6-Phase PMSM BLDC Section

Machine Configuration

Direct Axis Inductance 1

L_d,1

H

0.002984

Direct-axis inductance of the ABC stator windings of the machine

Direct Axis Inductance 2

L_d,2

H

0.002984

Direct-axis inductance of the XYZ stator windings of the machine

Quadrature Axis Inductance 1

L_q,1

H

0.004576

Quadrature-axis inductance of the ABC stator windings of the machine

Quadrature Axis Inductance 2

L_q,2

H

0.004576

Quadrature-axis inductance of the XYZ stator windings of the machine

Back EMF Profile

Default

Sets the waveform shape of the back EMF:

• Default - The back EMF is sinusoidal.

• User Defined - The shape of the back EMF waveform is defined by the Back EMF File [JSON].

Preview

Displays a preview of the back EMF waveform shape defined in the Back EMF File. This button is displayed when Back EMF Profile is set to User Defined and the Back EMF File Path is specified.

Back EMF File Path

Specifies the path to the Back EMF File on disk. This control is displayed when Back EMF Profile is set to User Defined.

Initial Angle

θ₀

deg

0

Initial angle of the 6-phase machine.  Note that the XYZ stator windings are offset from the ABC windings by a constant value of 30°.

Phase A Resistance

R_a

Ω

0.12

Phase A Resistance of the machine

Phase B Resistance

R_b

Ω

0.12

Phase B Resistance of the machine

Phase C Resistance

R_c

Ω

0.12

Phase C Resistance of the machine

Permanent Magnet Flux Linkage 1

ψ_M,1

Wb

0.25366

Peak permanent magnet flux linkage of phases ABC of the machine

Permanent Magnet Flux Linkage 2

ψ_M,2

Wb

0.25366

Peak permanent magnet flux linkage of phases XYZ of the machine

Pole Pairs

pp

3

Number of pole pairs of the 6-phase machine

Phase X Resistance

Rx

Ω

0.12

Phase X Resistance of the machine

Phase Y Resistance

Ry

Ω

0.12

Phase Y Resistance of the machine

Phase Z Resistance

Rz

Ω

0.12

Phase Z Resistance of the machine

Direct Quadrature Transform Angle Offset

Aligned

The angle offset applied to the Reference Frame Transformation of both 3-phase machine models making up the 6-phase machine.

• Aligned - Indicates that the d-axis is aligned with Phase A at t = 0. In this case, θ_offset = 0°. This is illustrated in Figure 2.

• 90 Degrees behind Phase A - Indicates that the q-axis is aligned with Phase A at t = 0. In this case, θ_offset = -90°.

Applied Solver Timestep

T_s

s

1.2E-7

The timestep at which the machine model executes.

New outputs are computed by the FPGA machine model at each timestep. If Optimize Solver Timesteps is enabled in the Circuit Model page, the Applied Solver Timestep is automatically set to an optimal value and cannot be edited.

Minimum Solver Timestep

T_sm

s

1.0E-7

The minimum achievable timestep at which the machine model can execute

Machine Configuration

Model File

Specifies the path to the JSON Motor Model file on disk. Refer to PMSM BLDC Motor Model File [JSON] for details regarding the file format. The parameters in this file are applied to both 3-phase machine models making up the 6-phase machine.

Enable Advanced Channels

False

Allows certain machine parameters to be exposed as tunable VeriStand Channels. See the PMSM Variable Ld/Lq Channels section below for more details.

This checkbox is only available after a Model File has been specified.

Back EMF Profile

Default

Sets the waveform shape of the back EMF:

• Default - The back EMF is sinusoidal.

• User Defined - The shape of the back EMF waveform is defined by the Back EMF File [JSON].

Preview

Displays a preview of the back EMF waveform shape defined in the Back EMF File. This button is displayed when Back EMF Profile is set to User Defined and the Back EMF File Path is specified.

Back EMF File Path

Specifies the path to the Back EMF File on disk. This control is displayed when Back EMF Profile is set to User Defined.

Initial Angle

θ₀

deg

0

Initial Angle of the 6-phase machine.  Note that the XYZ stator windings are offset from the ABC windings by a constant value of 30° 

Applied Solver Timestep

T_s

s

1.2E-7

The timestep at which the machine model executes.

New outputs are computed by the FPGA machine model at each timestep. If Optimize Solver Timesteps is enabled in the Circuit Model page, the Applied Solver Timestep is automatically set to an optimal value and cannot be edited.

Minimum Solver Timestep

T_sm

s

1.0E-7

The minimum achievable timestep at which the machine model can execute

Machine Configuration

Stator 1 Inductance

L_s,1

Henry

0.002984 H

Stator inductance of the ABC windings

Stator 2 Inductance

L_s,2

Henry

0.002984 H

Stator inductance of the XYZ windings

Back EMF Profile

Default

Sets the waveform shape of the back EMF:

• Default - The back EMF is trapezoidal.

• User Defined - The shape of the back EMF waveform is defined by the Back EMF File [JSON].

Preview

Displays a preview of the back EMF waveform shape defined in the Back EMF File. This button is displayed when Back EMF Profile is set to User Defined and the Back EMF File Path is specified.

Back EMF File Path

Specifies the path to the Back EMF File on disk. This control is displayed when Back EMF Profile is set to User Defined.

Back EMF Flat Area

H

Degrees

0

Describes the length of the flat area of the trapezoidal back-EMF waveform, in degrees.  This control is displayed when Back EMF Profile is set to Default.

Please see Trapezoidal Back-EMF Characteristics for a description of the waveform.

Initial Angle (Deg)

θ₀

Degrees

0°

Initial angle of the 6-phase machine.  Note that the XYZ stator windings are offset from the ABC windings by a constant value of 30° 

Phase A Resistance

R_a

Ohm

0.12 Ω

Phase A Resistance of the machine

Phase B Resistance

R_b

Ohm

0.12 Ω

Phase B Resistance of the machine

Phase C Resistance

R_c

Ohm

0.12 Ω

Phase C Resistance of the machine

Permanent Magnet Flux Linkage 1

ψ_M

Weber

0.25366 Wb

Peak permanent magnet flux linkage of phases ABC of the machine

Permanent Magnet Flux Linkage 2

ψ_M

Weber

0.25366 Wb

Peak permanent magnet flux linkage of phases XYZ of the machine

Pole Pairs

pp

3

Number of pole pairs of the 6-phase machine

Phase X Resistance

Rx

Ohm

0.12 Ω

Phase X Resistance of the machine

Phase Y Resistance

Ry

Ohm

0.12 Ω

Phase Y Resistance of the machine

Phase Z Resistance

Rz

Ohm

0.12 Ω

Phase Z Resistance of the machine

Direct Quadrature Transform Angle Offset

Aligned

The angle offset applied to the Reference Frame Transformation of both 3-phase machine models making up the 6-phase machine.

• Aligned - Indicates that the d-axis is aligned with Phase A at t = 0. In this case, θ_offset = 0°. This is illustrated in Figure 2.

• 90 Degrees behind Phase A - Indicates that the q-axis is aligned with Phase A at t = 0. In this case, θ_offset = -90°.

Applied Solver Timestep

T_s

Second

1.2E-7 s

The timestep at which the machine model executes.

New outputs are computed by the FPGA machine model at each timestep. If Optimize Solver Timesteps is enabled in the Circuit Model page, the Applied Solver Timestep is automatically set to an optimal value and cannot be edited.

Minimum Solver Timestep

T_sm

Second

1.0E-7

The minimum achievable timestep at which the machine model can execute.

Current Phase A

I_a

Output

A

Phase A current measured at the stator

Current Phase B

I_b

Output

A

Phase B current measured at the stator

Current Phase C

I_c

Output

A

Phase C current measured at the stator

Current Phase X

I_x

Output

A

Phase X current measured at the stator

Current Phase Y

I_y

Output

A

Phase Y current measured at the stator

Current Phase Z

I_z

Output

A

Phase Z current measured at the stator

Average Voltage Phase A

V_a,avg

Output

V

Averaged Phase A voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159 Hz

(1)

Average Voltage Phase B

V_b,avg

Output

V

Averaged Phase B voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159Hz.

Average Voltage Phase C

V_c,avg

Output

V

Averaged Phase C voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159Hz

Average Voltage Phase X

V_x,avg

Output

V

Averaged Phase X voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159Hz

Average Voltage Phase Y

V_y,avg

Output

V

Averaged Phase Y voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159Hz

Average Voltage Phase Z

V_z,avg

Output

V

Averaged Phase Z voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159Hz

Three-Phase Active Power 1

P₁

Output

W

Three-phase instantaneous active electrical power of the stator windings ABC.

See the Power section for more information on how this is calculated.

Three-Phase Reactive Power 1

Q₁

Output

VAR

Three-phase instantaneous reactive electrical power of the stator windings ABC.

See the Power section for more information on how this is calculated.

Three-Phase Active Power 2

P₂

Output

W

Three-phase instantaneous active electrical power of the stator windings XYZ.

See the Power section for more information on how this is calculated.

Three-Phase Reactive Power 2

Q₂

Output

VAR

Three-phase instantaneous reactive electrical power in of the stator windings XYZ

See the Power section for more information on how this is calculated.

Direct Axis Stator 1 Current

I_d,1

Output

A

Direct-axis stator current of the ABC stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Quadrature Axis Stator 1 Current

I_q,1

Output

A

Quadrature-axis stator current of the ABC stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Direct Axis Stator 2 Current

I_d,2

Output

A

Direct-axis stator current of the XYZ stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Quadrature Axis Stator 2 Current

I_q,2

Output

A

Quadrature-axis stator current of the XYZ stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Back-EMF Phase A

V_bemf,a

Output

V

The electromotive force induced by the machine rotation, measured from Phase A to neutral

Back-EMF Phase B

V_bemf,b

Output

V

The electromotive force induced by the machine rotation, measured from Phase B to neutral

Back-EMF Phase C

V_bemf,c

Output

V

The electromotive force induced by the machine rotation, measured from Phase C to neutral

Back-EMF Phase X

V_bemf,x

Output

V

The electromotive force induced by the machine rotation, measured from Phase X to neutral

Back-EMF Phase Y

V_bemf,y

Output

V

The electromotive force induced by the machine rotation, measured from Phase Y to neutral

Back-EMF Phase Z

V_bemf,z

Output

V

The electromotive force induced by the machine rotation, measured from Phase Z to neutral

Permanent Magnet Flux Linkage 1

ψ_M,1

Output

Wb

Latest-value measurement of the ABC Permanent Magnet Flux Linkage used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Fm table in the Machine Model File.

Permanent Magnet Flux Linkage 2

ψ_M,2

Output

Wb

Latest-value measurement of the XYZ Permanent Magnet Flux Linkage used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Fm table in the Machine Model File.

Direct Axis Inductance 1

L_d,1

Output

H

Latest-value measurement of the ABC stator winding Direct Axis Inductance used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Ld table in the Machine Model File.

Quadrature Axis Inductance 1

L_q,2

Output

H

Latest-value measurement of the ABC stator winding Quadrature Axis Inductance used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Lq table in the Machine Model File.

Direct Axis Inductance 2

L_d,2

Output

H

Latest-value measurement of the XYZ stator winding Direct Axis Inductance used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Ld table in the Machine Model File.

Quadrature Axis Inductance 2

L_q,2

Output

H

Latest-value measurement of the ABC stator winding Quadrature Axis Inductance used at the input of the electrical model.

For the PMSM Constant Ld/Lq and BLDC Constant Ls machine types, this channel returns the constant value defined by the user in the Machine Configuration section.

For the PMSM Variable Ld/Lq machine type, this channel returns the value obtained from the Lq table in the Machine Model File.

Direct Axis Stator 1 Voltage

V_d,1

Output

V

Direct-axis stator voltage of the ABC stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Quadrature Axis Stator 1 Voltage

V_q,1

Output

V

Quadrature-axis stator voltage of the ABC stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Direct Axis Stator 2 Voltage

V_d,2

Output

V

Direct-axis stator voltage of the XYZ stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Quadrature Axis Stator 2 Voltage

V_q,2

Output

Volts

Quadrature-axis stator voltage of the XYZ stator windings in the dq reference frame.

For a description of the abc to dq transform used to compute this value, see Reference Frame Transformation.

Electromagnetic Torque

T_e

Output

Nm

Torque generated through power at the stator. Refer to the Torque section for more information.

Electrical Angle

θ_e

Output

deg

Position of the rotating magnetic field, as defined by the Electrical Angle Equation.

Resistance Phase A Override

R_a

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase A resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase A resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Resistance Phase B Override

R_b

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase B resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase B resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Resistance Phase C Override

R_c

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase C resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase C resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Resistance Phase X Override

Rx

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase X resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase X resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Resistance Phase Y Override

Ry

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase Y resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase Y resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Resistance Phase Z Override

Rz

Input

Ω

Read from JSON Model File when Advanced Channels are enabled

Phase Z resistance of the machine

When Enable Resistance Override is True, this value overrides the Phase Z resistance value defined in the Machine Model File [JSON]. When Enable Resistance Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Enable Resistance Override

Input

False

Enables the Resistance Phase A Override, Resistance Phase B Override, Resistance Phase C Override, Resistance Phase X Override, Resistance Phase Y Override, and Resistance Phase Z Override channels, allowing the user to modify the phase resistances of the machine while the simulation is running.

When True, the phase resistances of the machine are read from the Resistance Phase A Override, Resistance Phase B Override, Resistance Phase C Override, Resistance Phase X Override, Resistance Phase Y Override, and Resistance Phase Z Override channels.

When False, the phase resistances are read from the table in the Machine Model File [JSON].

Direct Axis Inductance 1 Override

L_d,1

Input

H

0.002984

Direct-axis inductance of the ABC stator windings of the machine

When Enable Inductance Override is True, this value overrides the direct axis inductance value defined in the Machine Model File [JSON] table. When Enable Inductance Override is False, this channel is not used.

This value can be modified while the simulation is running.

Quadrature Axis Inductance 1 Override

L_q,1

Input

H

0.004576

Quadrature-axis inductance of the ABC stator windings of the machine

When Enable Inductance Override is True, this value overrides the direct axis inductance value defined in the Machine Model File [JSON] table. When Enable Inductance Override is False, this channel is not used.

This value can be modified while the simulation is running.

Direct Axis Inductance 2 Override

L_d,2

Input

H

0.002984

Direct-axis inductance of the XYZ stator windings of the machine

When Enable Inductance Override is True, this value overrides the direct axis inductance value defined in the Machine Model File [JSON] table. When Enable Inductance Override is False, this channel is not used.

This value can be modified while the simulation is running.

Quadrature Axis Inductance 2 Override

L_q,2

Input

H

0.004576

Quadrature-axis inductance of the XYZ stator windings of the machine

When Enable Inductance Override is True, this value overrides the direct axis inductance value defined in the Machine Model File [JSON] table. When Enable Inductance Override is False, this channel is not used.

This value can be modified while the simulation is running.

Enable Inductance Override

Input

False

Enables the Direct Axis Inductance Override 1, Quadrature Axis Inductance Override 1, Direct Axis Inductance Override 2 and Quadrature Axis Inductance 2 Override channels, allowing the user to modify the inductances of the machine while the simulation is running.

When True, the inductances of the machine are read from the Direct Axis Inductance Override 1, Quadrature Axis Inductance Override 1, Direct Axis Inductance Override 2 and Quadrature Axis Inductance 2 Override channels.

When False, the direct axis and quadrature axis inductances are read from the table in the Machine Model File [JSON].

Permanent Magnet Flux Linkage 1 Override

ψ_M,1

Input

Wb

0.25366

Permanent magnet flux linkage of the stator windings ABC of the machine

When the Enable Permanent Magnet Flux Linkage Override channel is set to True, instead of reading the Flux Linkage from the 2D ψ_M lookup table defined in the Model File, the motor model will use the following scalar channel value as an input.

When Enable Permanent Magnet Flux Linkage Override is True, this value overrides the flux linkage value defined in the Machine Model File [JSON] table. When Enable Permanent Magnet Flux Linkage Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Permanent Magnet Flux Linkage 2 Override

ψ_M,2

Input

Wb

0.25366

Permanent magnet flux linkage of the stator windings XYZ of the machine

When the Enable Permanent Magnet Flux Linkage Override channel is set to True, instead of reading the Flux Linkage from the 2D ψ_M lookup table defined in the Model File, the motor model will use the following scalar channel value as an input.

When Enable Permanent Magnet Flux Linkage Override is True, this value overrides the flux linkage value defined in the Machine Model File [JSON] table. When Enable Permanent Magnet Flux Linkage Override is False, this channel is not used.

This channel value can be modified while the simulation is running.

Enable Permanent Magnet Flux Linkage Override

Input

False

Enables the Permanent Magnet Flux Linkage 1 Override and Permanent Magnet Flux Linkage 2 Override channel, allowing the user to modify the permanent magnet flux linkage of the machine while the simulation is running.

When True, the flux linkages of the machine are read from the Permanent Magnet Flux Linkage 1 Override and Permanent Magnet Flux Linkage 2 Override channels.

When False, the flux linkages are read from the table in the Machine Model File [JSON].