threephase induction machines, IEEE International Electric Machines
and Drives Conference, Villeneuve d'Ascq, June 1-4, 2003, France,
vol. 3, pp. 19091915.
[3] B. Arnet and M. Jufer: Torque control on electric vehicles with separate wheel drives, EPE '97, Trondheim, Norway, September 1997,
pp. 659664.
[4] B. Hredzak and P.S.M. Chin: Design of a novel multi-drive system
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[5] S. Gataric: A polyphase cartesian vector approach to control of
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[6] M. Godoy Simes and Petronio Vieira Jr.: A high torque low-speed
multiphase brushless machine A Perspective application for electric vehicles, IEEE Trans. on Industrial Electronics, October 2002,
vol. 49, no. 5 pp. 11541164.
[7] M. Godoy Simes and P. Vieira Jr.: Model development and design
of a wheel-motor drive system, Proceedings of EPE PEMC,
September 57, 2000, Kosice, Slovak Republic, pp. 7479.
[8] P. Pillay and R. Krishnan: Modeling of permanent magnet motor
drives, IEEE Trans. on Industrial Electronics, November/
December 1988, vol. 35, no. 4, pp. 537541.
[9] P. D. Evans and D. Brown: Simulation of brushless dc drives, IEE
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[10] T. Kenjo and S. Nagamori. Permanent-Magnet and Brushless DC
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[11] T. S. Low, K. J. Tseng, T. H. Lee, K. W. Lim, K. S. Lock: Strategy
for the instantaneous torque control of permanent-magnet brushless dc drives, IEE Proceedings B, vol. 137, issue 6, November
1990, pp. 355363.
[12] M. Godoy Simes and S. Szafir: A DSP computer platform for
mechatronics teaching and research, ASEE Computers in
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[13] Motorola, DSP 56L811 Users Manual, Motorola Inc., 1996
[14] Motorola, Motorola DSP 56800 Family Manual, Motorola Inc.,
1996
The Authors
M. Godoy Simes, Ph.D., earned the B.Sc. and
his M.Sc. degrees from the University of So
Paulo, Brazil, and his Ph.D. degree from the
University of Tennessee, in 1985, 1990 and 1995,
respectively. In 1998, he also received a D.Sc.
degree (Livre-Docncia) from the University of
So Paulo. Dr. Simes joined the faculty of the
University of So Paulo from 1989 to 2000 and
Colorado School of Mines in April 2000. He has
been working to establish research and education
activities in the development of intelligent control for high-power electronics applications in
renewable and distributed energy systems. Dr. Simes is currently serving as IEEE Power Electronics Society Intersociety chairman. He is
associate editor of Energy Conversion as well as editor of Intelligent
Systems of IEEE Transactions on Aerospace and Electronic Systems.
He is also associate editor of Power Electronics in Drives of IEEE
Transactions on Power Electronics . He has been actively involved in the
Steering and Organization Committee of the IEEE 2005 International
Future Energy Challenge. Dr. Simes is IEEE Senior-Member, EPE,
IEE and Cigr Member. He was the recipient of a National Science
Foundation (NSF) Faculty Early Career Development (CAREER) in
2002. It is the NSFs most prestigious award for new faculty members,
recognizing activities of teacher-scholars who are considered most
likely to become the academic leaders of the 21st century.
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