In 9 minutes you explained something I've been bashing my head against for literally years. I'm spreading your playlist far and wide. This is the best series on electric motors and control schemes I've seen. It has perfect "mid range" knowledge. Everything else is either "motors go brrr" or "starting with a mathematical derivation of the creation of the universe we show that our control scheme is 0.25% more efficient than a squirrel in a rotating reference cow"
I wanted to take a moment to express my deepest gratitude for the invaluable guidance and enlightening content you provide on your UA-cam channel. Your exceptional ability to simplify complex topics, particularly electrical motors and control, has made a profound impact on my understanding. Your clarity and simplicity in illustrating such intricate subject matter have not only enhanced my knowledge but also sparked a newfound passion for the field. Your dedication to sharing knowledge and expertise in such an approachable manner is truly commendable and inspiring. Your videos have been instrumental in helping me navigate through what initially seemed like a daunting topic, and for that, I am sincerely grateful. Thank you for being a beacon of knowledge and empowerment in the realm of electrical engineering. Your work has undoubtedly made a positive difference in my learning journey and has left an indelible mark on my pursuit of understanding electrical motors and control.
best video of park / clarke ive seen yet. thank you for putting the matrix math explanation. everyone else just says "out of scope/ too complicated. you wereshort concise to the point. brilliant. finally understand the "complicated" transformation
I want to thank you so much for all your videos about motors ! I am in my last year of Master's degree in Electrical Engineering in France and understanding Clarke and Park transformations was (and sometimes is still) a such pain for me. I believe it is really hard to understand the meaning of all the equations without representing the motor in a video like you do. Your way of explaining physical problems should be applied in all universities. I wish you all the best for your journey throught the Doctoral's degree ! :-)
If I had watched this video before my interview, I could have probably cracked it. The current flow direction, magnetic field direction and torque direction you explained at the start could’ve saved me. :)
Such a specific topic to cover; I was bracing for a really bad video made by someone with a really bad mic, but WOW! This is really good! I don't think I have ever subscribed to someone that quickly!
Greetings from Germany here! I'm in my third year of electrical engineering and my professor was not really able to explain that very well. So your video was a real blessing, thank you so so much.
So that comes from the second equation shown on screen, all multiplied by 1/2. basically, if iA + iB + iC = 0, then iA = -(iB-+C), which means 1/2 iA = -1/2(iB+iC). Now, why that is useful, is that if you plug it into the top equation, which says iAlpha =2/3*( iA - 1/2iB - 1/2iC), you get iAlpha = 2/3*(iA + 1/2iA). This becomes iAlpha = 2/3*(3/2 iA), meaning iAlpha = iA. hope that helps!
Amazing! I'm still curious about that transformation but in a salient pole rotor. Thanks for the explanation! This illustration helped a lot understand the Clarke transform particularly.
lol me too. haha, i plan to see this through the 15 episodes i originally planned it as. The schedule has just slowed a bit because my professional work has gotten busy and i have had lots of projects i have had to do around the house too. My next episode is on the feedback control of motors, and should be out in the next week or so!
Such a great tutorial series! I'd like to see you talk about the 'new' motors using switched reluctance. I'm working on a '4-wire' motor where you only have north magnets and energize a single pole that rotates around the stator. I don't know why it would not work, maybe better, but with less power density, it should also runs cooler. Seeing how the car evs are done, they all require substantial water/oil cooling. An air-cooled motor, with say 4 motors one for each wheel, would be so much simpler.
6:50 HOL up! Is that how field weakening can be achieved in a BLDC that does not have the capability of increasing reluctance/coupling between stator and rotor?
I think it is important to mention that the dq0 (Park) transform has several different variations. I believe the version you describe is the same as the one described on Wikipedia (en.wikipedia.org/wiki/Direct-quadrature-zero_transformation#The_DQZ_transform). The "classic" way would put the direct axis in line with the A-phase current with the quadrature lagging by 90 degrees instead of leading. At least that is what I remember, but I could be wrong. I came here to refresh my memory after all haha.
i can understand for permanent magnet motor but can not for asynchronous motor (beacuase induction motor must have slip so how to perform this method on this type of motor )
i'm just a little confused, it's about the direction of the current. If i put the phase A to +VCC, phase B and C to gnd, the current will flow from A to B and C. At this moment, the alpha current will be equal to (-|iA|) or (|iA|)?🤔
Are the transformations the same for both wye and delta connected motors? The poles are physically in the same place and they are both ideally commuted with sinusiodal currents with 120 degree separation but the currents are distributed differently when injecting a curreny into one of the phases. Great videos btw.
Hey, thanks so much! It is my understanding that it would be the same for each winding pattern when performing these transformations. Because in both wye and delta configurations, you could represent the three phases as 2D vectors in the direction of the applied voltage/current flows. And, at the end of the day, these two transformations are more about the geometry of converting 3 2D vectors into two orthogonal components.
Hi thank you for great videos. I want to ask something. I am reading my rotor positon with magnetic encoder want to find my zero electrical angle. I am applying PhaseA= V*cos(0), PhaseB=V*cos(-120), PhaseC=V.cos(-240) then motor moving a little bit and stops. So this position is my zero electrical angle. But I dont know the theory behind them, do you have any idea? Thank you .
great question! so what you are doing here is you are applying a current (and thus a magnetic field) in a known orientation. if you hold this field constant, it will create a torque in the rotor which turns the D axis to be in line with your induced field. So, what you are doing is generating a field which turns your rotor so that D points (in my diagram) to the left, and calling that zero degrees. Edited because I mistyped. In original reply I had 'Q' not 'D'
@Jantzen Lee thank you for answer, you said that " it will create a torque in the rotor which turns the Q axis to be in line with your induced field ". I was think that D axis will turns to be in line with my induced field.
@@gokhankiremit4322 you are totally correct, sorry I answered in a rush and mistyped and then got myself confused. I am going to go back and edit my first comment so that if anyone else is reading through it doesnt get them confused
Very informing video, thanks Sir, it helps me in a school project! In a dc motor as you said vector of the magnetic field in the rotor is perpendicular to the vector of the current so d and q axis are orthorgonal. In an ac induction motor however, is it the same that d and q axis need to be orthorgonal to produce maximum torque? Thank You
hello sir! I have a problem that is Iq is minus 1! I check my formual is OK. my three phase input is : A phase is sine(theta), B phase is sine(theta - 120), C phase is sine(theta + 120), clark and park formual just like the video. why Iq is minus 1?
☠️☠️☠️ I've been experiencing extremely dangerous episodes of the motor not stopping as soon as I turn the throttle , related to high humidity conditions ! I think it's because the humidity increases conductivity of the hall sensors in the throttle . can you recommend a good throttle ? I think the manufacturers are going to have to make them water proof. I experienced the same issue with a different throttle , battery and controller. just using the bike after a rain storm is enough to cause the issue. We must have a throttle will a switch to cut power ! ☠️ Also stop using hot glue on the Hall sensors ! It melts were I live ! And make the throttle not Fall apart so easy , and they need to be made with softer grips or made to accept normal grip's.
Thanks! I know matrix math can be intimidating, but if you are interested in learning it, 3blue1brown has a great linear algerbra series (way better than how it was taught to me in undergrad) that is worth checking out!
@@jtlee1108 Thank you i know 3brow1blue too he mades very good videos. But actually i've learned a lot of thing since i've started my first year in prep class so i think that i can know continue to watch your serie ;)
In 9 minutes you explained something I've been bashing my head against for literally years. I'm spreading your playlist far and wide. This is the best series on electric motors and control schemes I've seen. It has perfect "mid range" knowledge. Everything else is either "motors go brrr" or "starting with a mathematical derivation of the creation of the universe we show that our control scheme is 0.25% more efficient than a squirrel in a rotating reference cow"
Very nicely put together video! Taking the magic out of the park&clarke transforms. Thanks!
In 9 minutes you explained something I've been bashing my head against for literally years. I'm spreading your playlist far and wide. This is the best series on electric motors and control schemes I've seen. It has perfect "mid range" knowledge. Everything else is either "motors go brrr" or "starting with a mathematical derivation of the creation of the universe we show that our control scheme is 0.25% more efficient than a squirrel in a rotating reference cow"
Lmao rotating reference cow 😂😂
This series is amazing. I can't believe there's such a high-quality well-explained series that goes into such detail on this topic
I wanted to take a moment to express my deepest gratitude for the invaluable guidance and enlightening content you provide on your UA-cam channel.
Your exceptional ability to simplify complex topics, particularly electrical motors and control, has made a profound impact on my understanding. Your clarity and simplicity in illustrating such intricate subject matter have not only enhanced my knowledge but also sparked a newfound passion for the field.
Your dedication to sharing knowledge and expertise in such an approachable manner is truly commendable and inspiring. Your videos have been instrumental in helping me navigate through what initially seemed like a daunting topic, and for that, I am sincerely grateful.
Thank you for being a beacon of knowledge and empowerment in the realm of electrical engineering. Your work has undoubtedly made a positive difference in my learning journey and has left an indelible mark on my pursuit of understanding electrical motors and control.
best video of park / clarke ive seen yet. thank you for putting the matrix math explanation. everyone else just says "out of scope/ too complicated. you wereshort concise to the point. brilliant. finally understand the "complicated" transformation
I want to thank you so much for all your videos about motors ! I am in my last year of Master's degree in Electrical Engineering in France and understanding Clarke and Park transformations was (and sometimes is still) a such pain for me. I believe it is really hard to understand the meaning of all the equations without representing the motor in a video like you do. Your way of explaining physical problems should be applied in all universities. I wish you all the best for your journey throught the Doctoral's degree ! :-)
If I had watched this video before my interview, I could have probably cracked it. The current flow direction, magnetic field direction and torque direction you explained at the start could’ve saved me. :)
I've spent nearly a month trying to learn why there are dq axes in a motor. No book or lecture has explained it as well as this video!
agreee
Thank you for doing this video series. This was exceptionally clear and well-illustrated.
Subscribed just because your explanations are simple and clear, with just enough background information
Such a specific topic to cover; I was bracing for a really bad video made by someone with a really bad mic, but WOW! This is really good! I don't think I have ever subscribed to someone that quickly!
Greetings from Germany here! I'm in my third year of electrical engineering and my professor was not really able to explain that very well. So your video was a real blessing, thank you so so much.
Goshhh, i just found that and thought you would be a huge channel! What quality bro! Congratzzz
Crystal clear! Learn a lot from this video, thanks !
This is called ART
Wow, beautiful explanation!
at 5:29
IB & IC will have -ve components in the alfa axis
So I alfa will equal IA - 0.5(IB + IC)
Is that right or I misunderstand any thing ?
@ 5:23 I don't see where the 1/2 iA = -1/2 ( iB + i C) comes from. Could anyone please help. Thanks
So that comes from the second equation shown on screen, all multiplied by 1/2. basically, if iA + iB + iC = 0, then iA = -(iB-+C), which means 1/2 iA = -1/2(iB+iC).
Now, why that is useful, is that if you plug it into the top equation, which says iAlpha =2/3*( iA - 1/2iB - 1/2iC), you get iAlpha = 2/3*(iA + 1/2iA). This becomes iAlpha = 2/3*(3/2 iA), meaning iAlpha = iA.
hope that helps!
@@jtlee1108 Thanks for your prompt reply! Yes, that does help alot.. Thanks again.
Amazing! I'm still curious about that transformation but in a salient pole rotor. Thanks for the explanation! This illustration helped a lot understand the Clarke transform particularly.
I hope you have motivation to continue with this project, I am making a motor controller and I use your videos as a guide
lol me too. haha, i plan to see this through the 15 episodes i originally planned it as. The schedule has just slowed a bit because my professional work has gotten busy and i have had lots of projects i have had to do around the house too. My next episode is on the feedback control of motors, and should be out in the next week or so!
@@jtlee1108 I studied control theory, but I did not know anything about motors, now I need to learn about sensors :D
I am refreshing on this information fore taking a transients class. This was really helpful, thank you!
Best Video on the alpha beta transformation
Here from the simpleFOC discord- great video
Such a great tutorial series! I'd like to see you talk about the 'new' motors using switched reluctance.
I'm working on a '4-wire' motor where you only have north magnets and energize a single pole that rotates around the stator.
I don't know why it would not work, maybe better, but with less power density, it should also runs cooler.
Seeing how the car evs are done, they all require substantial water/oil cooling. An air-cooled motor, with say 4 motors one for each wheel, would be so much simpler.
6:50 HOL up! Is that how field weakening can be achieved in a BLDC that does not have the capability of increasing reluctance/coupling between stator and rotor?
Great explanation. Well done.
WONFERFUL Channel to learn
I think it is important to mention that the dq0 (Park) transform has several different variations. I believe the version you describe is the same as the one described on Wikipedia (en.wikipedia.org/wiki/Direct-quadrature-zero_transformation#The_DQZ_transform). The "classic" way would put the direct axis in line with the A-phase current with the quadrature lagging by 90 degrees instead of leading. At least that is what I remember, but I could be wrong. I came here to refresh my memory after all haha.
Amazing explanation, thank you!
Awesome. Nicely explained. Thank you so much.
Congrats for you very very nice job, transformations are very well explained, in the clearest way ;)
i can understand for permanent magnet motor but can not for asynchronous motor (beacuase induction motor must have slip so how to perform this method on this type of motor )
i'm just a little confused, it's about the direction of the current. If i put the phase A to +VCC, phase B and C to gnd, the current will flow from A to B and C. At this moment, the alpha current will be equal to (-|iA|) or (|iA|)?🤔
Are the transformations the same for both wye and delta connected motors? The poles are physically in the same place and they are both ideally commuted with sinusiodal currents with 120 degree separation but the currents are distributed differently when injecting a curreny into one of the phases. Great videos btw.
Hey, thanks so much! It is my understanding that it would be the same for each winding pattern when performing these transformations. Because in both wye and delta configurations, you could represent the three phases as 2D vectors in the direction of the applied voltage/current flows. And, at the end of the day, these two transformations are more about the geometry of converting 3 2D vectors into two orthogonal components.
Hi thank you for great videos. I want to ask something. I am reading my rotor positon with magnetic encoder want to find my zero electrical angle. I am applying PhaseA= V*cos(0), PhaseB=V*cos(-120), PhaseC=V.cos(-240) then motor moving a little bit and stops. So this position is my zero electrical angle. But I dont know the theory behind them, do you have any idea? Thank you .
great question! so what you are doing here is you are applying a current (and thus a magnetic field) in a known orientation. if you hold this field constant, it will create a torque in the rotor which turns the D axis to be in line with your induced field. So, what you are doing is generating a field which turns your rotor so that D points (in my diagram) to the left, and calling that zero degrees.
Edited because I mistyped. In original reply I had 'Q' not 'D'
@Jantzen Lee thank you for answer, you said that " it will create a torque in the rotor which turns the Q axis to be in line with your induced field ". I was think that D axis will turns to be in line with my induced field.
@@gokhankiremit4322 you are totally correct, sorry I answered in a rush and mistyped and then got myself confused. I am going to go back and edit my first comment so that if anyone else is reading through it doesnt get them confused
Amazing teaching bro
Very informing video, thanks Sir, it helps me in a school project! In a dc motor as you said vector of the magnetic field in the rotor is perpendicular to the vector of the current so d and q axis are orthorgonal. In an ac induction motor however, is it the same that d and q axis need to be orthorgonal to produce maximum torque? Thank You
Excellent!
Beautiful!
hello sir! I have a problem that is Iq is minus 1! I check my formual is OK. my three phase input is : A phase is sine(theta), B phase is sine(theta - 120), C phase is sine(theta + 120), clark and park formual just like the video. why Iq is minus 1?
You are great
☠️☠️☠️ I've been experiencing extremely dangerous episodes of the motor not stopping as soon as I turn the throttle , related to high humidity conditions ! I think it's because the humidity increases conductivity of the hall sensors in the throttle . can you recommend a good throttle ? I think the manufacturers are going to have to make them water proof. I experienced the same issue with a different throttle , battery and controller. just using the bike after a rain storm is enough to cause the issue. We must have a throttle will a switch to cut power ! ☠️ Also stop using hot glue on the Hall sensors ! It melts were I live ! And make the throttle not Fall apart so easy , and they need to be made with softer grips or made to accept normal grip's.
Oh no too bad, i didn't learned the matrices yet ;(
But from what i understand it's well explained in my opinion.
Thanks! I know matrix math can be intimidating, but if you are interested in learning it, 3blue1brown has a great linear algerbra series (way better than how it was taught to me in undergrad) that is worth checking out!
@@jtlee1108 Thank you i know 3brow1blue too he mades very good videos.
But actually i've learned a lot of thing since i've started my first year in prep class so i think that i can know continue to watch your serie ;)
Do Resolvers.
Kirchhoff like Kirkh-goff
Reynolds Extension
Super man..........
Taught everyone your profession ? Lost your job ?
(huzzah.)
your explanation is so fast we can’t catch up with you
Ashleigh Points
In 9 minutes you explained something I've been bashing my head against for literally years. I'm spreading your playlist far and wide. This is the best series on electric motors and control schemes I've seen. It has perfect "mid range" knowledge. Everything else is either "motors go brrr" or "starting with a mathematical derivation of the creation of the universe we show that our control scheme is 0.25% more efficient than a squirrel in a rotating reference cow"