This paper uses a previously developed model for the brushless dc motor (BDCM) to investigate its torque behavior. When the input currents and motor flux linkages are perfect, no torque pulsations are produced in this motor. However imperfections in the current arise due to finite commutation times while imperfections in the flux linkage can arise due to the phase spread, finite slot numbers and manufacturing tolerances. Using an harmonic analysis, the effects of these imperfections on the production of torque in a BDCM are investigated. It is shown that torque pulsations and a reduction in the average value of torque is produced, both of which can affect the performance of torque, speed and position servos.
1.INTRODUCTIONAC servo drives are commanding a larger share of the servo market each year. The advantages of ac servo drives over dc include increased robustness, reduced maintenance and higher torque and speed bandwidths. The ac motors that are used include the induction, permanent magnet synchronous and permanent magnet brushless dc machines [I].Some of the advantages of permanent magnet machines over induction [ 2 ] include higher torque to inertia ratios and power densities, lower rated rectifier and inverter ratings during constant torque operation and higher efficiencies. Hence permanent magnet machines may be preferable for applications where weight or efficiency is of importance, for example in the aerospace industry or electric vehicles.The permanent magnet synchronous motor (PMSM) and the brushless dc motor (BDCM) have many similarities. They both have permanent magnets on the rotor and require alternating stator currents to produce constant torque. The difference [3,4] between them is that the PMSM has a sinusoidal back emf while the BDCM has a trapezoidal back emf. This leads to different operating and control requirement for these two machines as explained in [4].The dynamic behavior of a BDCM has been studied [SI and the results indicate that the BDCM can be subject to severe torque pulsations [ 6 ] due to the stator currents commutating from one phase to another. Torque pulsations are also created by the magnet flux linkage deviating from the ideal.The above imperfections also create the possibility of a reduction in the average value of torque. These phenomena can affect the performance of torque, speed or position servos.The object of this paper is to quantitatively determine the motor characteristics that affect the production of torque in a BDCM. Attention is paid to the overall torque pulsations as well as individual torque harmonics. The torque behavior during flux weakening operation is also addressed. The nonsinusoidal currents and flux linkages are represented by Fourier series and the impact of R.Krishnan different flux and current harmonics on the motor torque are investigated.The paper is organized as follows: Section I1 presents the mathematical model of a BDCM. Section 111 discusses torque production in a BDCM and shows how the dynamic mathematical model in section I1 can be used ...