Design of Brushless Permanent-Magnet Motors,9780198593898

Design of Brushless Permanent-Magnet Motors

by ;
ISBN13: 9780198593898
ISBN10: 0198593899
Format: Hardcover
Pub. Date: 1995-06-15
Publisher(s): Clarendon Press
List Price: $268.79

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Summary

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.

Table of Contents

General Introduction
J.R. Hendershot Jr.
Definitions and types of brushless motor
1(4)
Commutation
5(7)
Performance characteristics
12(7)
Shaft position sensing
19
Motor and Controller Types
J.R Hendershot Jr.
TJE Miller
Introduction
1(1)
Interior rotor motors
2(6)
Exterior-rotor motors
8(2)
Pancake or disc-type brushless motors
10(2)
Slotless motors
12(2)
Controllers---basic principles
14(1)
The single phaseleg---the basic power electronic switch
15(3)
Power semiconductor devices
18(3)
Voltage PWM and current regulation
21(2)
Full-bridge circuits for 1- and 2-phase drives
23(4)
Three-phase full-bridge circuit
27(4)
Three-phase squarewave control strategies
31(7)
Maximum AC sinewave voltage
38(1)
Provision of DC supply voltage
39(1)
Controller architecture
39(8)
Cost issues
39(1)
Squarewave drives
40(6)
Sinewave drives
46(1)
Unipolar drive
47(1)
Commutation test circuit
47
Basic Design Choices
J.R Hendershot, Jr.
Introduction
1(2)
Interior rotor, exterior rotor, or axial gap configuration?
3(1)
Number of phases
3(1)
Number of stator slots and poles
4(10)
Caution with the basic laws of electromagnetism
14(4)
Simplified motor design
18(9)
Simple design formulas for the EMF and torque constants
18(2)
Simple calculation of the flux
20(3)
Basic sizing rules
23(4)
Lamination and stator stack design
27(7)
Winding arrangements
34(35)
Coil span
34(1)
Coils per pole
35(3)
Winding configurations--fractional and integral slot
38(30)
Wire size calculations
68(1)
Basic winding calculations
Examples of motor construction
69
Magnetic Design
TJE Miller
Introduction
1(2)
Permanent magnets and magnetic circuits
3(7)
Approximate calculation of the flux
10(6)
Nonlinear calculation of the magnetic circuit
16(2)
Armature reaction and demagnetization
18(5)
Calculation of rotor leakage permeance
23(3)
Cogging
26(2)
Retaining can losses
28
Electrical Design
TJE Miller
Introduction
1(1)
Basic windings
1(13)
Squarewave motor
1(5)
Effect of additional coils
6(3)
Lap windings and concentric windings
9(2)
Multiple-pole machines
11(1)
Consequent-pole windings and magnets
12(1)
Computer-aided design of windings
13(1)
Wye and delta connections
14(18)
Wye connection, with 120° trapezoidal phase EMF
14(7)
Delta connection
21(10)
Flux/pole and magnet utilization
31(1)
Unipolar 3-phase connection
32(1)
Two-phase and single-phase connections
32(3)
EMF constant kE
35(1)
The torque constant kT
36(2)
Basis of torque production -- coenergy
36(2)
2 Torque linearity
38(1)
Demagnetization
38(1)
Calculating the number of turns
38(1)
Winding inductances and armature reaction
39(22)
Importance of inductance
39(3)
Inductance components
42(2)
Airgap self-inductance of single coil
44(2)
Airgap mutual inductance between two coils
46(2)
Examples of inductance calculations
48(3)
General case of airgap inductance
51(4)
Slot-leakage inductance : self and mutual
55(4)
End-winding inductance
59(2)
Slotless windings
61
General
61(2)
Design theory for slotless windings
63
Sinewave Motors
TJE Miller
Introduction
1(3)
The ideal sinewave motor
1(1)
Practical motors designed to approximate the sinewave motor
2(2)
Properties of sine-distributed windings
4(9)
Conductor and ampere-conductor distributions
4(1)
Airgap flux produced by sine-distributed winding
4(2)
Self flux-linkage and inductance of sine-distributed winding
6(2)
Mutual inductance between sine-distributed windings
8(1)
Generated EMF
9(1)
Torque
10(1)
Rotating flux and ampere-conductors
10(1)
Vector control or ``field-oriented'' control
11(1)
Synchronous reactance
12(1)
Real windings
13(10)
Full-pitch coil
13(1)
Short-pitch coil
14(3)
Distribution or spread
17(2)
General case
19(2)
Skew
21(1)
Design formulas far practical windings
21(2)
Salient pole motors
23(12)
Calculation of Xd
23(8)
Calculation of Xq
31(2)
Demagnetizing effect of d-axis flux due to Id
33(1)
Cross-magnetizing effect of q-axis flux due to Iq
33(1)
Significance of rotor leakage
33(2)
Phasor diagram
35(7)
Non-salient-pole machines
35(1)
Salient-pole machines
36(3)
Operation as a generator
39(3)
Circle diagram and speed/torque characteristic
42
Non salient-pole motors with Xd = Xq
42(5)
Salient-pole motors with Xd ≠ Xq
47
KT and KE
TJE Miller
Introduction
1(1)
Squarewave and sinewave motors
2(1)
Definition and measurement of kT and kE
3(7)
DC commutator motors
3(1)
Three-phase squarewave brushless DC motors
4(3)
Two-phase squarewave brushless DC motors
7(1)
Two-phase sinewave brushless DC motors
7(1)
Three-phase sinewave brushless DC motors
8(2)
Summary
10(1)
Calculation of kT and kE
10(6)
Squarewave three-phase brushless DC motors
11(2)
Two-phase sinewave brushless DC motors
13(2)
Three-phase sinewave brushless DC motors
15(1)
Example calculation
16
The Back EMF Waveform
TJE Miller
X. Rabinovici
Introduction
1(3)
The BLV method
4(1)
Airgap flux-density distribution
5(2)
Skew
7(2)
Slotting
9(2)
Calculating back-EMF from tooth flux
11(6)
Single-tooth flux and EMF
11(2)
Accumulation of tooth flux
13(1)
Direct construction of tooth EMF waveform
14(3)
Construction of the phase EMF from the eT waveform
17(1)
Development of yoke waveform from φT waveform
18(1)
Cogging torque
19
Core Losses
TJE Miller
R Rabinovici
Introduction
1(2)
Nonsinusoidal Steinmetz equation
3(1)
Core-loss formulas
3(2)
Waveform method
5(1)
Augmentation of tooth weight
6(2)
Comparison with test data
8
Electronic Commutation of Squarewave Motors
TJE Miller
Introduction
1(1)
Basic principles
2(5)
Circuit equations - wye
7(7)
Commutation
7(2)
Period A and period B
9(1)
Chopping (regulation)
10(1)
State-space averaged voltages
10(1)
Euler form of voltage equations
11(2)
Initial conditions
13(1)
Circuit equations - delta
14(9)
Commutation
14(3)
Period A and period B
17(1)
Chopping (regulation)
18(1)
State-space averaged voltages
18(1)
Euler form of voltage equations
19(1)
Initial conditions
20(3)
Unipolar half bridge controller
23(4)
Commutation
23(1)
Period A and period B
24(1)
Chopping (regulation)
24(1)
State-space averaged values
25(1)
Initial conditions and final DC values
26(1)
Over-running
27(1)
Practical examples and comparison with test data
28
Comparison of measured and computed waveforms
28(2)
Accurate calculation of no-load speed
30
Performance Evaluation by Test
J.R Hendershot Jr.
Introduction
1(1)
Testing of PM brushless motors
1(10)
Back EMF testing
2(2)
Resistance and inductance
4(2)
Speed/torque curve and load tests
6(1)
Thermal resistance
7(1)
Torque linearity
8(2)
Torque ripple
10(1)
Magnetization testing
11(1)
Precision dynamometer
12
Computer and Design
TJE Miller
D.A. Staton
R.P. Deodhar
The modern design environment
1(1)
Basic sizing guidelines
2(4)
Computer-aided design with PC-BDC
6(7)
Finite-element analysis
13(7)
Introduction
13(2)
Pre-processing
15(3)
Field solution
18(1)
Post-processing
19(1)
Example : armature reaction in brushless DC motor
20
Open-circuit flux distribution
21(1)
Armature reaction field alone
22(3)
Cross-magnetization
25(1)
Demagnetization
25
Examples Calculated by Hand
J.R Hendershot Jr.
Introduction
1(1)
Interior-rotor motor designed from AC induction motor
2(14)
Exterior-rotor disc drive motor design
16(10)
Summary
26
Control Systems Performance
G. Gray
Introduction
1(1)
Basic modelling tools for linear control systems
1(6)
Laplace transforms
1(4)
Transfer functions
5(1)
Example of a DC or brushless DC motor
5(2)
Modelling drive components
7(3)
Brushless PM motor model including inductance
7(1)
Mechanical and electrical time constants
8(2)
Transducers
10(1)
Load effects
10(1)
Control systems
10(5)
Feedback and closed-loop control
10(2)
Speed controls and servo systems
12(1)
Speed control
13(1)
Position control
13(1)
Torque control
14(1)
Incremental motion control systems
14(1)
Characteristics of closed-loop control systems
15(10)
Frequency response
15(3)
Bandwidth
18(1)
Step response
18(2)
Stability; gain and phase margins
20(1)
Steady-state error
21(1)
Integral gain compensation
22(1)
Root locus
22(2)
Second-order systems: critical damping
24(1)
Control systems---design
25(6)
Lead/lag compensation
26(2)
Pole placement
28(2)
Robustness
30(1)
Controllers
31(3)
Design of a PID controller
31(1)
Tuning a PID controller
32(1)
Auto-tuning
33(1)
Digital control
34(9)
Discrete system theory
34(2)
Z-transforms
36(2)
Z-transforms and difference equations
38(1)
Stability of discrete systems
38(1)
Digital control system design
38(1)
Deadbeat controller
39(1)
Digital PID
39(2)
PID control example
41(2)
Advanced control techniques
43
Adaptive control
43(3)
Optimal control
46(1)
Observers
46
Cooling
TJE Miller
Introduction
1(2)
Heat removal
3(6)
Conduction
3(1)
Contact resistance
4(2)
Radiation
6(1)
Convection
6(1)
Natural convection
7(1)
Forced convection
7(1)
Some rules of thumb for ``calibration''
8(1)
Internal temperature distribution
9(5)
The diffusion equation
9(1)
Thermal equivalent circuit
10(2)
Current Density
12(2)
Intermittent operation
14(8)
Duty-cycle
14(1)
Temperature rise during ON-time
15(2)
Temperature fall during OFF-time
17(1)
Steady-state
18(1)
Maximum overload factor
18(1)
Maximum overload for a single pulse
19(1)
Required cool-down period
19(1)
Maximum on-time for a given overload factor
19(1)
Maximum duration of single pulse
20(1)
Graphical transient heating curves
20(2)
Thermal modelling by computer
22
Computer model of thermal equivalent circuit
22(1)
Determination of equivalent-circuit parameters by test
23
Magnetic Materials
D.A. Staton
Introduction
1(1)
Permanent magnets
1(12)
The hysteresis loop and demagnetization characteristic
1(3)
Permanent magnet materials
4(4)
Temperature effects
8(1)
Magnet energy product
9(1)
Magnetization
10(1)
Mechanical properties and handling
10(3)
The latest trends in magnet technology
13(1)
Soft magnetic iron
13(6)
The DC magnetization curve
15(1)
Core losses
16(1)
Calculation of coefficients for use in core-loss formulas
17(1)
Work hardening
18(1)
Special steels
19(1)
Measurement of material characteristics
19(1)
Copper wire
20

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