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Torque Ripple Alleviation of Interior Permanent
Torque Ripple Alleviation of Interior Permanent
Torque Ripple Alleviation of Interior Permanent
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Torque Ripple Alleviation of Interior Permanent Magnet Brushless DC Motor Drives
31th Power System Conference - 2016 Tehran, Iran
Fig. 2 illustrates the simulation results obtained from Table 1. Specifications of BLDC motor
MATLAB. According to Fig. 2, the total torque is perfectly
controlled and its ripples are minimized as a result of the Item Value
optimal current waveforms. Unlike the conventional 120º Power rating (kW) 40
rectangular wave current control, it is seen that in the proposed Base speed (rpm) 1500
method, 180º conduction control is applied with semi-
trapezoidal shaped currents. In IPM motors, a phase difference Stator outer diameter (mm) 270
between phase currents and BEMF is required in order to create Stator inner diameter (mm) 169.4
d-axis current Id which results in reluctance torque Rotor inner diameter (mm) 110.6
development. In the proposed method, this phase difference is
Stack length (mm) 83
obtained 30º as shown in Fig .2b. In conventional control
method, the slopes of the phase currents are not controllable and Stator slot number 48
therefore the 30º commutation causes high electromagnetic Rotor pole number 8
torque ripples due to the mismatch between excitation currents
Rotor pole arc (degree) 38
and BEMF. Also, sudden changes of currents cause significant
reluctance torque ripples. On the other hand, by applying the Air-gap length (mm) 1
proposed current waveforms, the ripples of reluctance and Phase number 3
electromagnetic torques are minimized appropriately. Winding type Concentrated-
overlapping
It is noted that in this control method only the fundamental
component of reluctance torque and the first two coefficients of
cogging torque expression are considered. Furthermore, the
harmonic content of the BEMF and the critical saturation and
fringing effects are neglected. Hence, the proposed analytical
expressions cannot be used to analyze the torque ripples
accurately and a numerical analysis such as finite element
method (FEM) is required. The resultant total torque
waveforms associated with the conventional rectangular
excitation and the proposed excitation scheme are depicted in
Fig. 3a and Fig. 3b respectively which are obtained by FEM.
As shown in Fig. 3, by implementing the new excitation
scheme, the total torque ripple has been decreased from 24% to
(a)
10 %, whereas the average value of total torque is decreased
only 3 Nm.
III. ROTOR DESIGN FOR TORQUE RIPPLE RIDUCTION
. Besides the previously proposed control approach leading to a
significant reduction of torque ripple, in this section a new
shape design for rotor structure is proposed which reduces the
remaining peak-to-peak value of total torque. Methods of stator
teeth notching or applying a notch on the rotor d axis have been
performed in [16] and [17] respectively. Both methods result in
cogging torque reduction. Here, a trapezoidal notch is applied
on the rotor q axis. This method does not change the cogging
torque, because the notches are not located on the d-axis. (b)
However, it modifies the reluctance torque waveform. This is
due to the fact that notching decreases the inductance of q-axis
leading to the reduction of the maximum value of reluctance
torque. Hence, the peak-to peak value of reluctance torque
waveform is reduced correspondingly. In addition to the
remarkable alleviation of the torque ripples, this method
reduces the average reluctance which can be considered as a
negative influence. However, due to the increased reluctance of
the leakage path of PM fluxes, the air-gap flux density enhances
and therefore the average total torque reduces slightly. The
notches must be designed precisely in order to yield the optimal
performance characteristics. The cross section of the initial and (c)
the proposed notched IPM-type BLDC motor are illustrated in Fig. 2. Simulation results of the control method. a) , , . b) Three
Fig. 4 respectively. phase current references. c) Total torque
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Torque Ripple Alleviation of Interior Permanent Magnet Brushless DC Motor Drives
31th Power System Conference - 2016 Tehran, Iran
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Torque Ripple Alleviation of Interior Permanent Magnet Brushless DC Motor Drives
31th Power System Conference - 2016 Tehran, Iran
(a)
(a)
(b)
(b)
Fig. 8. Reluctance torque waveforms obtained by FEM. a) Initial design. b)
Proposed notced design.
(c)
Fig. 6. Total torque obtained by parametric sweep. a) Variation of Wn. b)
Variation of Hn. c) Variation of α
(a)
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Torque Ripple Alleviation of Interior Permanent Magnet Brushless DC Motor Drives
31th Power System Conference - 2016 Tehran, Iran