37 DSP-based Control of Variable Speed Drives 1037

Uref 40
ek A B C
Σ Kp
30
xi 1/Z
Ufbk 20
Yk

Back-EMF (V)
Ki Σ Σ 10

FIGURE 37.6 Classical PI regulator structure in discrete domain. 0

−10

Uref + ek −20
S Kp
– xi −30
1/Z
Ufbk Yk Y1k −40
Ki S S 0 20 40 60 80 100 120 140 160 180
Rotor Position (deg)
S (a)
Kc 50
A B C
40
FIGURE 37.7 Numerical PI regulator with correction.
30

20

Back-EMF (V)
is as follows: 10


k−1 −10
Y(k) = Kp e(k) + Ki e(k) + e(n) (37.1) −20
n=0
−30

−40
which is represented in Fig. 37.6.
During normal operation, large reference value variations −50
0 20 40 60 80 100 120 140 160 180
or disturbances may occur, that result in the saturation and Rotor Position (deg)
overflow of the regulator variables and output. To solve this (b)
problem, one solution is to add a correction of the integral
FIGURE 37.8 The back-EMF of PMAC motors: (a) three-phase back-
component as depicted in Fig. 37.7. EMF of PMSM and (b) three-phase back-EMF of BLDC motors.
The constants Kp , Ki , Kc , proportional, integral, and integral
correction components, are selected based on the sampling
period and on the motor parameters. After defining the DSP-
controlled motor drives requirements, in the following, we motor (PMSM). These motors produce a sinusoidal back-
describe the digital control algorithms for permanent magnet EMF, shown in Fig. 37.8a, and should be supplied with
motors and induction motors. sinusoidal current/voltage. The PMSM’s electronic control and
drive system uses continuous rotor position feedback and
PWM to supply the motor with the sinusoidal voltage or cur-
37.4 DSP-based Control of Permanent rent. With this, constant torque is produced with very little
Magnet Brushless DC Machines ripple.
The second type of PMAC motor has a trapezoidal back-
Permanent magnet alternating current (PMAC) motors are EMF and is referred to as the brushless DC (BLDC) motor.
synchronous motors that have permanent magnets mounted The back-EMF of the BLDC motor is shown in Fig. 37.8b. The
on the rotor and poly-phase, usually three-phase, armature BLDC motor requires that quasi-rectangular-shaped currents
windings located on the stator. Since the field is provided by are fed into the machine. Alternatively, the voltage may be
the permanent magnets, the PMAC motor has higher efficiency applied to the motor every 120◦ , with a current limit to hold
than induction or switched reluctance motors. The advantages the currents within the motor’s capabilities.
of PMAC motors, combined with a rapidly decreasing cost
of permanent magnets, have led to their widespread use in
many variable speed drives such as robotic actuators, com-
puter disk drives, appliances, automotive applications, and air
37.4.1 Mathematical Model of the BLDC Motor
conditioning (HVAC) equipment.
In general, PMAC motors are categorized into two types. The phase variables are used to model the BLDC motor due to
The first type of motor is referred to as PM synchronous its non-sinusoidal back-EMF and phase current. The terminal