SPIRAL VECTOR THEORY O F BRUSHLESS DC MOTOR YAMAMURA, Sakae Honarary Member, IEE of Japan Life Fellow, IEEE Professor

Emeritus, University of Tokyo Member of Japan Academy Vice President Central Research Institute of Electric Power Industry (CRIEPI) 1-6-1 Ohtemachi, Chiyoda-ku, Tokyo, 100, Japan

Abstract. The spiral vector is an exponential time function with a complex index. It can express almost all kind of state variables, which appear in electrical engineering, and is the most natural form of solutions of circuit equations and machine equations. SV plays the same important role in both steady and transient state analyses, as the phasor does only in steady state analysis. The author has applied the SV method to transient analyses of various AC machines. The salient-pole synchronous machine has not been well covered by the method. This paper will treat it, emphasizing the brushless DC motor, which is mostly and remarkably the salient-pole machine, to supplement the authors paper@)of IAS Annual Meeting of last year. The SV theory will also supplement the two reaction theory and the Parks equations, which have been resorted to for many years for analyzing the salient-pole synchronous machine.

2.

STEADY STATE ANALYSIS OF SALIENT-POLE SYNCHRONOUS MACHINE

1.

INTRODUCTION

The two-reaction theory has been exclusively resorted to for many years in steady state analysis of the salient-pole synchronous machine. It makes use of phasor or vector notation and divides armature current into two components, direct- and quadrate-axis components. Phasor is a complex value, which represents a stationary vector in the complex phase. Now the spiral vector method will be applied to the analysis, which follows. It is a revolving, decaying vector in the complex plane. It does not divide armature current into two components. It will reveal new analytical aspects of the salient-pole synchronous machines, by providing simple solutions and computer simulations of performance equations of the machine. Figure 1 shows an analytical model of the salient-pole synchronous machine. Main self-inductances of the three-phase armature winding vary timely, as the rotor rotates. Angle 8 between the center line of phase a winding and the direct axis of the rotor, as shown in Fig. 1, is given by

Spiral vector is an exponential time function with a complex index. It can express almost all kinds of state variables, which appear in electrical engineering. In conventional theories of AC circuits and machines, state variables are expressed by complex values in steady state analysis, while in transient state analysis variables are expressed by real values. Because of the different expressions of state variables two theories are separated; AC steady state theory and transient phenomenon theory. The complex value expression is called vector or phasor, which is a spiral vector with an imaginary index. The author(5)-(8) proposed the spiral vector method, in which variables are expressed by spiral vectors and which can unify steady-and transient-state theories of circuits and machines. As the phasor notation made greatest contributions to steady state analyses, so the spiral vector would do the same to transient state analyses of circuits and machines. SV method might bring about considerable development in wide areas of electrical engineering. The author has been working on them for some time and has published some number of papers and books.()-o) In machine analyses SV method has covered well the induction motor and has produced useful analytical results and FAM control(l),(2).(lo) of it. In IAS Annual Meeting last year the authod9) read the paper entitled Spiral Vector Theory of Salient-Pole Synchronous Machine. This paper will supplement the last years paper. The synchronous machine has more or less saliency. In spite of its appearance the brushless DC motor is also a salient-pole machine due to the permanent magnet on the rotor, whose permeability is very small. The two reaction theory and Parks equations have been exclusively resorted to in analysing the salient-pole synchronous machine. SV method will remove their exclusiveness and give new analytical aspects of the synchronous machine.

(a) Analytical model

(b) Voltage and current waves

Fig. 1 Analytical model of the salient-pole synchronous machine

0-78031462-x/93$03.00 01993IEEE

177

= at

+ (pd

[electrical radian ]

(1)
M a b = L COS (27~13) =-

Then main self-inductances of the armature winding are given by

L,= L

(9)

Inserting eqs. ( 7 ) , (8) and (9),&a of eq. (6) becomes

+ L c o s 2 e = L + LCOS

( 2 ~ t 2ed) +

Mutual inductances between phases of the armature winding are Expressing variables in SV, we get

V ,I

is the phase difference between double-frequency variations L and Mof the inductances given above. Then main flux linkage of phase a is given by

Here i,=flli,l ej(wt+cpl) is circular vector of phase a current. Circuit equation of phase a is now given by

Aga= La& + Mabib

+ M,,i,

+ h cos8

(4)

v, = Rli, + 11pi, +PA,,

= Rli,
~

The last term is flux linkage coming from the magnetic pole on the rotor. Under symmetrical or balanced operation the armature currents are given by

( lI + 3

i, - _3L e,( 2

. 2w -2,,,,

) p i, e,
+

(12)

Here 11 is leakage inductance and ea is internal induced emfgiven

Here currents are expressed by instantaneous real values and spiral vectors. Inserting eqs. (2), (3) and (3, eq. (4) becomes

Eq. (12) contains variables of phase a only, which are segregated from other phases. This is called phase segregation, which plays an important role in analysis of the three phase machine. In conventional theories the phase segregation has been resorted to only i n steady state analysis. Now it is extended by SV method to transient state analysis. In order for phase a to represent all three phases, subscript a is changed to 1. Then eq. (12) becomes

Here L, = I 1 + 3 L is synchronous inductance 2 This is the circuit equation in SV for symmetrical operation of the salient-pole synchronous machine. Inductance of this equation is There are three terms of tripple frequency, which are bracketed. In order for them to disappear, the following conditions are necessary and sufficient. L=M L, - 3 L e / (*v-%i) 2 = L, - 3 L cos (2cp 2

- 2 9 ) -j

3~sin (2cp - 2cpl) 2

(15)

w = -27~13

(7)

, which is a complex inductance.

When cp - cpl =
7~ /2,

Then mutual inductances of eq. (3) becomes it becomes the following maximum real.

M,, = M,,

+ L COS (28 + 2~ 13)

(*)

This is called direct axis inductance in the two reaction theory. When cp 178
pl

The structural symmetry of the machine gives

= 0, it becomes the following minimum real.

Output torque is This is called quadrature axis inductance in the two reaction theory. From eqs. ( 1 6 ) , (17), we get [N - ml Thus there is one to one correspondence between inductance pairs Ls,5 ' and Ld, Lq, which are equivalent to each other, and can handle iron satulation equally well. In SV theory we use mostly Ls and L'. For steady state SV becomes circular vector, which is expressed by capital letters with dot at the top, and operator p becomes j w . Then equ. (14) becomes For the brushless DC motor in Table 1 torque is drawn as a

, which is shown in Fig. 3. The torque-current function of curves are not linear for L' # 0 and sin (2rp - 2q1) # 0. In this motor L' = -0.0101 Henry. It is not unusual that brushless DC motor has negative L', which means L , > Ld.
L'=-0.01012 Henry

.G~-V, = [ R I + w 2 br sin (2rp - 2rp1)] il

3 + j w L, - 3L' cos (2q - 2rpl)] i l [ 2

The vector diagram of this equation at t = 0 is shown in Fig. 2.

0
lil

10

15A

Fig. 3 Torque-current curves for BDC motor in Table 1

Fig. 2 Circular vector diagram at t = 0 of the salient-pole synchronous generator For q = cpl the second term of eq. (23) becomes zero, and the torque current curve in Fig. 3 becomes linear. These features should be taken into consideration for superior control of the BDC motor. Table 1 Rating and Circuit Constants of a Brushless DC Motors Rating 3.7 kW,4 poles, 400 V, 100 Hz, 7A

This is similar to the phasor diagram based on the two-reaction theory. However, they are quite different. In the SV theory armature current is not divided into two components of direct-axis and quadrature-axis 3L' sin (2rp-2rpl) components, but instead resistance increases by w 2 and inductance decreases by PL' cos (2rp-2rpl). Output increases by 2

Circuit constants
, and torque per phases is increased by

Ra = 0.348Q resistance
x,d

= 7.52Q direct-axis armature reaction reactance

x l q = 18.09Q2,quadrature-axis armature reaction reactance

The imaginary part of the complex inductance of eq. (15) becomes effective resistance, which causes power conversion. Total conversion power per three phase is
x1 = 1.03R. armature leakage reactance

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3. TRANSIENT ANALYSIS O F SYNCHRONOUS MACHINE 3.1

Transient Analysis of Brushless DC motor

The brushless DC motor is the synchronous servo motor. It is in most cases permanent-magnet excited and has no winding on the rotor side. It may look like a nonsalient-pole synchronous machine, but has usually saliency to a considerable degree. This is due to the permanent magnet on the rotor, whose permeability is very small. Table 1 shows one example of such a case, where Lq > Ld. SV method makes it possible to apply the symmetrical component method to transient analysis of the three-phase machine. Therefore symmetrical or balanced operation of the motor will be assumed for the following analysis. The symmetrical transient armature currents are expressed as follows;

to the SV expression. Eq. ( 2 8 ) is the circuit equation of the brushless DC motor, which is valid for both steady and transient states. If il = VTIj,Iej(wr+cpl) is inserted as the steady state solution, eq. ( 2 8 ) becomes eq. ( 1 9 ) . When the transient current is written as iir, eq. ( 2 8 ) becomes the following equation, which is a homogeneous equation, which contains a time-variant coefficient.

R~ i l r

+~

, i,, p

=3 2 L p ( e j * e i;r

(29)
and this

As the first approximation it is assumed that i l r = Ae is inserted to the right ride of eq. ( 2 9 ) , and we get

These are attenuating cosine functions, whose frequency is w. They are general enough as will be seen soon, and their conversion to SV is easy. Inserting them and considering conditions given by eq. (7), eq. ( 4 ) becomes

Repeated insertion of solution of eq. ( 3 1 ) into the right side of eq. ( 2 9 ) gives the following equation.

Collecting terms of e -*t, in this equation we get Here emfs of the armature and the magnetic pole are not opposing for the motor action. Expressing in SVs, this becomes

, from which we get

3L The second term may be - -e-& 1 1 , e-1(2Wr 2cpd ) ej(dr +PI) , to 2 represent the second term of eq. ( 2 5 ) , but in order to make the spiral vector rotate anti-clockwise in the complex plane, the second term of eq. ( 2 6 ) is chosen. The circuit equation of phase a is now written as follows:

(34)

For wLs

>)

R I , A becomes (35)

v, = Rli,
= Rli,

+ 11 p i, + p 4 ,
L )Pi, - -p 3L 2
(eJ2e ,i

+ (11 +

) + j w A ele

(27)
Collecting terms of e j 2 @ in eq. ( 3 2 ) , we get

In this equation phase a is segregated from other phases. Replacing subscript a with 1 , we get

In conventional theories the phase segregation is rather extensively resorted to, but only in steady state analyses. Now it is applicable to transient analysis of the three-phases machine due

This is the same as the second term of eq. ( 3 2 ) with k replaced with A. One repetitive insertion is sufficient and we have reached the final solution. Adding the steady state current the

180

general solution is given by

The second terms of these currents are steady state currents and the first terms of transient state currents satisfy the homogeneous equations of eqs. (41) and (42). Thus we get

(37)

The first term is the steady state current expressed in a circular vector, and the second and third terms are transient terms. One of them is decaying DC and the other is a decaying doublefrequency term. They have common decaying constant X and contains a common arbitrary factor A. Eq. (37) indicates that when the motor is controlled as a AC servo motor, there is a possibility of eliminating transient. If the motor is controlled by armature current, and when il = I, e j ( @ r PI) is fed as control input current, then A becomes zero and there occurs no transient in control. This means that current input control can have instantaneous torque response. On the other hand voltage input control is accompanied by large transient.

It is assumed at the first step of solution that

ilt

is

Ql

Inserting this into eq. ( 4 9 , we get

The SV theorem(l3) gives the general solution of this equation as follows;

3.2 Analysis of Synchronous Motor with Field Winding

ifr = Be-afr+
Large synchronous control motors may be excited by the field winding. If the field current is constant, magnetic flux k of poles is also constant and transient is the same as in section 3.1. If field current contains the following transient current,
Rf+

1M~ (-A+jw

(b + M f ) (-A +j w )
and

Ae-h+jar+ P d )

(48)

Here B is an arbitrary

is

(49)
this gives flux linkage to phase a of the armature winding as follows: we get Inserting eqs. (48), (49) into eq. (U),

Expressing in SV, we get

Steady state solutions of simultaneous equations (41) and (42) are obtained without difficulty. And then their general solutions are written as follows;

Ae(-n + J2W)t + j 24U

Collecting terms of eje, we get

181

These solutions are approximations, but repetitive insertion improves the approximations, as was done in the proceeding section. By one repetitive insertion l j - of eq. (49) becomes

Expressing in SV, this equation becomes

kd

[e.i~id+elei~]

(58)

L L s

Thus the general solution of armature current is as follows:

This is the fourth term of the right side of eq. (56). The fifth term comes from the quadrature axis damper and is similar to the fourth term, except factor -j. This is due to the spacial phase difference between the two damper windings. Circuit equation of the direct-axis damper winding is given by

0 = Rd i d + ( I d + M d ) p id

+ 2 Mdp ( e J ei;

(59)

Circuit equation of the quadrature-axis damper winding is given by

0 = R, is

+ (I, + M , ) p i, + 3 M q p ( j e j e i; 2

(60)

Here A is given by eq. (51) and l,j-by eq. (54). There are three transient terms of e-*!, e-*f + Je and e (-* + j 2 0 )(, which contain two arbitrary constants A and B. It is difficult to make both A and B zero by current input control of i i . However, by keeping field current as constant DC current B becomes zero. Then A can be also made zero by armature current control as explained in section 3.1, and thus response of torque control of the motor becomes very quick. Control synchronous motors must have constant DC field current. Then it behaves the same as the PM excited motor.

Eqs. (56), (59) and (60) must be solved simultaneously. Steady states current of ii was derived in section 2. For transient term ilt eq. (56) becomes

Steady state currents of id and i, are zero. It is assumed first that

ill = A c h
3.3 Analysis of Brushless DC Motor with Damper Winding Inserting A e
-*t

(62) to il of eq. (59) we get

The Brushless DC motor does not have usually the damper winding. However, it is quite useful, reducing effectively the large synchronous inductance for quick control, as the analysis in this section indicates. Most damper windings are cage windings. They can be represented by the equivalent wound damper. As shown in Fig. 1 the damper is represented by two windings, one of which is positioned along the direct axis and the other along the quadrature axis. They can be asymmetrical, having different circuit constants, which give better equivalency. The circuit equations expressed in SV of this synchronous machine is derived in a similar way to the preceeding sections. For the armature winding it written is as below.

The SV theorem gives the general solution of this equation as below.

And B is an arbitrary constant, which is to be determined by an initial condition. Inserting eq. (62) to i l in eq. (60), we get

R, i,
Md is mutual inductance between phase a of the armature winding and the direct- axis damper and M , is mutual inductance between phase a winding and the quadracture-axis damper. As the rotor rotates, flux linkage of phase a winding due to the direct axis damper winding is given by

+ (1, + M, ) p i,

= - 3j M ,

( 4 + j w ) .Ae(-h+/W)r+W

(65)

The SV theorem gives the general solution as below,

Repetitively inserting solutions of eqs. (64), (66) and (62), we obtain the following equation from eq. (61)

182

Adding eqs. (62), (72) and (73), we get general transient solution of il. Inserting eq. (72) into eq. (59), we get

, which gives

Collecting term of e - L , we get

R I + Ls (-A)= 3(Md )2 Rd

-A + j w

+ (-2 + j W ) (id +Md)

+M,)

(-A)

Similarly from eqs. (60) and (72), we get

-2 +j w
R,
which gives

+ (-1 +j w ) (1,

(-A)

%=

R4 +M:(-A+jw)

R, lq+Mq--

I,+M, -

M:

(76)

R I + (-A

+j m ) L ,

Ls

a=
L s -i(Md?
Rd

Ri

-A

+j m
(69)

+ (-1 + j W ) ( i d +Md)
+M,)
(1,

-A + j w R, + (-A + j w ) (1,
For Rd
( (

(Id

+ k f d ) , Rq U

+ M q ) this becomes

Solutions of currents il, id and i, were obtained. When the machine is non-salient, then L ' = 0. And when the damper windings are the same, that is Md = M,, then double-frequency terms of il given by eq. (73) disappear. It can be shown then that the symmetric damper winding does not produce transient torque.(l2) Even when there are double frequency terms of current, it is small and torque produced by them is small. Thus the damper winding does not influence torque control response, but does reduce effective armature inductance, as mentioned with respect to eq. (70). This is the merit of the damper.

4. Compared with time constant Z/a of eq. (35) the time constant is reduced considerably by the damper winding. in eq. (67), we get Collecting terms of e j

POWER AND TORQUE

In preceeding sections general solutions of currents have been derived. Making use of them, power and torque can be obtained. Conversion power per phase is
p1=real [ v l ] . r e a l [ i l ] - R l real [ i l l 2

Three phase power is not 3p1, but is

, which gives

p3 = 3 real
Torque is

[VI

i r ] - 3R1 real

[ il

i;]

(77)

13 = 2w pp3

[N - ml,

P: number of poles

(78)

5.

CONCLUSION

The paper has explained the spiral vector method approach to the synchronous machine analysis, and has given analytical results of steady and transient state solutions of the machine, placing emphasis on the brushless DC motors. The SV method 183

has removed the monopoly of the two reaction-theory and Parks equations in analyses of the synchronous machine. The SV theory is straightforward in its analytical logic, involving no variable transformation. Computer simulations with it could be simpler and easier,(9) because number of equations is much less and variable transformation is not involved. Although the paper has derived some useful analytical results of the brushless DC motors, further development of the method can be expected in the area of synchronous machine analyses where the two reaction theories and Parks equations were exclusively resorted to.

REFERENCES
(1)

(2)

(3)

(4)

(5)
(6) (7)

(8)

(9)
(10)

(1 1) (12) (13)

S. Yamamur, S. Nakagawa; Transient phenomena and control of ac servomotor - proposal of Field Acceleration Method, Trans. of IEE of Japan, Vol. 101-B, p. 557, Sept. 1981. S. Yamamura, S. Nakagawa; Equivalent circuit and FAM control of induction motor as servomotor, Trans. of IEE of Japan, Vol. 102-B, P. 439, 1982. S. Yamamura, AC Motors for High Performance Applications, Marcel Dekker, Inc., New York, Baasel, 1986. S. Yamamura, Modern theory of ac motors, Proc. of BlCM 887, IEE of China, Beijing, 1987. S. Yamamura, Modern theory of ac motors, ICEMD, Rumania, 1986. S. Yamamura, Theory of ac motor analysis and control, ICEM, Vol. 1, p. 1, Pisa. Italy, Sept. 1988. S. Yamamura, Spiral vector theory of ac circuit and ac machine, Proc. of Japan Academy, Vol. 65, Ser. B, No. 6 (1989). S. Yamamura, Spiral vector method and symmetrical component method, Proc. of Japan Academy, Vol. 66, Ser. B. No. 1, 1991 S. Yamamura, Spiral vector theory of salient-pole synchronous machine, Proc. of IEEE I A S Annual Meeting, P204, Vol. 1, Oct. 1992. S. Yamamura, Spiral Vector Theory of AC Circuits and Machines, Oxford University Press, Oxford, 1992. p. 6 of reference 10. p. 117 of reference 3. p. 21 1 of reference 9.

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