Brushless DC Machine

Description of the Brushless DC Machine component in Schematic Editor.

A, B, and C are the stator winding terminals. The stator winding uses the voltage behind reactance interface.

Note: In real-time/VHIL simulation, Brushless DC Machine component uses nonlinear machine solver unit because its flux values are dependent on rotor electrical angle. That dependency is implemented by using lookup tables. List of the HIL device configurations which are supporting nonlinear machines can be found in Device Configuration Table.

Electrical sub-system model

The electrical part of the machine is represented by the following system of equations:

[\begin{matrix} v_{a} \\ v_{b} \\ \begin{matrix} v_{c}^{} \end{matrix} \end{matrix}] = [\begin{matrix} R_{s} & 0 & 0 \\ 0 & R_{s} & 0 \\ 0 & 0 & R_{s} \end{matrix}] [\begin{matrix} i_{a} \\ i_{b} \\ \begin{matrix} i_{c}^{} \end{matrix} \end{matrix}] + \frac{d}{d t} [\begin{matrix} ψ_{a} \\ ψ_{b} \\ \begin{matrix} ψ_{c}^{} \end{matrix} \end{matrix}] + [\begin{matrix} E_{a} \\ E_{b} \\ \begin{matrix} E_{c}^{} \end{matrix} \end{matrix}]

$[\begin{matrix} E_{a} \\ E_{b} \\ \begin{matrix} E_{c} \end{matrix} \end{matrix}] = p ω_{m} [\begin{matrix} ψ_{a} \\ ψ_{b} \\ \begin{matrix} ψ_{c} \end{matrix} \end{matrix}]$

$[\begin{matrix} ψ_{a} \\ ψ_{b} \\ \begin{matrix} ψ_{c}^{} \end{matrix} \end{matrix}] = [\begin{matrix} L_{s} & 0 & 0 \\ 0 & L_{s} & 0 \\ 0 & 0 & L_{s} \end{matrix}] [\begin{matrix} i_{a} \\ i_{b} \\ \begin{matrix} i_{c}^{} \end{matrix} \end{matrix}]$

T_{e} = p (ψ_{a} i_{a} + ψ_{b} i_{b} + ψ_{c} i_{c})

where: ψ_a=f_a(θ_e) , ψ_b=f_b(θ_e), ψ_c=f_c(θ_e)

Ideal trapezoidal waveforms are assumed for the phase fluxes. The starting angle value is given in the moment when the flux of phase A changes its sign from a negative to positive value. Thus, trapezoidal flux waveforms are defined in Table 1.

Table 1. Flux waveform dependence on rotor electrical angle
Electrical angle(deg)	0	30	60	90	120	150	180	210	240	270	300	330
ψ_a	0	ψ_max	ψ_max	ψ_max	ψ_max	ψ_max	0	-ψ_max	-ψ_max	-ψ_max	-ψ_max	-ψ_max
ψ_b	-ψ_max	-ψ_max	-ψ_max	-ψ_max	0	ψ_max	ψ_max	ψ_max	ψ_max	ψ_max	0	-ψ_max
ψ_c	ψ_max	ψ_max	0	-ψ_max	-ψ_max	-ψ_max	-ψ_max	-ψ_max	0	ψ_max	ψ_max	ψ_max

Table 2. Electrical sub-system model variables
symbol	description
ψ_a	Stator phase A magnetic flux [Wb]
ψ_b	Stator phase B magnetic flux [Wb]
ψ_c	Stator phase C magnetic flux [Wb]
i_a	Stator phase A current [A]
i_b	Stator phase B current [A]
i_c	Stator phase C current [A]
v_a	Stator phase A voltage [V]
v_b	Stator phase B voltage [V]
v_c	Stator phase C voltage [V]
E_a	Stator phase A induced back emf [V]
E_b	Stator phase B induced back emf [V]
E_c	Stator phase C induced back emf [V]
R_s	Stator phase resistance [Ω]
L_s	Stator phase inductance [H] ( $= L_{l s} + L_{m}$ )
ω_m	Rotor mechanical speed [rad/s]
p	Machine number of pole pairs
T_e	Machine developed electromagnetic torque [Nm]

Mechanical sub-system model

Motion equation:

\frac{{d ω}_{m}}{d t} = \frac{1}{J_{m}} (T_{e} - T_{l} - b ω_{m})

θ_{m} = \int ω_{m} d t

Table 3. Mechanical sub-system model variables
Symbol	Description
ω_m	Rotor mechanical speed [rad/s]
J_m	Combined rotor and load moment of inertia [kgm2]
T_e	Machine developed electromagnetic torque [Nm]
T_l	Shaft mechanical load torque [Nm]
b	Machine viscous friction coefficient [Nms]
θ_m	Rotor mechanical angle [rad]

Note: Motion equation is the same for all of the rotating machine models.

Ports

A (electrical)
- Stator winding phase A port.

B (electrical)
- Stator winding phase B port.

C (electrical)
- Stator winding phase C port.

in
- Available if Model Load source is selected

Electrical (Tab)

Rs
- Stator phase resistance [Ω]

Lls
- Stator phase inductance [H]

Vpk/krpm
- Peak line-to-line back emf developed at a mechanical speed of 1000 rpm [V/krpm]

Mechanical (Tab)

pms
- Machine number of pole pairs
Jm
- Combined rotor and load moment of inertia [kgm2]
Friction coefficient
- Machine viscous friction coefficient [Nms]

Load (Tab)

Load source
- Load source can be set from SCADA/external or from model (in model case, one signal processing input will appear).
- In TyphoonSim, if SCADA/external is chosen as Load source, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
External/Model load type
- Load type: torque or speed
Load ai pin
- Load ai pin for external torque/speed command.
- In real-time/VHIL simulation, Load ai pin represent HIL analog input address for external torque command.
- In TyphoonSim, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
- Available only if SCADA/external is set as Load source.
Load ai offset
- Assigned offset value to the input signal representing external torque command.
- Available only if SCADA/external is set as Load source.
Load ai gain
- Assigned gain value to the input signal representing external torque command.
- Available only if SCADA/external is set as Load source.

External load enables you to use an analog input signal from a HIL/TyphoonSim (internal virtual IO bus in TyphoonSim) analog channel with the load_ai_pin address as an external torque/speed load, and to assign offset (V) and gain (Nm/V) to the input signal, according to the formula:

$T_{l} = l o a d_a i_g a i n \cdot (A I (l o a d_a i_p i n) + l o a d_a i_o f f s e t)$

Note: An analog input pin may be overwritten if another component uses the same analog input pin. If another property (from the same or a different component) uses the same analog input pin, the input signal value will be applied to only one of those properties. For instance, if both the load and the resolver carrier signal use the same analog input pin, the signal value will only be applied only to one of these.

Feedback (Tab)

Encoder ppr
- Incremental encoder number of pulses per revolution
Encoder Z pulse length
- Z digital signal pulse length in periods. Can be Quarter length or Full period (default)
Resolver pole pairs
- Resolver number of pole pairs
Resolver carrier source
- Resolver carrier signal source selection (internal or external)
Resolver carrier frequency
- Resolver carrier signal frequency (internal carrier) [Hz]
- Available only if the Resolver carrier source property is set to internal
External resolver carrier source type
- External resolver carrier signal source type selection (single ended or differential)
- Available only if the Resolver carrier source property is set to external
Resolver ai pin 1
- Resolver carrier input channel 1 address (external carrier)
- Available only if the Resolver carrier source property is set to external
- In TyphoonSim, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
Resolver ai pin 2
- Resolver carrier input channel 2 address (external carrier)
- Available only if the Resolver carrier source property is set to externaland External resolver carrier source type property is set to differential
- In TyphoonSim, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
Resolver ai offset
- Resolver carrier input channel offset (external carrier)
- Available only if the Resolver carrier source property is set to external
- In TyphoonSim, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
Resolver ai gain
- Resolver carrier input channel gain (external carrier)
- Available only if the Resolver carrier source property is set to external
- In TyphoonSim, analog signals are read from the internal virtual IO bus. Hence, if some signal is sent to analog ouput 1, it will appear on analog input 1.
Absolute encoder protocol
- Standardized protocol providing the absolute machine encoder position.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
Singleturn bits
- Number of machine absolute encoder singleturn bits.
- Available only if Absolute encoder protocol is not None.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
Enable multiturn
- Enables multiturn absolute encoder support.
- Available only if Absolute encoder protocol is not None.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
Multiturn bits
- Number of machine absolute encoder multiturn bits.
- Available only if Enable multiturn is checked.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
EnDat/SSI/BiSS clock DI pin
- Clock digital input pin for the chosen absolute encoder protocol type.
- Available only if Absolute encoder protocol is not None.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
Clock DI logic
- Clock DI pin logic: active high/active low.
- Available only if Absolute encoder protocol is not None.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
EnDat data DI pin
- EnDat data digital input pin.
- Available only if Absolute encoder protocol is EnDat.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.
Data DI logic
- EnDat data DI pin logic: active high/active low.
- Available only if Absolute encoder protocol is EnDat.
- Absolute encoder protocol is ignored in TyphoonSim. Changing its value will not affect TyphoonSim simulation at all.

If an external resolver carrier source is selected, the source signal type can be set as either single ended or differential. The single ended external resolver carrier source type enables use of an analog input signal from the HIL/TyphoonSim (internal virtual IO bus in TyphoonSim) analog channel with the res_ai_pin_1 address as the external carrier source. Additionally, offset (V) and gain (V/V) values can be assigned to the input signal, according to the formula:

r e s_c a r r_s r c = r e s_a i_g a i n \cdot (A I (r e s_a i_p i n_1) + r e s_a i_o f f s e t)

The differential external resolver carrier source type enables use of two analog input signals from the HIL/TyphoonSim (internal virtual IO bus in TyphoonSim) analog channels with the res_ai_pin_1 and the res_ai_pin_2 addresses. Analog signals from these HIL/TyphoonSim (internal virtual IO bus in TyphoonSim) analog inputs are subtracted, and the resulting signal is used as the external differential carrier source. Additionally, offset (V) and gain (V/V) values can be assigned to the input signal (similarly to the single ended case), according to the formula:

r e s_c a r r_s r c = r e s_a i_g a i n \cdot ((A I (r e s_a i_p i n_1) - A I (r e s_a i_p i n_2)) + r e s_a i_o f f s e t)

Note: In real-time/VHIL simulation, differential external resolver signal support is available from the 2023.1 software version. Only the single ended external resolver option was available in previous software versions.

Note: In order to get a resolver signal with an amplitude of 1 when using an external carrier signal, the offset and the gain should be chosen in such a way that the resolver carrier signal has an amplitude of 1 after the adjustment. As shown in Figure 2, the sinusoidal signal used to generate external resolver carrier source is fed to HIL/TyphoonSim (internal virtual IO bus in TyphoonSim) analog input 1. The analog input signal is scaled in order to get the resolver signals with an amplitude of 1.

Note: An analog input pin may be overwritten if another component uses the same analog input pin. If another property (from the same or a different component) uses the same analog input pin, the input signal value will be applied to only one of those properties. E.g. if both the load and the resolver carrier signal use the same analog input pin, the signal value will be applied only to one of these.

The following expression must hold in order to properly generate the encoder signals:

4 \cdot e n c_p p r \cdot f_{m} {\cdot T}_{s} \leq 1

Table 4. Variables in the encoder limitation expression
symbol	description
enc_ppr	Encoder number of pulses per revolution
f_m	Rotor mechanical frequency [Hz]
T_s	Simulation time step [s]

Figure 3. Machine encoder signals when *Full period* option is selected

Figure 4. Machine encoder signals when *Quarter period* option is selected

Note: While the machine speed is positive, the encoder channel B signal leads the encoder channel A signal.

Note: Absolute encoder protocol is not supported on HIL402 (configurations: 1, 2, 3, and 4).

Note: More information about absolute encoder protocol could be found here.

Output (Tab)

This block tab enables a single, vectorized signal output from the machine. The output vector contains selected machine mechanical and/or electrical variables in the same order as listed in this tab.

Note: All machine components have the Execution rate, Electrical torque, Mechanical speed, and Mechanical angle, but the rest of the signals differ from component to component.

Execution rate
- Signal processing output execution rate [s]
Electrical torque
- Machine electrical torque [Nm]
Mechanical speed
- Machine mechanical angular speed [rad/s]
Mechanical angle
- Machine mechanical angle [rad]
Stator phase A emf
- Stator phase A induced back emf [V]
Stator phase B emf
- Stator phase B induced back emf [V]
Stator phase C emf
- Stator phase C induced back emf [V]
Stator phase A flux
- Stator phase A magnetic flux [Wb]
Stator phase B flux
- Stator phase B magnetic flux [Wb]
Stator phase C flux
- Stator phase C magnetic flux [Wb]
Stator phase A current
- Stator phase A current [A]
Stator phase B current
- Stator phase B current [A]

Extras (Tab)

The Extras tab gives you the opportunity to set Signal Access Management for the component.

Signal visibility is calculated based on the 'signal_access' property and whether or not a parent component in its hierarchy is locked or not. Components that are not contained within locked components expose their signals regardless of the 'signal_access' property. The 'signal_access' property can have one of three values:

Public - Components marked as public expose their signals on all levels.
Protected - Components marked as protected will hide their signals to components outside of their first locked parent component.
Inherit - Components marked as inherit will take the nearest parent 'signal_access' property value that is set to a value other than inherit.