Design of Brushless Permanent-Magnet Motors

, by Hendershot, J. R.; Miller, T. J. E.

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ISBN: 9780198593898 | 0198593899
Cover: Hardcover
Copyright: 6/15/1995

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Brushless permanent-magnet motors provide simple, low maintenance, and easily controlled mechanical power. Written by two leading experts on the subject, this book offers the most comprehensive guide to the design and performance of brushless permanent-magnetic motors ever written. Topics range from electrical and magnetic design to materials and control. Throughout, the authors stress both practical and theoretical aspects of the subject, and relate the material to modern software-based techniques for design and analysis. As new magnetic materials and digital power control techniques continue to widen the scope of the applicability of such motors, the need for an authoritative overview of the subject becomes ever more urgent. Design of Brushless Permanent-Magnet Motors fits the bill and will be read by students and researchers in electric and electronic engineering.

General Introduction

J.R. Hendershot Jr.

Definitions and types of brushless motor

(4)

Commutation

(7)

Performance characteristics

(7)

Shaft position sensing

Motor and Controller Types

J.R Hendershot Jr.

TJE Miller

Introduction

(1)

Interior rotor motors

(6)

Exterior-rotor motors

(2)

Pancake or disc-type brushless motors

(2)

Slotless motors

(2)

Controllers---basic principles

(1)

The single phaseleg---the basic power electronic switch

(3)

Power semiconductor devices

(3)

Voltage PWM and current regulation

(2)

Full-bridge circuits for 1- and 2-phase drives

(4)

Three-phase full-bridge circuit

(4)

Three-phase squarewave control strategies

(7)

Maximum AC sinewave voltage

(1)

Provision of DC supply voltage

(1)

Controller architecture

(8)

Cost issues

(1)

Squarewave drives

(6)

Sinewave drives

(1)

Unipolar drive

(1)

Commutation test circuit

Basic Design Choices

J.R Hendershot, Jr.

Introduction

(2)

Interior rotor, exterior rotor, or axial gap configuration?

(1)

Number of phases

(1)

Number of stator slots and poles

(10)

Caution with the basic laws of electromagnetism

(4)

Simplified motor design

(9)

Simple design formulas for the EMF and torque constants

(2)

Simple calculation of the flux

(3)

Basic sizing rules

(4)

Lamination and stator stack design

(7)

Winding arrangements

(35)

Coil span

(1)

Coils per pole

(3)

Winding configurations--fractional and integral slot

(30)

Wire size calculations

(1)

Basic winding calculations

Examples of motor construction

Magnetic Design

TJE Miller

Introduction

(2)

Permanent magnets and magnetic circuits

(7)

Approximate calculation of the flux

(6)

Nonlinear calculation of the magnetic circuit

(2)

Armature reaction and demagnetization

(5)

Calculation of rotor leakage permeance

(3)

Cogging

(2)

Retaining can losses

Electrical Design

TJE Miller

Introduction

(1)

Basic windings

(13)

Squarewave motor

(5)

Effect of additional coils

(3)

Lap windings and concentric windings

(2)

Multiple-pole machines

(1)

Consequent-pole windings and magnets

(1)

Computer-aided design of windings

(1)

Wye and delta connections

(18)

Wye connection, with 120° trapezoidal phase EMF

(7)

Delta connection

(10)

Flux/pole and magnet utilization

(1)

Unipolar 3-phase connection

(1)

Two-phase and single-phase connections

(3)

EMF constant kE

(1)

The torque constant kT

(2)

Basis of torque production -- coenergy

(2)

2 Torque linearity

(1)

Demagnetization

(1)

Calculating the number of turns

(1)

Winding inductances and armature reaction

(22)

Importance of inductance

(3)

Inductance components

(2)

Airgap self-inductance of single coil

(2)

Airgap mutual inductance between two coils

(2)

Examples of inductance calculations

(3)

General case of airgap inductance

(4)

Slot-leakage inductance : self and mutual

(4)

End-winding inductance

(2)

Slotless windings

General

(2)

Design theory for slotless windings

Sinewave Motors

TJE Miller

Introduction

(3)

The ideal sinewave motor

(1)

Practical motors designed to approximate the sinewave motor

(2)

Properties of sine-distributed windings

(9)

Conductor and ampere-conductor distributions

(1)

Airgap flux produced by sine-distributed winding

(2)

Self flux-linkage and inductance of sine-distributed winding

(2)

Mutual inductance between sine-distributed windings

(1)

Generated EMF

(1)

Torque

(1)

Rotating flux and ampere-conductors

(1)

Vector control or ``field-oriented'' control

(1)

Synchronous reactance

(1)

Real windings

(10)

Full-pitch coil

(1)

Short-pitch coil

(3)

Distribution or spread

(2)

General case

(2)

Skew

(1)

Design formulas far practical windings

(2)

Salient pole motors

(12)

Calculation of Xd

(8)

Calculation of Xq

(2)

Demagnetizing effect of d-axis flux due to Id

(1)

Cross-magnetizing effect of q-axis flux due to Iq

(1)

Significance of rotor leakage

(2)

Phasor diagram

(7)

Non-salient-pole machines

(1)

Salient-pole machines

(3)

Operation as a generator

(3)

Circle diagram and speed/torque characteristic

Non salient-pole motors with Xd = Xq

(5)

Salient-pole motors with Xd ≠ Xq

KT and KE

TJE Miller

Introduction

(1)

Squarewave and sinewave motors

(1)

Definition and measurement of kT and kE

(7)

DC commutator motors

(1)

Three-phase squarewave brushless DC motors

(3)

Two-phase squarewave brushless DC motors

(1)

Two-phase sinewave brushless DC motors

(1)

Three-phase sinewave brushless DC motors

(2)

Summary

(1)

Calculation of kT and kE

(6)

Squarewave three-phase brushless DC motors

(2)

Two-phase sinewave brushless DC motors

(2)

Three-phase sinewave brushless DC motors

(1)

Example calculation

The Back EMF Waveform

TJE Miller

X. Rabinovici

Introduction

(3)

The BLV method

(1)

Airgap flux-density distribution

(2)

Skew

(2)

Slotting

(2)

Calculating back-EMF from tooth flux

(6)

Single-tooth flux and EMF

(2)

Accumulation of tooth flux

(1)

Direct construction of tooth EMF waveform

(3)

Construction of the phase EMF from the eT waveform

(1)

Development of yoke waveform from φT waveform

(1)

Cogging torque

Core Losses

TJE Miller

R Rabinovici

Introduction

(2)

Nonsinusoidal Steinmetz equation

(1)

Core-loss formulas

(2)

Waveform method

(1)

Augmentation of tooth weight

(2)

Comparison with test data

Electronic Commutation of Squarewave Motors

TJE Miller

Introduction

(1)

Basic principles

(5)

Circuit equations - wye

(7)

Commutation

(2)

Period A and period B

(1)

Chopping (regulation)

(1)

State-space averaged voltages

(1)

Euler form of voltage equations

(2)

Initial conditions

(1)

Circuit equations - delta

(9)

Commutation

(3)

Period A and period B

(1)

Chopping (regulation)

(1)

State-space averaged voltages

(1)

Euler form of voltage equations

(1)

Initial conditions

(3)

Unipolar half bridge controller

(4)

Commutation

(1)

Period A and period B

(1)

Chopping (regulation)

(1)

State-space averaged values

(1)

Initial conditions and final DC values

(1)

Over-running

(1)

Practical examples and comparison with test data

Comparison of measured and computed waveforms

(2)

Accurate calculation of no-load speed

Performance Evaluation by Test

J.R Hendershot Jr.

Introduction

(1)

Testing of PM brushless motors

(10)

Back EMF testing

(2)

Resistance and inductance

(2)

Speed/torque curve and load tests

(1)

Thermal resistance

(1)

Torque linearity

(2)

Torque ripple

(1)

Magnetization testing

(1)

Precision dynamometer

Computer and Design

TJE Miller

D.A. Staton

R.P. Deodhar

The modern design environment

(1)

Basic sizing guidelines

(4)

Computer-aided design with PC-BDC

(7)

Finite-element analysis

(7)

Introduction

(2)

Pre-processing

(3)

Field solution

(1)

Post-processing

(1)

Example : armature reaction in brushless DC motor

Open-circuit flux distribution

(1)

Armature reaction field alone

(3)

Cross-magnetization

(1)

Demagnetization

Examples Calculated by Hand

J.R Hendershot Jr.

Introduction

(1)

Interior-rotor motor designed from AC induction motor

(14)

Exterior-rotor disc drive motor design

(10)

Summary

Control Systems Performance

G. Gray

Introduction

(1)

Basic modelling tools for linear control systems

(6)

Laplace transforms

(4)

Transfer functions

(1)

Example of a DC or brushless DC motor

(2)

Modelling drive components

(3)

Brushless PM motor model including inductance

(1)

Mechanical and electrical time constants

(2)

Transducers

(1)

Load effects

(1)

Control systems

(5)

Feedback and closed-loop control

(2)

Speed controls and servo systems

(1)

Speed control

(1)

Position control

(1)

Torque control

(1)

Incremental motion control systems

(1)

Characteristics of closed-loop control systems

(10)

Frequency response

(3)

Bandwidth

(1)

Step response

(2)

Stability; gain and phase margins

(1)

Steady-state error

(1)

Integral gain compensation

(1)

Root locus

(2)

Second-order systems: critical damping

(1)

Control systems---design

(6)

Lead/lag compensation

(2)

Pole placement

(2)

Robustness

(1)

Controllers

(3)

Design of a PID controller

(1)

Tuning a PID controller

(1)

Auto-tuning

(1)

Digital control

(9)

Discrete system theory

(2)

Z-transforms

(2)

Z-transforms and difference equations

(1)

Stability of discrete systems

(1)

Digital control system design

(1)

Deadbeat controller

(1)

Digital PID

(2)

PID control example

(2)

Advanced control techniques

Adaptive control

(3)

Optimal control

(1)

Observers

Cooling

TJE Miller

Introduction

(2)

Heat removal

(6)

Conduction

(1)

Contact resistance

(2)

Radiation

(1)

Convection

(1)

Natural convection

(1)

Forced convection

(1)

Some rules of thumb for ``calibration''

(1)

Internal temperature distribution

(5)

The diffusion equation

(1)

Thermal equivalent circuit

(2)

Current Density

(2)

Intermittent operation

(8)

Duty-cycle

(1)

Temperature rise during ON-time

(2)

Temperature fall during OFF-time

(1)

Steady-state

(1)

Maximum overload factor

(1)

Maximum overload for a single pulse

(1)

Required cool-down period

(1)

Maximum on-time for a given overload factor

(1)

Maximum duration of single pulse

(1)

Graphical transient heating curves

(2)

Thermal modelling by computer

Computer model of thermal equivalent circuit

(1)

Determination of equivalent-circuit parameters by test

Magnetic Materials

D.A. Staton

Introduction

(1)

Permanent magnets

(12)

The hysteresis loop and demagnetization characteristic

(3)

Permanent magnet materials

(4)

Temperature effects

(1)

Magnet energy product

(1)

Magnetization

(1)

Mechanical properties and handling

(3)

The latest trends in magnet technology

(1)

Soft magnetic iron

(6)

The DC magnetization curve

(1)

Core losses

(1)

Calculation of coefficients for use in core-loss formulas

(1)

Work hardening

(1)

Special steels

(1)

Measurement of material characteristics

(1)

Copper wire

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Design of Brushless Permanent-Magnet Motors

Summary

Table of Contents

Supplemental Materials