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Robot and Servo Drive Lab.
Torque Ripple Reduction in BLDC Torque Motor
With Nonideal Back EMF
Jiancheng Fang, Haitao Li, and Bangcheng Han
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 11, NOVEMBER 2012 4630-4637
學生: Guan Ting Lin
指導老師: Ming Shyan Wang
Department of Electrical Engineering
Southern Taiwan University
2016/7/13
Outline
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Abstract
Design of Torque Control Method
Normal Conduction Period
Analysis of Commutation
Commutation Period
Measuring Method of Back EMF
Simulation Results
Experiment Results
Conclusion
References
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Department of Electrical Engineering
Southern Taiwan University
Robot and Servo Drive Lab.
Abstract
In order to improve the speed precision and stabilization of the gimbal servo
system of double gimbal magnetically suspended control moment gyroscope
(DGMSCMG) ,a comprehensive analysis of the reason of electromagnetic torque
ripples of brushless direct current motor with nonideal back electromotive force
(EMF) drives in the conduction and commutation regions is presented.
A novel automatic control method of torque is proposed. With this method,
the current control rule is designed, and the duty cycle of pulse width modulation
(PWM) is regulated in real time by measuring the wave function of back EMF.
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Department of Electrical Engineering
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Robot and Servo Drive Lab.
Abstract
DGMSCMG
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Design of Torque Control Method
di A
U A  Ri A  L
 eA  U N
dt
di
U B  Ri B  L B  e B  U N
dt
di C
U C  Ri C  L
 eC  U N
dt
e i e i e i
Te  ( A A B B C C )

iA  iB  iC  0
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Normal Conduction Period
In the π/3 ∼ π/2 period, T1 is switched
ON and T2 is chopping,the current flows
into phase A and then out from phase C,
iA  - iC , iB  0
Te1 =
e A i A  e Ci C

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π/3 ∼ π/2 period
Assuming the duty cycle of switch T2 is D：
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π/3 ∼ π/2 period
U A  Ri A  L
di A
 eA  U N  ud
dt
U B  eB  U N
U C  RiC  L
UN 
diC
dt
 eC  U N  ( 1-D)u d
2ud - D  ud - e A - eC
2
di A D  ud  eC - e A

dt
2L
diC e A -eC - D  u d

dt
2L
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iA  - iC , iB  0
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Robot and Servo Drive Lab.
π/2 ∼ 2π/3 period
In the π/2 ∼ 2π/3 period, switch T2 is ON and T1 is chopping
iA  - iC , iB  0
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π/2 ∼ 2π/3 period
di A
 eA  U N  D  u d
dt
U B  eB  U N
U A  Ri A  L
di C
U C  Ri C  L
 eC  U N  0
dt
UN 
D  u d - eA - eC
2
di A

dt
D  u d  eC - eA
2L
di C

dt
e A - eC - D  u d
2L
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Analysis of Commutation
Case a) Current iA vanishes at the same time the current iB reaches its final value I:
3( LS  LM ) I
Vd  2 E
3( LS  LM ) I
iB ( t f )  I  t f 
2(Vd  E )
( LS  LM ) I
Vd  4 E , t f 
2E
iA( t f )  0  t f 
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Analysis of Commutation
Case a) Current iA vanishes before current iB reaches its final value:
3( LS  LM ) I
iA( t f )  0  t f 
Vd  2 E
2(Vd  E ) I
iB ( t f )  I  t f 
Vd  2 E
Vd  4 E
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Analysis of Commutation
Case a) Current iB reaches the value I before current iA vanishes:
3( LS  LM ) I
iB ( t f )  I  t f 
2(Vd  E )
(Vd  4 E ) I
iA ( t f )  0  t f 
2(Vd  E )
Vd  4 E
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Torque During Commutation
2 EI
Te 
ω
 eA  eB  E , eC   E
1
2E
2E
Vd  4 E
Te  ( EiA  EiB  EiC )  
iC , T e 
(I 
t)



3( LS  LM )
Vd  4 E (case a) : torque remains constant
Vd  4 E (case b) : torque decrease
2 EI
Vd  4 E
Vd  4 E
Te(t'f ) 
(1 
)
Te 
( pu )

Vd  2 E
Vd  2 E
Vd  4 E (case c) : torque increase
2 EI
Vd  4 E
Vd  4 E
Te(t''f ) 
(1 
) Te 
( pu )

2(Vd  E )
2(Vd  E )
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Commutation Period
Assuming at a particular commutation process, the current transferring from
phase A to phase B is considered, T1 is switched OFF and T2 is switched ON,
T3 is chopping
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Commutation Period
di A
 eA  U N  0
dt
di
U B  Ri B  L B  eB  U N  D  u d
dt
diC
U C  Ri C  L
 eC  U N  0
dt
D  u d - e A - eB -eC
UN 
3
e  eC  2e A  D  u d
di
Ri A  L B  e A  U N  B
 u a1
dt
3
2 D  u d  e A  eC  2eB
di
Ri B  L B  D  u d  eB  U N 
 ub1
dt
3
diC
e  eB  2eC  D  u d
Ri C  L
 eC  U N  A
 uc1
dt
3
U A  Ri A  L
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Commutation Period
iA  I, iB  0, and iC  -I
iA
R
(
)t
ua1
ua1
L

 (I 
)e
R
R
iB
)t
ub1
ub1 ( R
L


e
R
R
e
(
R
)t
L
 1 (
R
)t
L
ta 
3IL
3IR  2e A -eB - eC  D  ud
tb 
3IL
 e A  eC -2eB
2 D  ud
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Simulation Results
H_PWM_L_ON
The duty cycle is 50%
The carrier wave cycle is 20K
Phase current A is faster than the
rising rate of phase current B, and
commutation current ripple is
produced on the current of phase C
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Simulation Results
Low speed
new current control
commutation period
in low speed
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Simulation Results
High speed
new current control
commutation period
with high speed
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Simulation Results
Torque Ripple
H_PWM_L_ON
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high speed
low speed
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Experiment Results
H_PWM_L_ON
Reference current is 0.3A
The carrier wave cycle is
20K
Average angular speed is
4.6 rad/s
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Experiment Results
Low Speed
new current control commutation
period with low speed
Average angular speed is 4.35rad/s
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Robot and Servo Drive Lab.
Experiment Results
High Speed
new current control commutation
period with high speed
Average angular speed is 17 rad/s
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Robot and Servo Drive Lab.
Experiment Results
Torque Ripple
H_PWM_L_ON( torque ripple is 18%)
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low speed ( torque ripple is 4.5%)
high speed ( torque ripple is 3.4%)
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Conclusion
The PWM_ON_PWM pattern is used to eliminate the diode freewheeling of
inactive phase.
When the motor works at low speed, the torque ripple is restrained by speeding
up the turn- ON phase current through increasing the duty cycle of PWM. When
the motor works at high speed, overlapping commutation scheme is used. The
commutation times are given by the current controller in low and high speeds
The simulation and experimental results carried out in the gimbal servo system
of DGMSCMG validate the validity of the proposed current control method
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References
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[1] V. J. Lappas, W. H. Steyn, and C. Underwood, “Design and testing of
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References
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[8] H. S. Chuang and Y.-L. Ke, “Analysis of commutation torque ripple
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References
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[15] G.W. Meng, X. Hao, and H. S. Li, “Commutation torque ripple reduction
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References
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[21] K.-Y. Nam, W.-T. Lee, and C.-M. Lee, “Reducing torque ripple of brushless
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