PMBLDC

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MAILAM ENGINEERING COLLEGE

Department of Electrical and Electronics Engineering
SUB CODE: EE 6703 SUB NAME: SPECIAL ELECTRICAL MACHINES
UNIT – 04
PERMANENT MAGNET BRUSHLESS DC MOTORS
Permanent Magnet materials – Minor hysteresis loop and recoil line-Magnetic Characteristics –
Permeance coefficient - Principle of operation – Types – Magnetic circuit analysis – EMF and torque
equations – Commutation - Power Converter Circuits and their controllers – Motor characteristics and
control– Applications.
PART-A
1. What is a brushless permanent magnet DC motor?

• Similar to salient pole motor, except there is no field winding on rotor.
• Field is provided by employing permanent magnet at the rotor.
• The permanent- magnet DC motor is fed by rectangular current which have concentrated
windings on the stator inducing a square or trapezoidal voltage.
2. Compare conventional DC motor and PMBLDC motor? Dec - 2012
S. No Conventional DC motor PMBLDC motor

1 Field magnets are located in stator. The rotor has permanent magnets.
Maintenance requirement is high
2 because of the presence of Low maintenance.
commutator and brushes.
The motor can be designed for higher
Standardized design procedures are voltages subjected to the constraint caused
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available. by the power semiconductor switching
circuit.
4 Motor size is large. Size of the motor is small.
Power semiconductor devices are not Electronic switching is implemented using
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used. power semiconductor devices.
Rotor shaft position can be detected by using
6 No rotor position sensor.
sensor.
3. Give the merits of BLPMDC motor compared to conventional motor.

What are the advantages of BLPM dc motor over conventional DC motor? Dec-2015
What are the merits of brushless dc motor drives? Dec-2016
• There is no field winding and so there is no field copper loss.

• Efficiency is higher.
• It is possible to have very high speeds.
EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC
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4. What are the types of PM brushless square wave D.C. motor? 180 degree pole arc BLPM square
wave DC motor.
120 degree pole arc BLPM square wave DC motor.

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14. Draw the circuit diagram of electronic commutator.
15. Compare PMBLDC motor and switched reluctance motor? May – 2014, 2013
PMBLDC Motor Switched Reluctance Motor
Rotor is a permanent magnet. No permanent magnet in the rotor

High cost Cost is less compared with PMBLDC
More efficient Less efficient
16. What is hall sensor?
A sensor is operated with hall effect principle. It is called hall sensor. It is used to sense the
rotor position in the BLPMDC motor.
17. What is optical sensor?
A sensor is operated with photo transistor, it is the optical sensor. It is mainly used to sense
the rotor position of the BLPMDC motor.
18. What is permanent magnet DC commutator motor?
A DC motor consists of permanent magnet in the stator and armature winding, commutator
in the rotor. The motor is called permanent DC commutator motor.

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19. List out some applications of BLPMDC motor? May-2018, 2016, Dec-2017, 2015
• Turn table drive for record player

• Tape drive for video recorders
• Driver for cooling fans of electronic circuit and heat sinks Drive for air conditioner
blower and wind shield wipers.
20. Compare PMSM and PMBL DC motor.
PMBLDC PMSM
It has concentrated winding on the
It has distributed winding on the stator.
stator.
Induces square or trapezoidal voltage Induces sinusoidal voltage.
Known as brushless dc motor. Known as brushless ac motor.
Used as low power device. Used as high power device.
21. What is permeance co-efficient? Dec-2016, May - 2012 It is defined as the ratio of air-gap
permeance of the permanent magnet assuming the same relative permeability.
22. Comparison between mechanical and electronic commutator. May-2017, Dec – 2016, 2013
Refer Page No. 08 Q. No. 02
23. Name the power controllers used in the PMBLDC. Dec-2016, May - 2012
Vector control
Current control
24. Draw the magnetic equivalent circuit of PMBLDC motor. May-2017, 2014, Dec - 2013

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25. What is commutation? May–2013

Commutation is the process of switching current in the phases in order to generate motion. The
method of commutation depends on the application of the motor.
26. Define soft magnetic materials and hard magnetic materials.

Soft magnetic materials – narrow hysteresis loop Hard
magnetic materials – wide hysteresis loop
27.

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PART - B Introduction:
• In general classified as
❖ PM dc commutator motors
❖ PM brushless dc motors
❖ PM AC synchronous motors
• PM bldc & PM AC synchronous motor designs are same with poly phase stator and PM rotor.
• Difference lies in control and shape of excitation voltage.
• PM AC syn. motor – sinusoidal excitation voltage which produces rotating magnetic field.
• PM bldc Motor – square (trapezoidal) excitation, only two phase windings conduct current at the
same time.
• 40% size reduction.
Constructional designs of PM dc commutator motors

• Conventional slotted rotors
• Slotless (surface-wound) rotors
• Moving coil (coreless) rotors
➢ Outside field type
✓ Cylindrical
✓ Wound disk rotor
✓ Printed circuit disk rotor
➢ Inside field type with cylindrical rotor
✓ Honeycomb armature winding
✓ Rhombic armature winding
✓ Bell armature winding
✓ Ball armature winding
Constructional designs of PM dc brushless & ac synchronous motors
• Conventional slotted stators

• Slotless (surface-wound) stators
• Cylindrical type
➢ Merrill’s rotor
➢ Interior magnet rotor
➢ Inset magnet rotor
➢ Rotor with buried magnets symmetrically distributed
➢ Rotor with buried magnets asymmetrically distributed
• Disk type
• Single sided
➢ Armature winding with distributed parameters
➢ Armature winding with concentrated parameters
• Double sided
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➢ Internal rotor
➢ Internal stator (armature)
(a) Surface PM rotor (b) Surface inset PM rotor
(c) Interior PM rotor
Fig. Different rotor structures of BLDC motors
1. Comparison between conventional DC motor and PMBLDC motor. May-2017

What are the advantages of BLPM over conventional DC motor. Dec-2017, 2015
Features Conventional DC motor PMBLDC motor
Mechanical
Field magnets on the stator. Field magnets on the rotor.
structure
Maintenance Maintenance is high Low maintenance
Life Shorter Longer
Moderately flat – at higher speeds,
Speed/Torque brush friction increases, thus Flat – Enables operation at all speeds
characteristics reducing useful torque with rated load.
Efficiency Low / Moderate High

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Rotor inertia High Low

Speed range Low – Mechanical limitations High – No mechanical limitation
Efficiency Moderate High
Control Simple & inexpensive Complex and expensive
2. Comparison between mechanical and electronic commutator. Dec – 2013, 2011, May-2017
S. No Mechanical Commutator Electronic commutator

Commutator is made up of commutator
1 segments and mica insulation. Brushes are Power electronic switching devices are used
made up of carbon graphite. in the commutator.
Commutator arrangement is located in the Commutator arrangement is located in the

2 rotor. stator.
Shaft position sensing is inherent in the

3 arrangement. It requires a separate rotor position sensor.
Number of commutator segments is very Number of switching devices is limited to

4 high. 6.
Sliding contact between commutator and

5 brushes. No sliding contacts.
6 Sparking takes place. There is no sparking.

7 It requires a regular maintenance. It requires less maintenance.
Difficult to control the voltage available Voltage available across armature tapping
8 across tappings. can be controlled by PWM techniques.
Reliability can be improved by specially

9 Highly reliable. designed devices and protecting circuits.
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Construction:
3. Explain briefly constructional and working principle of PMBLDC motors.

May-2014, Dec-2016, 2013
Discuss the construction of permanent magnet dc motor. May-2016
• In runner configuration
• Out runner configuration
➢ In runner configuration:
✓ PM is mounted on rotor.
✓ Armature windings surround the rotor.

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➢ Out runner configuration:

✓ Armature (stator) windings form the center of motor.
✓ PM surround the stator.
Stator:
✓ Made of silicon steel stampings.
✓ Slots in interior surface.
✓ Open or closed type slots.
✓ Connected to dc supply through a power electronic circuit.
Fig. construction of BLDC motor
Rotor:
✓ Made of forged steel.
✓ Has permanent magnet.
✓ Carries rotor position sensor (RPS).
✓ RPS gives information about the position of shaft at any instant.
Armature Winding:
✓ Can be star or delta connected.
➢ In delta connected motor,
❖ Low torque at low rpm.
❖ Can be operated at higher ranges of rpm.
➢ In star connected motor,
❖ High torque at low rpm.
❖ Cannot be operated in higher rpm ranges.

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Fig. (a) Star connected (b) delta connected motors

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Principle of Operation:
4. Explain the operation of PMBLDC motor. Dec-2016
1. Starting:
• DC supply is given to motor, armature winding draws current.
• This current produces an mmf.
• Rotor is a permanent magnet. It produces a main mmf (main flux).
• According to fleming’s left hand rule, it produces a force in armature conductors.
• But armature conductors are stationary, so it produces a reactive force, which produces a torque
in rotor.
• If developed torque > load torque, then motor starts rotating.
• Self starting motor.
2. Dynamic equilibrium (steady state):

• When motor rotates, there exists a relative velocity between stationary armature conductors &
rotating rotor.
• By faraday’s law, emf is induced in armature conductors.
• By len’z law, this emf opposes the cause (armature current).
• Supply voltage is constant, so current drawn from mains is reduced.
• So, developed torque is reduced.
• When developed torque = load torque, rotor attains steady state speed.

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Fig. PM excited DC motor – equivalent circuit
3. Electro-mechanical power transfer:

• TL ↑ , N ↓ , back emf ↓.
• I↑, T↑.
• Developed torque = new load torque, motor attains new equilibrium position.
• Input power = mechanical power + power loss in motor.
• Thus electrical power to mechanical power transfer takes place.
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Types:
5. Explain the operation of different types of BLPM DC motor. May-2014, Dec - 2012
Types of BLDC based on magnetic arc:
The BLPMDC motor can be classified on the basis of flux-density distribution in the air gap of
the motor. They are,
• BLPM square wave DC motor.
• BLPM sine wave DC motor.
BLPM square wave dc motor:
There are two types of BLPM square wave DC motor

• 120° pole arc BLPM square wave DC motor
• 180° pole arc BLPM square wave DC motor
Three rings:
▪ Outer ring – stator phase belt, stationary, 60° sectors
▪ Inner ring – rotor ring, 120° or 180° ring
▪ Middle ring – mmf ring

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(a) 120° magnetic arc BLDC motor:
• 120˚ magnetic arc, 180˚ square wave phase current.

• Phase windings are delta connected.
Fig. BLDC motor with 120˚ magnetic pole arc
Fig. Converter with delta connected phase winding
• A+ - current flows from A1 to A2 A- - current flows from A2 to A1 Same

applicable for B and C windings.
• U – upper leg L – Lower leg
Table: Commutation logic table

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Rotor position 0˚ - 60˚ :

• A+, B+ , C- windings are energized.
• IGBT-3, IGBT-2 are conducting.

• A+, B- , C- windings are energized.
• A+, B- , C+ windings are energized.

• A-, B- , C+ windings are energized.

• A-, B+ , C+ windings are energized.

• A-, B+ , C- windings are energized.

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Fig. Phase current waveforms for 120˚ pole arc magnet
(b) 180° magnetic arc BLDC motor:

• 180˚ magnetic arc, 120˚ square wave phase current. Phase windings are star connected.

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Fig. BLDC motor with 180˚ magnetic pole arc
Fig. Converter with star connected phase winding
Table: Commutation logic table

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• A+, C- windings are energized.

• A+, B- windings are energized.
• B- , C+ windings are energized.

• A-, C+ windings are energized.

• A-, B+ windings are energized.

• B+ , C- windings are energized.

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Fig. Phase current waveforms for 180˚ pole arc magnet

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EMF equation:
6. Derive the expression of EMF equation of PMBLDC Motor.

Dec-2017, 2015, May–2018, 2017, 2014, 2012
l - length of armature, m r
- radius of airgap, m
Bg - flux density in airgap,
2
wb/m Tc - no. of turns per coil p
- no. of poles
Assume, the axis of permanent magnet rotor is along the x-axis. Stator has 12 slots
and 3-phase winding.
2 slots / pole / phase.

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Fig. Magnetic flux density around the airgap

At θ = 0, center of N pole gets aligned with x-axis.
Flux enclosed with coil is,
Flux linkage of coil is,
varies with θ.
Emf waveform is rectangular, changes between + ec to –ec.

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Consider two coils, a1A1 & a2A2. Coils a2A2 is adjacent to a1A1 & connected in series,
displaced by angle 30˚.
Emf induced in coil a1A1 is,
Emf induced in coil a2A2 is,
Two coils are connected in series,

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Fig. Waveform of flux density and flux linkage
Fig. phase ‘a’emf waveform
If there are ‘ nc ‘ no. of coils connected in series per phase,

Emf per phase,
𝑒𝑝𝑕 = 2 𝐵𝑔 𝑟 𝑙 𝑇𝑐 𝜔𝑚 𝑛𝑐 𝑛𝑐 𝑇𝑐 = 𝑇𝑝𝑕
𝒆 𝒑𝒉 = 𝟐 𝑩 𝒈 𝒓 𝒍 𝝎 𝒎 𝑻 𝒑𝒉 𝒗𝒐𝒍𝒕𝒔
Torque equation:
7. Derive the torque equation of PMBLDC motor. Dec-2017, 2015, May-2017, 2014, 2012
𝑒𝑝𝑕 = 2 𝐵𝑔 𝑟 𝑙 𝜔𝑚 𝑇𝑝𝑕 𝑣𝑜𝑙𝑡𝑠
𝑀𝑒𝑐𝑕𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟, 𝑃 = 𝜔𝑚 𝑇𝑒
𝐴𝑙𝑠𝑜, 𝑃 = 2 𝑒𝑝𝑕 𝐼
𝜔𝑚 𝑇𝑒 = 2 𝑒𝑝𝑕 𝐼
2 𝑒𝑝𝑕 𝐼
𝑇𝑒 =
𝜔𝑚

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2 𝑥 2 𝐵𝑔 𝑟 𝑙 𝜔𝑚 𝑇𝑝𝑕 𝑥 𝐼
=
𝜔𝑚
𝑻 𝒆 = 𝟒 𝑩 𝒈 𝒓 𝒍 𝑻 𝒑𝒉 𝑰 𝑵−𝒎
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Commutation:
Mechanical Commutator:
8. Explain briefly about the mechanical commutator in conventional DC motor and Electronic
Commutator in BLPMDC motor. Dec - 2012
• Function of the commutator is to facilitate the collection of current from the armature conductors.
• Converts the alternating current induced in the armature conductors into unidirectional current in
the external load circuit.
• Aim of commutator is to sets up a mmf whose axis is in quadrature with the main field axis
irrespective of the speed of the armature.
Mechanical commutator:
• Consists of special wedge - shaped segments made up of copper.

• These segments are insulated from each other by thin layer of mica. These segments are tapered
to form a cylinder.
Fig. Commutator segment
• Commutator segments are mechanically fixed to the shaft using V-shaped circular steel clamps,
isolated electrically from the shaft.
• Schematic of a two pole machine with 12 commutator segments.
• Brushes of the two pole machine are X and Y.
Arrangement of mechanical Commutator:

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• Brush X contacts with CS1 and Y contacts with CS7.

• The brushes X and Y are connected across the dc supply.
• A dc current is passing through the brush X, CS1, tapping 1, tapping 7, CS7 and brush Y.
• There are two armature parallel paths between the tappings1and 7.
✓ 1-2-3-4-5-6-7
✓ 1-12-11-10-9-8-7
• Current passing through the armature conductors sets up an mmf along the axis of the tappings 7
and 1 (ie), along the axis of Y and X.
Fig. Mechanical commutator and brushes arrangement
• Commutator rotates along the anti-clockwise direction.

• Now the brush X contacts with CS2, & brush Y contacts with CS8.
• Hence the current passes through the tappings 2 and 8.
• There are two parallel paths,
✓ 2-3-4-5-6-7-8
✓ 2-1-12-11-10-9-8
• The mmf set up by the armature winding is from tapping 8 to 2 (ie), along the brush axis Y and
X.
• Armature mmf direction is always along the brush axis Y and X.
• Function of the commutator and brushes arrangement in a conventional dc machine is to set up
an armature mmf whose axis is always in quadrature with the main field irrespective of the speed
of the rotation of the motor.

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Electronic commutator:
9. Analyze the operation of electronic commutator in PMBLDC motor with neat diagram.
May-2015, Dec-2016, 2011
Armature winding in the stator has 12 tappings.
Fig. Electronic Commutator
• Each tapping is connected to the positive of the dc supply (ie) X through the switches S1 , S2 ,
S3……..S12
• Connected to the negative of the supply (ie) Y through the switches S1’, S2’ , S3’ …… S12’.
• When the switches S1 and S1’ are closed, the dc supply is given to the tappings1 and 7.
• The current which is passing through the armature winding has two parallel paths. ✓ 1-2-3-4-5-
6-7
✓ 1-12-11-10-9-8-7
• This current sets up an armature mmf, whose axis is along the axis of the tappings 1 &7.
• After a small interval of time, Switches S1 and S1’ are kept open and S2 and S2’ are closed.
• Current passes through the tappings 2, 8 and sets up an mmf along the axis of the tapping 2 &8.
• By operating the switches in sequential manner, it is possible to get revolving magnetic field in
the airgap.
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• These switches S1 to S12 and S1’ and S12’ can be replaced by power electronic switching devices
such as SCR, MOSFET, IGBT etc.
Fig. Switching circuit of electronic commutator
• More number of devices are employed, the circuit becomes complex.

• In normal electronic commutator, usually six switching devices are used. Hence, the armature
should have three tappings, which can be connected either in star or delta.
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Power converter circuits and their controllers:
10. Explain briefly driver circuits of PMBLDC motor?

(OR)
Describe the different types of PMBLDC motor based on drive circuits?
• For 3-φ, 6 pulse BLDC motors, 6 Hall effect sensors are used.
• Displaced by 60°.
• Placed in stator.
• Connected with controller to turn ON the devices for electronic commutation.
Classification of drive circuits:
Classified based on the no. of phase windings and the no. of pulses given to the devices.
✓ One phase winding and one pulse BLDC motor
✓ One phase winding and two pulse BLDC motor
✓ Two phase winding and two pulse BLDC motor
✓ Three-phase winding and three pulse BLDC motor
✓ Three-phase winding and six pulse BLDC motor
(a) One phase winding and one pulse BLDC motor

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• Stator has one phase winding.

• Connected to the supply through a semi conductor switch.
• When rotor position sensor is influenced by north pole, it turns ON the switch.
• Current flows through the stator winding and develops torque.
• The current & torque are approximated as sinusoidally varying.
Fig. Stator with one phase winding Advantages:

• Consists of the one transistor and one position sensor is sufficient.
De-merits:
• Inertia should be high, such that rotor rotates continuously. Utilization of Transistor & winding
are less.
(b) One phase winding and two pulse BLDC motor
• Stator has only one winding.

• Connected to the 3 wire dc supply through, two semi-conductor switches.
• Only one position sensor.
When the position sensor is under the influence of North pole:

T1 is turned ON, phase winding carries current from A to B.
When the position sensor is under the influence of South pole:

T2 is turned ON, phase winding carries a current from B to A.
• The polarity of flux is altered depending upon the position of rotor.
Fig. One phase winding and two pulse BLDC motor Features:

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• Winding utilization is better, however transistor utilization is less. Torque developed is more
uniform.
Disadvantages:
• Requires three wire DC supply.
(c) Two phase winding and two pulse BLDC motor:
• Stator has two phase windings.

• Each phase winding is controlled by a switch depending on position of rotor.
Fig. Two phase winding and two pulse BLDC motor
Features:
• Windings utilization is only 50% which is less.
• It provides better torque waveforms.
(d) Three phase winding and three pulse BLDC motor:
• The stator has three phase winding.

• Each phase winding is controlled by semi conductor switch, depending on position of rotor.
Fig. Three phase winding and three pulse BLDC motor
Disadvantage:
• 3 position sensors are required.
(e) Three phase windings and six pulse BLDC motor:

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• Uses three phases and six switching devices.

• Usually 120 degree (or) 180 degree conduction is adopted.
Fig. Three phase windings and six pulse BLDC motor
Fig. Torque waveforms
Features:
• Utilization factor of winding is better.
• Torque pulse and ripple frequency components are less.
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controllers:
11. Sketch the structure of power controllers for PMBLDC motor and explain the function of
various blocks. May–2014, 2013, Dec-2011

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Explain in detail, the power controllers for PMBLDC. Dec-2016

Draw and explain the general structure of a controller for a permanent magnet brushless DC
motor. May-2018
Power circuit:
• Consists of six power switching devices.
• Connected in bridge configuration across the DC supply.
• A shunt resistance ‘R’ is connected in series to get the current feedback signal. Feedback diodes
are connected across the main devices.
• Armature winding is assumed to be star connected.
• Rotor carries rotor position sensor and shaft is coupled with tacho generator to get speed feedback
signal.
Control circuit:
• Consists of commutation logic circuit which gets information about the rotor position Decides
which devices are to be turned ON and OFF.
Commutation logic circuit:
• Provides six output signals out of which three signals are used as the base drive for the upper leg
devices.
• Other three output signals are logically ANDed with high frequency pulses (PWM).
• The resultant signals are used to drive the lower leg devices.
Speed Comparator:
• Speed comparator compares the reference speed (Wref) with the speed feed back signal (ωm)
obtained from the tachogenerator.
• Output of the speed comparator (ie) the speed error signal serves as the current reference for the
current comparator.
Current Comparator:
• Compares the reference current (iref) with the actual current signal (iactual) obtained from the
current transducer.
• Resulting error signal is fed to the monostable circuit.
Monostable Circuit:
• The monostable circuit is excited by high frequency pulse signals.
• The duty cycle of the output of monostable multivibrator circuit is controlled by error signal.

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Rotor Position Sensor:

• Rotor position sensor converts information of rotor shaft position into a suitable electrical signal.
• Signal from rotor position sensor is fed to the commutation logic circuit.
• It gives necessary output signals to switch ON and switch OFF the semiconductor devices of
electronic switching and commutation circuit.
• Sensors : Optical position sensor & Hall effect position sensor.
Function of the controller:

• The rotor position is sensed by a hall effect sensor.
• These signals are decoded by commutation logic circuit to give the firing signals for 120˚
conduction.
• It has six outputs which control the upper and lower phase leg transistors.
• The PWM signal is applied only to the lower leg transistors.

• Reduces current ripple.
• The upper leg transistors need not be the same type as the lower leg transistor.
• The use of AND gate is a simple way of combining commutation signal and chopping signals.
• The monostable circuit is controlled by the error signal obtained from the comparator.
• The output of the monostable circuit and signal from the commutation logic circuit influences the
conduction period and duty cycle of lower leg devices. Desired current for desired speed is
obtained.
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Motor Characteristics:
12. Explain the speed – Torque characteristics of PMBLDC motor.

May-2018, 2017, 2016, 2014, Dec–2013
• Assume Commutation is perfect, phase current waveform is ideal, converter is supplied form a
ideal voltage source, V, then,
V=E+RI
• If phase resistance is small, the characteristics is similar to DC shunt motor. By varying voltage,
V, Speed can be controlled.
• Voltage is controlled by chopping or PWM.
• There are boundaries for the continuous and intermittent operation.
• Continuous limit - heat transfer, temp rise
• Intermittent limit – max. rating of semiconductor switch, temp rise.

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Fig. Speed-Torque characteristics of BLDC motors
Fig. Family of T-N characteristics for various constant supply voltages.
Permissible region of operation:

• Current, torque, supply voltage, speed should be within limits.

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Line AB:
✓ Parallel to x-axis
✓ Max. torque developed
Line FG:
✓ N-T characteristics for max. permissible voltage
Line DH:
✓ Perpendicular to x-axis
✓ Max. permissible speed
OABCDO – permissible region of operation
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Applications:
13. Discuss the applications of PMBLDC motors.
Industry:
✓ Industrial drives (fans, pumps, blowers, handling systems)
✓ Machine tools
✓ Servo drives
✓ Automation process
✓ Internal transportation systems
✓ Robots
Public life:
✓ Air conditioning systems
✓ Catering equipment
✓ Ticketing machines
✓ Clocks
✓ Coin laundry machines
Domestic life:
✓ Kitchen equipment
✓ Washing machines
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✓ Vacuum cleaners
✓ Lawn mowers
✓ Toys
✓ Security systems
Information & office equipment: ✓
Computers
✓ Printers
✓ Plotters
✓ Photo copiers
Automobiles & Transportation:
✓ Elevators
✓ Light railways
✓ street cars
✓ Electric road vehicles
✓ Air craft flight control
✓ boats
Defense:
✓ Tanks
✓ Missiles
✓ Radar systems
✓ Sub marines
Aerospace:
✓ Rockets
✓ Space shuttles
✓ Satellites
Medical & health care:
✓ Dentist drills
✓ Electric wheel chairs
Power tools:
✓ Drills
✓ Screw drivers
✓ Polishers
✓ Saws
✓ Sheep shearing hand pieces
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Rotor position sensors:
14. Explain briefly the operation of rotor position sensors in BLPM motors.
• BLDC motor needs rotor position sensor (RPS) for its operation.
• RPS converts the information about the rotor shaft position into a suitable electrical signal.
• This electrical signal is used to turn ON or OFF the power electronic switching circuit in BLDC.
Methods of sensing rotor position:

• Explicit position sensor – use external devices
• Implicit position sensor – use motor phase voltage & currents.
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Explicit position sensors:

➢ Optical position sensor
➢ Hall effect position sensor
➢ Encoders
➢ Resolvers
(a) Optical position sensor:

• Uses photo transistors.
• Device is turned ON, when light rays fall on it.
• Fixed at the end shield cover of the motor.
• Mutually displaced by certain angle based on number of photo transistors used.
• Shaft carries a circular disc and rotates along with shaft.
• Suitable slots are punched in the disc so as to excite the photo transistors.
Fig. Optical position sensor

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Fig. Three – phase unipolar driven BLDC motor
Fig. Switching sequence
Reversing the direction of BLDC Motor:
For Anticlockwise direction: For clockwise direction:

PT1 – Tr1 PT1 – Tr3

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Fig. Three-phase bipolar driven BLDC motor
Fig. Clockwise rotation

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Fig. Anticlockwise rotation
(b) Hall effect position sensor:
Hall Effect:
• When current IC flows downwards in a semiconductor pellet placed in a magnetic field (B)
perpendicular to pellet surface, an emf VH (Hall emf) is created perpendicular to direction of
current & magnetic field.
• According to fleming’s left hand rule, charged particles are biased on the left side of the pellet.
Polarity depends on p or n – type semiconductor.

40
Fig. Operation of Hall Effect Sensor
• In modern BLDC motors, InSb (indium-antimony), GaAs (gallium-arsenide) n-type

semiconductors are used.
• Also Hall ICs are available.
Hall ICs:
Fig. Hall ICs
Position detection using Hall sensors:
• Output signals from Hall element operate two transistors, Tr1& Tr2, to control current in the two
stator windings W1, W2.

41
(a) Hall element detect the North pole of rotor magnet, energizes winding W2 to produce south pole
which attracts north pole of rotor by rotating in CCW direction.
(b) Hall element detect none of the rotor poles, so winding W1 & W2 are OFF. Rotor rotates due to
inertia.

42
(c) Hall element detect the South pole of rotor magnet, energizes winding W1 to produce south pole
which attracts north pole of rotor by rotating in CCW direction.
Implicit position sensors:
• Reduces the cost

• Increases reliability
• Increases lifetime of the drive
Methods:
There are three implicit methods by which the rotor position can be sensed.
➢ detecting saturation of phase inductance.

➢ detecting backward emf.
➢ detecting harmonics of induced motor voltages.
________________________________________________________________ Magnetic
Circuit Analysis :
15. Discuss the magnetic circuit analysis relevant to PMBLDC motor in detail. Also draw its
characteristics. May – 2017, 2013, 2012
From the magnetic circuit analysis of permanent magnet brushless DC motor derive the
expression for permeance coefficient. Dec-2015
Explain in detail about magnetic circuit analysis of PMBLDC motor. Also draw its
characteristics. Dec-2017
Explain the magnetic circuit analysis of permanent magnet brushless DC motor on open
circuit. May-2018
• First step in analyzing magnet circuit is to identify the main flux path and assign reluctance
and permeance to them.
• Stator is shown without slots or windings.
• The magnetic flux leaving north pole at airgap crosses over to the stator and splits into two
equal sections, each travelling in opposite direction and crossing the airgap towards south
poles at airgap.

43
• Consider the cross section of 2 pole BLDC motor having high energy rare earth magnets on
the rotor.
Fig. (a) Cross section and flux pattern of 2 pole BLDC motor
(b) Demagnetization curve
• Only half of the equivalent circuit is shown and the lower half is the mirror image of upper
half about the horizontal axis.
Fig. Magnetic equivalent circuit

44
Magnetizing force Hm is solved using demagnetization characteristics.

45
- ve sign indicates demagnetizing force and magnet operates in second quadrant of B-H curve.
The line drawn from the origin through the operating point is called load line and absoluete value of its
slope normalized to μ0 is called Permeance Co-efficient (PC).
𝟏 + 𝑷𝒓𝟏 𝑹𝒈
𝑷𝑪 = 𝝁𝒓𝒆𝒄
𝑷𝒎𝟎 𝑹𝒈
________________________________________________________________
It has a maximum energy product greater than that of other materials, which is a great
advantage on a volumetric basis.
The disadvantage of the material is its high cost, and it was consequently first used only for
aerospace and military equipment and for computer memory disks.
Samarium-cobalt rare-earth magnets are now becoming increasingly used, as the

availability of the material becomes widespread and its cost falls.
__________________________________________________________________________________
17. Explain about the magnetic characteristics in detail.
PERMANENT-MAGNET CHARACTERISTICS:
A typical hysteresis loop for a permanent-magnet material is shown in fig.

46
Fig. Hysteresis loop for a typical permanent-magnet material
In most permanent-magnet devices the material operates in the second quadrant of its
hysteresis loop, in which the magnetic field H and the flux-density B are opposed. That portion of
the hysteresis loop which lies in the second quadrant is called the demagnetization characteristic.
In the typical B-H loop shown in Fig. and known as the normal hysteresis loop, the B-value
includes the contributions from both the intrinsic flux-density of the material Bi and the fluxdensity
µoH resulting from the applied field H.
If only Bi is plotted against H, the resultant loop represents the intrinsic hysteresis loop.
The intrinsic loop represents that proportion of the flux-density which is intrinsic to the
magnetic material itself for a particular magnetic field H, and it is of use in the design of a
permanent-magnet machine.
The intrinsic flux-density Bi, the normal flux-density B and the magnetizing field intensity H
are related by the equation
B = µoH + Bi
Several terms used in permanent-magnet studies are defined below.

(i) Magnetic Remanence

47
(ii) Normal Coercivity

(iii) Wrinsic Coercivity
Fig. Normal and intrinsic hysteresis loops for a typical permanent-magnet material
MAGNETIC REMANENCE, Br
If a magnetizing force is applied to an unmagnetized magnet and then removed, there
remains a residual flux-density or remanence Br due to the non-elastic displacement of the
boundary walls between the magnetic domains.
The remanence is the same for both the B and Bi curves, since at this point H is zero.

48
Permanent Magnet recoil line

___________________________________________________________________________________

49
19. A Permanent Magnet DC commutator has a no-load speed of 6000 rpm when connected to
a 120 V supply. The armature resistance is 2.5 and rotational and iron losses may be neglected.
Determine the speed when the supply voltage is 60V and the torque is 0.5 Nm.
May-2016, Dec–2016, 2013, 2012
Given:
Vs = 120 V Ra = 2.5 Ω T = 0.5 N m
To find:
N = ? at 60 V.
Solution:
20. A PMBLDC motor has torque constant 0.12 Nm / A referred to DC supply. Find the motors
no-load speed when connected to 48 V DC supply. Find the stall current and stall torque if
armature resistance is 0.15 Ω/phase and drop in controller transistor is 2 V.
May-2016, Dec – 2013, 2012
Given data :
Km = 0.1 Nm / A V = 48 V
Solution:
(a) No load Speed:

50
_______________________________________________________________________________
Anna University Questions
1. Compare conventional DC motor and PMBLDC motor? Dec - 2012

2. What are the advantages of BLPM dc motor over conventional DC motor? Dec-2015
What are the merits of brushless dc motor drives? Dec-2016
3. State the principle of operation of PM brushless DC motor. Dec-2017, 2014
4. What is an electronic commutator? May-2017, Dec - 2011
5. Write down the EMF equation of PM brushless DC motor. May-2017
6. Write the torque equation of PMBLDC motor. Dec-2017
7. List any four permanent magnet materials. May-2018, 2014
8. Compare PMBLDC motor and switched reluctance motor? May–2014, 2013
9. List out some applications of BLPMDC motor? May-2018, 2016, Dec-2017, 2015 10.
What is permeance co-efficient? Dec-2016, May - 2012
11. Comparison between mechanical and electronic commutator.

May-2017, Dec–2016, 2013
12. Name the power controllers used in the PMBLDC. Dec-2016, May - 2012
13. Draw the magnetic equivalent circuit of PMBLDC motor. May-2017, 2014, Dec-2013
14. What is commutation? May–2013
15. How are the directions of rotations reversed in case of PMBLDC motor? Dec–2011
16. Classify the types of BLDC motor. May-2015
17. What is meant by demagnetization in PMBLDC motor? Dec-2014
18. How the demagnetization occurs in PMBLDC motor? May-2015
19. Why Brushless permanent magnet DC motor is called as electronically commutated
motor? May-2016, Dec-2017, 2015
1. Comparison between conventional DC motor and PMBLDC motor. May-2017

What are the advantages of BLPM over conventional DC motor. Dec-2017, 2015
51
2. Comparison between mechanical and electronic commutator.

Dec–2013, 2011, May-2017
3. Explain briefly constructional and working principle of PMBLDC motors.

May-2014, Dec-2016, 2013
Discuss the construction of permanent magnet dc motor. May-2016
4. Explain the operation of PMBLDC motor. Dec-2016
5. Explain the operation of different types of BLPM DC motor. May-2014, Dec-2012
6. Derive the expression of EMF equation of PMBLDC Motor.

Dec-2017, 2015, May–2018, 2017, 2014, 2012
7. Derive the torque equation of PMBLDC motor. Dec-2017, 2015, May-2017, 2014
8. Explain briefly about the mechanical commutator in conventional DC motor and

Electronic Commutator in BLPMDC motor. Dec - 2012
9. Analyze the operation of electronic commutator in PMBLDC motor with neat diagram.
May-2015, Dec-2016, 2011
10. Sketch the structure of power controllers for PMBLDC motor and explain the function
of various blocks. May–2014, 2013, Dec-2011
Explain in detail, the power controllers for PMBLDC. Dec-2016 Draw and explain the
general structure of a controller for a permanent magnet
brushless DC motor. May-2018
11. Explain the speed – Torque characteristics of PMBLDC motor.

May-2018, 2017, 2016, 2014, Dec - 2013
12. Discuss the magnetic circuit analysis relevant to PMBLDC motor in detail. Also draw
its characteristics. May – 2017, 2013, 2012
From the magnetic circuit analysis of permanent magnet brushless DC motor derive
the expression for permeance coefficient. Dec-2015
Explain in detail about magnetic circuit analysis of PMBLDC motor. Also draw its
characteristics. Dec-2017
Explain the magnetic circuit analysis of permanent magnet brushless DC motor on
open circuit. May-2018
13. A Permanent Magnet DC commutator has a no-load speed of 6000 rpm when connected
to a 120 V supply. The armature resistance is 2.5 and rotational and iron losses may
be neglected. Determine the speed when the supply voltage is 60V and the
torque is 0.5 Nm. May-2016, Dec–2016, 2013, 2012

52
14. A PMBLDC motor has torque constant 0.12 Nm / A referred to DC supply. Find the
motors no-load speed when connected to 48 V DC supply. Find the stall current and
stall torque if armature resistance is 0.15 Ω/phase and drop in controller transistor is
2 V.
May-2016, Dec – 2013, 2012

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1

MAILAM ENGINEERING COLLEGE

SUB CODE: EE 6703 SUB NAME: SPECIAL ELECTRICAL MACHINES

1. What is a brushless permanent magnet DC motor?

2. Compare conventional DC motor and PMBLDC motor? Dec - 2012

S. No Conventional DC motor PMBLDC motor

3. Give the merits of BLPMDC motor compared to conventional motor.

• There is no field winding and so there is no field copper loss.

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

14. Draw the circuit diagram of electronic commutator.

PMBLDC Motor Switched Reluctance Motor

Rotor is a permanent magnet. No permanent magnet in the rotor

16. What is hall sensor?

17. What is optical sensor?

18. What is permanent magnet DC commutator motor?

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

• Turn table drive for record player

20. Compare PMSM and PMBL DC motor.

Known as brushless dc motor. Known as brushless ac motor.

Used as low power device. Used as high power device.

Refer Page No. 08 Q. No. 02

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

25. What is commutation? May–2013

26. Define soft magnetic materials and hard magnetic materials.

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

Constructional designs of PM dc commutator motors

Constructional designs of PM dc brushless & ac synchronous motors

• Conventional slotted stators

(a) Surface PM rotor (b) Surface inset PM rotor

(c) Interior PM rotor

Fig. Different rotor structures of BLDC motors

1. Comparison between conventional DC motor and PMBLDC motor. May-2017

Efficiency Low / Moderate High

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

Rotor inertia High Low

S. No Mechanical Commutator Electronic commutator

Commutator arrangement is located in the Commutator arrangement is located in the

Shaft position sensing is inherent in the

Number of commutator segments is very Number of switching devices is limited to

Sliding contact between commutator and

6 Sparking takes place. There is no sparking.

Reliability can be improved by specially

3. Explain briefly constructional and working principle of PMBLDC motors.

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

➢ Out runner configuration:

Fig. construction of BLDC motor

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

Fig. (a) Star connected (b) delta connected motors

4. Explain the operation of PMBLDC motor. Dec-2016

2. Dynamic equilibrium (steady state):

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

Fig. PM excited DC motor – equivalent circuit

3. Electro-mechanical power transfer:

Types of BLDC based on magnetic arc:

BLPM square wave dc motor:

There are two types of BLPM square wave DC motor

EE 6703 / SEM Unit - 04 Muthukumar.G.G / EEE / MEC

(a) 120° magnetic arc BLDC motor: