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2 Calculate period of one hall effect sensor using Input Capture value
3 Apply new sine wave period according to previous Hall effect period (Op 2)
Sensing Position of a PMSM
HALL C
Blue Winding
Sine Phase 0
Sector 5 Hall States 5
60
120 180
240 300
0
0
12
3
4
5
4
62
3
1
5
60 120
0
1
4
6
50% 2% 50% 98%
Running Sinusoidal BLDC Motor
1
1
1
Operations
2
2
Provides Absolute position feedback
Sine
BLDC Motor Construction
Rotor magnets
Stator winding Hall sensors
Six Step BLDC Control
HALL A 60 o
Red Winding
HALL B
Q1
Green Winding
Q4
HALL C
Blue Winding
+TORQUE FIRING Q3,Q5 Q1,Q5 Q1,Q6 Q2,Q6 Q2,Q4 Q3,Q4 Q3,Q5 Q1,Q5 Q1,Q6
00
600 1200 1800 2400 3000 3600 600
Phase A
ia
Ea
1.50
e
1.00
ea
eb
ec
Hall A
0.50
Phase B ib
Hall B
e
0.00
t
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
non-salient rotor non-salient rotor salient rotor pole
pole (p=1)
pole (p=2)
(p=2)
Synchronous operation of motor
TThhrreeee pphhaasseeAACC ccuurrreennt t
+V
PWM1H
Inverter control
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
Inverter control
+V
PWM1H
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
-0.50
Phase C ic
Hall C
-1.00
e
-1.50
Back EMF of BLDC Motor
Back EMF of PMSM
Principle of DC motor
Brushless DC Motor (BLDC)
Brushless DC Motor (BLDC)
PMSM的工作原理
The disk is monitored by three optical or hall sensors, displaced by the equivalent of 120°, located on the stator
In the case of hall sensors, the rotor magnets themselves may be sensed directly
ides*
+
-
-
Inv. Park
Transformation
PI
v
e* qs
dqse
v
s* qs
PI
v
e* ds
v
s* ds
dqss
S PWVM
Vdc
3-phase Inverter
r
iqes
dqse
iqss dqss
ides
dqss
idss
abc
Park
Clarke
Transformation Transformation
motor actual speed The amplitude will depend on the speed controller output
Running Sinusoidal BLDC Motor
HALL A 60 o
Red Winding
Q1
Q2
Q3
R
G
B
Q4
Q5
Q6
HALL B Green Winding
2
Executed
1131131131
HALL A 60 o
Red Winding
HALL B Green Winding
HALL C
Blue Winding
Sine Phase
0
Sector 5
Hall States
5
60
120
180
240 300
0
0
1
2
3
4
5
4
6
2
3
1
5
60
120
0
1
4
6
1 Set Sine wave Phase according to new sector
Sector 5 Hall States 5
0
12
3
4
5
4
62
3
1
5
0
1
4
6
Q2
Q3
R
G
B
Q5
Q6
Sensorless Control
Sensorless Control
Sensorless Control
Sensorless Control
Running Sinusoidal BLDC Motor
Hall Effect
Low Resolution (i.e. 30 Interrupts per Rev)
Simple External Interrupt I/Os
1 to 3 Hall effect sensors (Less Expensive)
Standard position sensing for low-cost applications
Rotor Angular Position
360º
Resolver
Higher Resolution. (i.e. 1024 Different States per Rev)
A/D Module + Processing Power
180º 0º
Resolver Externally Mounted (More Expensive)
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
+V
PWM1H
Inverter control
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
S
S
N
S
N
S
N
N
定子磁场 转子磁场
BLDC的工作原理
N
S
S
N
S
S
Six-Step Commutation mode
=900时，转矩最大
N
S
N
N
S
六步换流方式使定子每隔 600时换一次相，使变化范围： 1200→ 600，平均值为900
Six-Step Commutation mode
Brushless DC Motor Energization
100
R
R
101
b
r
com
110
com g
g B
001
G
r
b
010
com
B
G
011
Six-Step Commutation mode
Consider sector 5 Blue Winding = 24V Green Winding = 0V Red Winding = OFF Delay for a short time Repeat process for all 6
Synchronous reluctance machine Permanent magnet (PM) machine
sinusoidal surface magnet machine (SPM) sinusoidal interior magnet machine (IPM) trapezoidal surface magnet machine
Used for reducing audible noise and reducing torque ripple Control technique used in Sinusoidal Back EMF motors,
usually called Brushless AC Each hall effect sensor transition updates the sine phase The frequency of the generated sine wave depends on the
sectors. Revolving Electrical
field will cause rotor to rotate
反电动势B-EMF波形
Red Winding 60 o
Green Winding
百度文库
Blue Winding
5
0
12
Sector
3
4
5
0
1
Six-Step Commutation mode
Mechanical Speed and position of rotor
PMASynRM
Brushless DC Motor (BLDC) and
Permanent Magnet Synchronous Motor (PMSM)
BLDC and PMSM
C
A
F N`
B
SFC B
A
Both (typically) have permanentmagnet rotor and a wound stator
001 0 01 100 0 01 100 1 00 000 1 10 010 0 10 011 0 00
Sector
0
S1H S1L S2H S2L S3H S3L
Electrical Revolution
12345
Sensing Position of a BLDC
Rotor Angular Position 360º
Inverter control
+V
PWM1H
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
开关控制时序
Sector
0 1 2 3 4 5
switch state
S3L S3H S2L S2H S1L S1H
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PPhhaassee22 CCooilil22 PPPPhhPhhaahaassasseesee33e333 CCCCooCooiiolilill3i3l333
Control System Block-Diagram
ref
+
-
PI iqes*
+
AC motor
Synchronous machine (SM)
Classification
Wound field machine
salient pole—adapt to low speed, large torque occasion nonsalient pole—adapt to high speed, large power occasion
BLDC motor is a permanentmagnet brushless motor with trapezoidal back EMF
PMSM is a permanent-magnet brushless motor with sinusoidal back EMF
300 900 1500 2100 2700 3300 300 900
Variable reluctance machine (VRM)
switched reluctance machine (SRM) stepper motor
Synchronous Motor Construction
Synchronous Motor Rotor Construction
180º 0º
Hall A Hall B
Hall C
Hall Effect Sensors
Sensing Position of a BLDC
A sensing disk is attached to the rotor which provides a ≈50% duty pattern aligned to the rotor magnets; the repetition rate of the pattern will follow the number of rotor poles
3 Apply new sine wave period according to previous Hall effect period (Op 2)
Sensing Position of a PMSM
HALL C
Blue Winding
Sine Phase 0
Sector 5 Hall States 5
60
120 180
240 300
0
0
12
3
4
5
4
62
3
1
5
60 120
0
1
4
6
50% 2% 50% 98%
Running Sinusoidal BLDC Motor
1
1
1
Operations
2
2
Provides Absolute position feedback
Sine
BLDC Motor Construction
Rotor magnets
Stator winding Hall sensors
Six Step BLDC Control
HALL A 60 o
Red Winding
HALL B
Q1
Green Winding
Q4
HALL C
Blue Winding
+TORQUE FIRING Q3,Q5 Q1,Q5 Q1,Q6 Q2,Q6 Q2,Q4 Q3,Q4 Q3,Q5 Q1,Q5 Q1,Q6
00
600 1200 1800 2400 3000 3600 600
Phase A
ia
Ea
1.50
e
1.00
ea
eb
ec
Hall A
0.50
Phase B ib
Hall B
e
0.00
t
1 24 47 70 93 116 139 162 185 208 231 254 277 300 323 346
non-salient rotor non-salient rotor salient rotor pole
pole (p=1)
pole (p=2)
(p=2)
Synchronous operation of motor
TThhrreeee pphhaasseeAACC ccuurrreennt t
+V
PWM1H
Inverter control
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
Inverter control
+V
PWM1H
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
-0.50
Phase C ic
Hall C
-1.00
e
-1.50
Back EMF of BLDC Motor
Back EMF of PMSM
Principle of DC motor
Brushless DC Motor (BLDC)
Brushless DC Motor (BLDC)
PMSM的工作原理
The disk is monitored by three optical or hall sensors, displaced by the equivalent of 120°, located on the stator
In the case of hall sensors, the rotor magnets themselves may be sensed directly
ides*
+
-
-
Inv. Park
Transformation
PI
v
e* qs
dqse
v
s* qs
PI
v
e* ds
v
s* ds
dqss
S PWVM
Vdc
3-phase Inverter
r
iqes
dqse
iqss dqss
ides
dqss
idss
abc
Park
Clarke
Transformation Transformation
motor actual speed The amplitude will depend on the speed controller output
Running Sinusoidal BLDC Motor
HALL A 60 o
Red Winding
Q1
Q2
Q3
R
G
B
Q4
Q5
Q6
HALL B Green Winding
2
Executed
1131131131
HALL A 60 o
Red Winding
HALL B Green Winding
HALL C
Blue Winding
Sine Phase
0
Sector 5
Hall States
5
60
120
180
240 300
0
0
1
2
3
4
5
4
6
2
3
1
5
60
120
0
1
4
6
1 Set Sine wave Phase according to new sector
Sector 5 Hall States 5
0
12
3
4
5
4
62
3
1
5
0
1
4
6
Q2
Q3
R
G
B
Q5
Q6
Sensorless Control
Sensorless Control
Sensorless Control
Sensorless Control
Running Sinusoidal BLDC Motor
Hall Effect
Low Resolution (i.e. 30 Interrupts per Rev)
Simple External Interrupt I/Os
1 to 3 Hall effect sensors (Less Expensive)
Standard position sensing for low-cost applications
Rotor Angular Position
360º
Resolver
Higher Resolution. (i.e. 1024 Different States per Rev)
A/D Module + Processing Power
180º 0º
Resolver Externally Mounted (More Expensive)
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
+V
PWM1H
Inverter control
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
S
S
N
S
N
S
N
N
定子磁场 转子磁场
BLDC的工作原理
N
S
S
N
S
S
Six-Step Commutation mode
=900时，转矩最大
N
S
N
N
S
六步换流方式使定子每隔 600时换一次相，使变化范围： 1200→ 600，平均值为900
Six-Step Commutation mode
Brushless DC Motor Energization
100
R
R
101
b
r
com
110
com g
g B
001
G
r
b
010
com
B
G
011
Six-Step Commutation mode
Consider sector 5 Blue Winding = 24V Green Winding = 0V Red Winding = OFF Delay for a short time Repeat process for all 6
Synchronous reluctance machine Permanent magnet (PM) machine
sinusoidal surface magnet machine (SPM) sinusoidal interior magnet machine (IPM) trapezoidal surface magnet machine
Used for reducing audible noise and reducing torque ripple Control technique used in Sinusoidal Back EMF motors,
usually called Brushless AC Each hall effect sensor transition updates the sine phase The frequency of the generated sine wave depends on the
sectors. Revolving Electrical
field will cause rotor to rotate
反电动势B-EMF波形
Red Winding 60 o
Green Winding
百度文库
Blue Winding
5
0
12
Sector
3
4
5
0
1
Six-Step Commutation mode
Mechanical Speed and position of rotor
PMASynRM
Brushless DC Motor (BLDC) and
Permanent Magnet Synchronous Motor (PMSM)
BLDC and PMSM
C
A
F N`
B
SFC B
A
Both (typically) have permanentmagnet rotor and a wound stator
001 0 01 100 0 01 100 1 00 000 1 10 010 0 10 011 0 00
Sector
0
S1H S1L S2H S2L S3H S3L
Electrical Revolution
12345
Sensing Position of a BLDC
Rotor Angular Position 360º
Inverter control
+V
PWM1H
PWM2H
PWM3H
PWM1L
PWM2L
PWM3L
3 Phase BLDC
Sector 5
0
1
2
3
4
5
0
1
Six-Step Commutation mode
开关控制时序
Sector
0 1 2 3 4 5
switch state
S3L S3H S2L S2H S1L S1H
PPhhaassee11 CCooilil11
PPhhaassee22 CCooilil22 PPPPhhPhhaahaassasseesee33e333 CCCCooCooiiolilill3i3l333
Control System Block-Diagram
ref
+
-
PI iqes*
+
AC motor
Synchronous machine (SM)
Classification
Wound field machine
salient pole—adapt to low speed, large torque occasion nonsalient pole—adapt to high speed, large power occasion
BLDC motor is a permanentmagnet brushless motor with trapezoidal back EMF
PMSM is a permanent-magnet brushless motor with sinusoidal back EMF
300 900 1500 2100 2700 3300 300 900
Variable reluctance machine (VRM)
switched reluctance machine (SRM) stepper motor
Synchronous Motor Construction
Synchronous Motor Rotor Construction
180º 0º
Hall A Hall B
Hall C
Hall Effect Sensors
Sensing Position of a BLDC
A sensing disk is attached to the rotor which provides a ≈50% duty pattern aligned to the rotor magnets; the repetition rate of the pattern will follow the number of rotor poles