Motor: Vijayanandh R Assistant Professor, AERO, KCT

Motor
Vijayanandh R
Assistant Professor, AERO, KCT
Motor Modeling – fundamental eqn
I
V  ,
Voltage and
Current In Q Heat Out
Pin  P
Torque and Speed
Out
Power In = Power Out
VI  Q  
VI  I R  
2
Motor Modeling
F  IL  B
  Kt I
Parameters to be considered
• Thrust to Weight Ratio
• Motor Size and KV
• Permanent magnet rate (P and N)
Thrust to Weight Ratio
• Thrust to Weight Ratio is prime factor to
select the motor
– A general rule is that the motors should be able to
provide twice as much thrust as the total weight
of the multi-rotor UAV.
Motor Size
• Brushless motors are typically categorized by a
four-digit number – such as **##. where as
the “**” numbers are the stator width and
“##” is the stator height.
• Essentially, the wider and taller the motor is,
the larger the numbers are and the more
torque it can produce.
Sample Numbering of BLDC motor
KV rate
• Higher KV motors would turn the propeller
quicker with less torque, and lower KV motors
create higher torque with less rotation.
• Bigger props are matched with low KV motors,
and smaller props with high KV motors.
– By matching high KV motors with excessively large
propellers, the motors will try to turn them quickly like
it would do with smaller props, and this will draw a lot
of current and produced an excessive amount of heat.
Kv versus torque
• DC motors are relatively simple machines:
when the load on the motor is constant, speed
is proportional to supply voltage. And when
supply voltage is constant, speed is inversely
proportional to the load on the motor.
KV rate
• KV rate is directly proportional to the cross
section of the coil (resistance and cross section
of the coils are inversely relate with each other )
• KV rate is inversely proportional to the amount
of magnetic flux induced by the permanent
magnet (increase the magnetic flux may chance
to decrease the resultant electro motive force)
• KV rate is inversely proportional to the number
of coils (increase the number of coils may
chance to increase the resistance)
Rotational speed versus torque
• From the above

equation, it is
understood that the
rotational speed is
directly proportional to
the voltage and
inversely proportional
to the torque produced.
Examples
Basic Classification
• Brushed Motor
• Brushless Motor
– In-runner
– Out-runner
Components of Brushed Motor
• Stator
• Rotor / Armature
• Commutator
• Brush
Components of Brushless Motor
• Stator
• Rotor
• Electronic Controller
Brushed Motor Pros
• Two wire control
• Replaceable brushes for extended life
• Low cost of construction
• Simple and inexpensive control
• No controller is required for fixed speeds
• Operates in extreme environments due to lack
of electronics
Brushed Motor Cons
• Periodic maintenance is required
• Speed/torque is moderately flat. At higher speeds,
brush friction increases, thus reducing useful torque
• Poor heat dissipation due to internal rotor
construction
• Higher rotor inertia which limits the dynamic
characteristics
• Lower speed range due to mechanical limitations on
the brushes
• Brush Arcing will generate noise causing EMI
BLDC Motor Advantages
• High Speed Operation – A BLDC motor can operate at speeds
above 10,000 rpm under loaded and unloaded conditions.
• Responsiveness & Quick Acceleration – Inner rotor Brushless
DC motors have low rotor inertia, allowing them to
accelerate, decelerate, and reverse direction quickly.
• High Power Density – BLDC motors have the highest running
torque per cubic inch of any DC motor.
• High Reliability – BLDC motors do not have brushes, meaning
they are more reliable and have life expectancies of over
10,000 hours. This results in fewer instances of replacement
or repair and less overall down time for your project.
BLDC Motor Pros
• Electronic commutation based on Hall position sensors
• Less required maintenance due to absence of brushes
• Speed/Torque- flat, enables operation at all speeds with rated
load
• High efficiency, no voltage drop across brushes
• High output power/frame size. Reduced size due to superior
thermal characteristics. Because BLDC has the windings on the
stator, which is connected to the case, the heat dissipation is
better
• Higher speed range – no mechanical limitation imposed by
brushes / commutator
• Low electric noise generation
BLDC Motor Cons
• Higher cost of construction
• Control is complex and expensive
• Electric Controller is required to keep the
motor running. It offers double the price of
the motor.
Magnetic Force On A Current – Carrying
Conductor
• The magnetic force (F) the conductor
experiences is equal to the product of its
length (L) within the field, the current I in the
conductor, the external magnetic field B and
the sine of the angle between the conductor
and the magnetic field. In short
F= BIL (sin)

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Motor

Power In = Power Out

• From the above

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