Linear BLDC Motor Model

1. The modeled 3-Phase BLDC Motor is a Custom Motor Example, which was
tested in the Lab and the measurements results was compared with the
simulation. Some parameters are different than on the real physical example. This
note is related to the real values of the Jm-Motor Inertia and the Dm-Viscose
Dumping Coefficient. They was not clearly defined for the Motor prototype for
that reason they was iterative found from many measurements during the test.
2. The Model is based on the theoretical linear differential equations of the BLDC
Motor using its preliminary electrical and mechanical parameters.
3. The MotorTest01.asc MotorTest05.asc schematic files are examples for
different type of Controls, from Trapezoidal to Analog including Sinusoidal
Control too. In the example file MotorTest01.asc the Hall Sensors Outputs are
directly connected to the 3-Phase PWM Logic Circuitry, which drives a 3-Phase
Bridge. In other examples the phasing of the PWM and Analog 3-Phase Signal is
related to the Shafts Angular Position. The Motor is running up to the maximum
possible speed limited by its electrical (BEMF) and mechanical dynamic
(Friction) parameters and the source Voltage. By using controlled Bridges, there is
a requirement to set-up the right timing for the Top and Bottom Gate signals (to
eliminate cross fires). The dead-times between Top and Bottom side Gate
Voltages (TA TC, BA BC) are defined by the values of the R1-C1, R2-C2
RCs. The PWM source in these examples was sat-up to 100% Duty Cycle to make
possible to compare results between different configurations and to see, which
variables are influencing them. Of course these bridges can be built by using
MOSFET-s (or IGBT-s).
4. The PWM Logic Circuitry is not public , for that reason its code is encrypted.
5. The BLDC Motor Model is open source documentation in BLDC.Lib file. It
makes possible to analyze the system in relation to the appropriate block diagrams
below. To experiment with different parameters of the Motor Model use the
conventions given by LTspice in the Component Attribute Editor (for example:
R=0.5 or R={R} etc.)
6. The SK_Friction.asc file is only a math example how to define Start and Kinetic
Friction for the Motors Shaft. Lines from 09 to 13 can be ignored or modified but
do not Delete SK_Friction.asc File! If so, the appropriate line, including the
subcircuit reference must be eliminated from the BLDC.Lib file.
01
02
03
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05

* D:\Simulation\BLDC Motor\LTspice\TK_FRICTION.asy
* Modified LTSpice Netlist Created : 9/12/2009
* --------------------------------------------* Description: Start/Kynetic Friction
* ---------------------------------------------

06
07
08
09
10
11
12
13
14
15
16

.subckt SK_Friction w Tx Tf
R1 Tx 0 1G
R2 w 0 1G
.param b=10 c=.01 Tfs=0.005 Tfk=0.0045
B0 Tf0 0 V=abs(V(Tx))*b/(b+c+abs(V(w)))
B1 Tf1 0 V=Tfk*(1-1/(1+Tfk*abs(V(w))))
B2 Tf2 0 V=V(Tf0)+V(Tf1)
B3 Tf 0 V=-sgn(V(w))*if(V(Tf2)>=Tfs, Tfs, V(Tf2))
.ends SK_Friction
*
* End of Subcircuit Created from : TK_FRICTION.asc

Installation:
1. Files: MotorTest0105.asc, BLDC.asy, Driverx.asc, Driverx.asy, Switch3.asy
copy into any Folder for simulation.
2. Files: BLDC.Lib, BLDCSupport.Lib, SK_Friction.mod copy into LTspices
/sub Folder.
Note: The Model of BLDC Motor is based mostly on the behavioral B-sources,
consequently the simulation is very slow! Be patient!

ELMGTorque

Tx
2

Tfs={Tfs}
Tfk={Tfk}
Friction
Tx w
Tf

.param Tfs=0.005 Tfk=0.0045

Abs

Ts

1
3

k1=-1 k3=-1
2

LoadDump

c={Jm}

Tf

ExtTorque

y0={w0}
IN
a+b

INT

y0={Angle0}
INT

Angle

k={Dm}
Abs

Block Diagram of the Mechanical Stage

LoadInertia

.param Ra=(R} Rb={R} Rc={R}

.param La=(L} Lb={L} Lc={L}

c={-Ra}

APhase
E1

R1
1G

A*sin(N*w -Fi)

c=1/{La}
k1=-1
1
2
3

Angle

y0={ia0}

.param R=39.5m L=30uH

.param Ke=46.47m

w
W

N={Npp} A={Ke} Fi=-30

INT

1 G1
A*sin(N*w -Fi)

c=1/{Lb}

N={Npp} A={Ke} Fi=90

k1=-1
1
2
3
E2

R2
1G

INT

ma

BPhase

y0={ib0}

c={-Rb}

1
mb

CPhase
E3

R3
1G

A*sin(N*w -Fi)

c=1/{Lc}
k1=-1
1
2
3

y0={ic0}

c={-Rc}

1
3

Torque

mc

1 G2

N={Npp} A={Ke} Fi=-150

INT

1 G3

.params ia0=0 ib0=0 ic0=0

R4
1G

Block Diagram of the Electric Stage

Electric Stage

Mechanic Stage

.param Npp=2
.params ia0=0 ib0=0 ic0=0
.params Ra={R} Rb={R} Rc={R}
.params La={L} Lb={L} Lc={L}

.param Angle0=0 w0=0

.param Jm=.0002 Dm=0.0016
.param Tfs=.005 Tfk=.0045
.param Kt=46.47m

.param Ke={Kt}

.param R=0.0395 L=30uH

Tout
w

Npp={Npp} Ke={Ke}
A

APhase

BPhase

Torque

CPhase

Angle

ELMG Stage

Jm={Jm} Dm={Dm} w0={w0} Angle0={Angle0} Tfs={Tfs} Tfk={Tfk}

Omega
ELMG Torque
Angle

.params w0=0 Angle0=0

J Load

LoadInertia

D Load

LoadDump

T-Ext

Tin

Motor's Dynamic Model

Angle

Npp={Npp} Ph={Ph}
H1

Hall1

H2

Hall2

H3

Hall3

Angle

Hall Sensors
.param Ph=0

Number of Pole -Pairs

Phasing (120 / 60 deg)
Phase Resistance
Phase Inductance
Initial Phase Currents

:
:
:
:
:

Npp
Ph
Ra,Rb,Rc
La,Lb,Lc
ia0, ib0, ic0

Initial Shaft Angle

Initial Angular Velocity
Rotor's Inertia
Rotor's Viscose Dumping
Torque Constant
Induced Voltage Constant

:
:
:
:
:
:

Angle0
w0
Jm
Dm
Kt
Ke

[none]
[deg] / 0 => 120deg; 60 => 60de g
[ohm]
[henry]
[A]
[rad]
Start Friction
: Tfs [N*m]
[rad/s]
Kynetic Friction : Tfs [N*m]
[N*m*s/rad]
[N*m*s/rad]
[N*m/A]
[V*s/rad]
( Note: In SI Ke=Kt )

Block Diagram of the 3 Phase BLDC Motor

Peter Kapas

Ventura, California
09/12/2009