Introduction
A dc machine has windings on both the stationary and
rotating members, and these circuits are in relative motion
whenever the armature (rotor) rotates. However, due to the
action of the commutator, the resultant mmf produced by
currents flowing in the rotor windings is stationary.
The rotor windings appear to be stationary, magnetically.
With constant current in the field (stator) winding, torque is
produced and rotation results owing to the force established
to align two stationary, orthogonal magnetic fields.
Stator
Rotor
Ns Ns
mmf as = i as cos s = 2Is cos e t + esi ( 0 ) cos s
2 2
Ns
mmf as = i as cos s
2 Ns
mmf s = ( i as cos s + i bs sin s )
Ns 2
mmf bs = i bs sin s
2
Substitution:
I as = 2I s cos e t + esi ( 0 ) Ns
mmf s = ( i as cos s + i bs sin s )
I bs = 2Is sin e t + esi ( 0 ) 2
Result:
Ns
mmf s = 2Is cos e t + esi ( 0 ) s
2
1
Wc = Lss ( ias2 + i 2bs ) + 'mias sin r m' i bs cos r + Wpm
2
Where Wpm relates to the energy associated with the
permanent magnet, which is constant for the device under
consideration.
2 d r 2
Te = J + Bm r + TL
P dt P
d as
vas = rs ias +
dt
d bs Matrix Form
v bs = rsi bs +
dt
v as rs 0 i as d as
= +
v bs 0 rs i bs dt bs
vabs = rsiabs + p abs
f as rs 0
= rs =
rs
fabs
f bs 0
L asas L asbs L ss 0
= = Ls
L bsas L bsbs 0 Lss
Actuators & Sensors in Mechatronics: K. Craig
Brushless DC Motors 78
Transformation r r
fqds = K s fabs
f qsr cos r sin r f as r 1 r
r = r r
f =
abs s K f = K sf qds
f ds sin r cos r f bs qds
r 1 r 1 r r 1 r
(K ) s v r
qds = rs ( K s )qds i + p
(K )
s qds
Multiply by K rs
r 1 r 1 r r 1 r
( K )( K )
r
s s v r
qds = ( K ) rs ( K )
r
s s qds ( ) (K )
i + K p r
s s qds
r 1 r
v r
qds = ri r
s qds + (K ) ( ) r
s
p Ks qds
Actuators & Sensors in Mechatronics: K. Craig
Brushless DC Motors 79
Transformation
r 1 r
v r
qds = rir
s qds + (K ) (K )
r
s p
s qds
r 1 r r 1
v r
qds = rir
s qds + (K r
s ) p
(K s)
qds
+ (K r
s )( K s) r
p qds
= rir
s qds +
r
r dqs + p r
qds r
rds
dqs = r
qs
r 1 r r 1 r
(K s) qds = Ls ( K s) i
qds + m
'
where
r
qs = L ssi rqs = ( L s + L ms ) i rqs
l
r
ds = L ssi rds + 'rm = ( L s + L ms ) i rds + 'rm
l
v rqs rs + pL ss r L ss i qs r 'rm
r
r = r +
v ds r Lss rs + pLss i ds 0
v rqs rs + pL ss r L ss i qs r 'rm
r
r = r +
v ds r Lss rs + pLss i ds 0
2 d r 2
Te = J + Bm r + TL
P dt P
1/ rs
r
i =
ds
sp + 1
( v r
ds + rs s r qs )
i r
P/2
P 'r r
Te = mi qs r = ( Te TL )
2 Jp + Bm
Actuators & Sensors in Mechatronics: K. Craig
Brushless DC Motors 85
Time-Domain Block
Diagram of a
Brushless DC Machine
rs m
'r
1
0 L
0 0
Lss Lss
irqs iqs r ids ss
r r
vqs
r
r r
d rs r 1 r
ids = 0 0 +
ds r qs 0
i i + 0 vds
dt Lss Lss
r r 0 TL
P
2 'r
m Bm P 1
0 0
2 J
0
J 2 J