Permanent Magnet Synchronous Machine Model the dynamics of a three-phase permanent magnet synchronous machine with sinusoidal or trapezoidal back electromotive force, or the dynamics of a five-phase permanent magnet synchronous machine with sinusoidal back electromotive force Library Fundamental Blocks/Machines > Tm: eA ms 28 ec Description ‘The Permanent Magnet Synchronous Machine block operates in either generator or motor mode. The mode of operation is dictated by the sign of the mechanical torque (positive for motor mode, negative for generator mode). The electrical and mechanical parts of the machine are each represented by a second-order state- space model The sinusoidal model assumes that the flux established by the permanent magnets in the stator is sinusoidal, which implies that the electromotive forces are sinusoidal ‘The trapezoidal model assumes that the winding distribution and flux established by the permanent magnets produce three trapezoidal back EMF waveforms. The block implements the following equations. Three-Phase Sinus\ lal Model Electrical System These equations are expressed in the rotor reference frame (qd frame). All quantities in the rotor reference frame are referred to the stator. Ruak Tt Pena j, 2pm ~ PE Pe mia ~ Iq Iq + (La ~ La)iaig] qand d axis inductances R Resistance of the stator windings luis qand d axis currents Va, Ve and d axis voltages Un Angular velocity ofthe rotor d Amplitude of the flux induced by the permanent magnets of the rotor in the stator phases. P Number of pole pairsTe Electromagnetic torque The Lg and Ly inductances represent the relation between the phase inductance and the rotor position due to the saliency of the rotor. For example, the inductance measured between phase a and b (phase c is left open) is given by: Lay = ba + by + (ly = 1 os( 28 + ") e represents the electrical angle. The next figure shows the variation of the phase to phase inductance in function of the electrical angle of the rotor. Phase-Phase inductance (Lab) 2'Ld 0 30 60 90 120 150 180 Electrical angle (se deg) + Fora round rotor, there is no variation in the phase inductance. + Fora salient round rotor, the dq inductances are given by: max(los) Lg and Five-Phase Sinusoidal Model Electrical System These equations are expressed in the rotor reference frame using an extended Park transformation (q1d1 and g2d2 frame). All quantities in the rotor reference frame are referred to the stator. Yay ~ lan * Peles _R Ly APO [Pe mien — T=L Armature inductance R Resistance of the slator windings inti 1 and 41 axis currents Vane Yat @1 and d1 axis voltages ig laa @2 and 42 axis currents Vee Vaz @2 and d2 axis voltages mn ‘Angular velocity ofthe rotor A Amplitude of the flux induced by the permanent magnets of the rotor inthe stator phases P Number of pole pairs Te Electromagnetic torque Three-Phase Trapezoidal Model Electrical System ‘These equations are expressed in the phase reference frame (abc frame). Note that the phase inductance Ls is assumed constant and does not vary with the rotor position, (2vap + Vac ~ BRelg + ADU y (-20) + , + ')) a 3L, d 1 Lip Era t= 3R 6 Aol, 20, + 0)) The electromotive force © is represented by Electamotve free va 10 30 60 9 120 150 180 210 240 270 300 330 $60 300 420 a60 aan 510 S4) 570 600 680 O50 G90 720 TF F go ‘0. 80 60 a 420 150 180 210 240 2¥0 300 330 $60 400 420 450 480 510 S40 570 G00 680 O80 G90 720 Beectica and ls Inductance of the stator windings. R Resistance of the stator windings lassie a,b and c phase currents 5, On, be a,b and c phase electromotive forces Yap Voc ab and bc phase to phase voltages Un Angular velocity of the rotor‘Amplitude of the flux induced by the permanent magnets of he rotor in the stator phases Pp Number of pole pairs Te Electromagnetic torque Mechanical System (for all models) Lo, 5 = Ty Fp ~ Tr) ac 16 =, dt J Combined inertia of rotor and load Combined viscous fiction of rotor and load @ Rotor angular position Tr Shaft mechanical torque T Shaft state friction torque in ‘Angular velociy ofthe rotor (mechanical speed) Dialog Box and Parametersne Permanent Magnet Synchronous Machine (rnask) Implements a three-phase or a five-phase permanent magnet synchronous machine, The stator windings are connected in wye ta an internal neutral pint The three-phase machine can have sinusoidal or trapezoidal back EMF waveform. The rotor can be round of salient-pole for the sinuscidal machine, itis round when the machine is trapezoidal. Preset models are available for the Sinusoidal back EMF machine, ‘The Five-phase machine has a sinusoidal back EMF waveform and round rotor, Preset madels are not available For this type of machine. Configuration | Parameters | Advanced | Number of phases B Back EMF waveform: [sinusoidal Rotor type Round | Mechanical input Torque Tm ¥ Preset model No Measurement output C7 Use signal names to identify bus labels Number of phases Select between a three-phase machine model or a five-phase machine model. This parameter is disabled when the Back EMF waveform parameter is set to Trapezoidal, or when the Rotor type parameter is set to Salient-pole. Back EMF waveform Select between the Sinusoidal and the Trapezoidal electromotive force. This parameter is disabled when the Number of phases parameter is set to 5 Rotor type Select between the Salient-pole and the round (cylindrical) rotor. This parameter is disabled when the Number of phases parameter is set to 5 or when the Back EMF waveform parameter is set to trapezoidal. Mechanical input Select the torque applied to the shaft, the rotor speed as a Simulink® input of the block, or to represent the machine shaft by a Simscape™ rotational mechanical port.Select Torque Tm to specify a torque input, in N.m., and change labeling of the block input to Tm. The machine speed is determined by the machine Inertia J and by the difference between the applied mechanical torque Tm and the intemal electromagnetic torque Te. The sign convention for the mechanical torque is when the speed is positive, a positive torque signal indicates motor mode and a negative signal indicates generator mode. Select Speed w to specify a speed input, in rad/s, and change labeling of the block input to w. The machine ‘speed is imposed and the mechanical part of the model (Inertia J) is ignored. Using the speed as the mechanical input allows modeling a mechanical coupling between two machines. The next figure indicates how to model a stiff shaft interconnection in a motor-generator set when friction torque is ignored in machine 2. The speed output of machine 1 (motor) is connected to the speed input of machine 2 (generator), while machine 2 electromagnetic torque output Te is applied to the mechanical torque input Tm of machine 1. The Kw factor takes into account speed units of both machines (pu or rad/s) and gear box ratio w2/w1. The KT factor takes into account torque units of both machines (pu or N.m) and machine ratings. Also, as the inertia J2 is ignored in machine 2, J2 referred to machine 1 speed must be added to machine 1 inertia J1 Tm w Ww Te _ Machine | ek Machine 2 (specify J=Iy+Ig*(wo/wy)?) (his ignored) 4 Select Mechanical rotational port to add to the block a Simscape mechanical rotational port that allows connection of the machine shaft with other Simscape blocks with mechanical rotational ports. The Simulink input representing the mechanical torque Tm or the speed w of the machine is then removed from the block, The next figure indicates how to connect an Ideal Torque Source block from the Simscape library to the machine shaft to represent the machine in motor mode, or in generator mode, when the rotor speed is positive.Simulink Input: — Tm (mn) ca Permanent Magnet Synchronous Machine (motor mode) Simulink Input: 2 tm im) ea an ec Permanent Magnet Synchronous Machine (generator made) Preset Model Mechanical rotational Ideal Torque, Pent Source, Qa = eS Permanent Magnet TG) sinaiteps cynvenous Machine simulkrs ‘motor mode) ae Mechanical rotational Simulnk-ps Converter ied es tm tlm) Ly wot 4¢-_-D 2 Ideal Torque aa Source se se Pormanent Magnot Synchronous Machine (aenerato- mode) Provides a set of predetermined electrical and mechanical parameters for various permanent magnet synchronous motor ratings of torque (N.m), DC bus voltage (V), rated speed (rpm), and continuous stall torque (N.m). ‘The Preset Model parameter is enabled only when the Number of phases parameter is set to 3, the Back EMF waveform parameter is set to Sinusoidal, and the Rotor type parameter is set to Round. Select one of the preset models to load the comesponding electrical and mechanical parameters in the entries of the dialog box. Select No if you do not want to use a preset model, or if you want to modify some of the parameters of a preset model When you select a preset model, the electrical and mechanical parameters in the Parameters tab of the dialog box become nonmodifiable (unavailable). To start from a given preset model and then modify machine parameters: 1. Select the preset model that you want to initialize the parameters, 2. Change the Preset model parameter value to No. This does not change the machine parameters. It just breaks the connection with the particular preset model 3. Modify the machine parameters as you want, then click Apply. Use signal names to identify bus labels When this check box is selected, the measurement output uses the signal names to identify the bus labels. Select this option for applications that require bus signal labels to have only alphanumeric characters. When this check box is cleared, the measurement output uses the signal definition to identify the bus labels. The labels contain nonalphanumeric characters that are incompatible with some Simulink applications, Parameters Tabne Permanent Magnet Synchronous Machine (ask) Implements a three-phase or a five-phase permanent magnet synchronous machine, The stator windings are connected in wye ta an internal neutral pint The three-phase machine can have sinusoidal or trapezoidal back EMF waveform. The rotor can be round of salient-pole for the sinuscidal machine, itis round when the machine is trapezoidal. Preset models are available for the Sinusoidal back EMF machine, ‘The Five-phase machine has a sinusoidal back EMF waveform and round rator, Preset madels are not available For this type of machine. [Configuration | Parameters | Advanced | Stator phase resistance Rs (ohm): Armature inductance: (H) o.000835 Machine constant i ————— Spey: [Flux linkage estabished by magnets (vs) Flux inkage: [0.07147 Torque constant: | 0.42882 Inertia, viscous damping, pole pairs, static friction [ 3¢kg.m“2) F(N.m.s) px() TF(N.m)]: [ooomzoccss] —~—~—sY Initial conditions [ wm(rad/s) thetam(deo) ia,b¢A) J: (2,0, 0,0] Stator phase resistance The stator phase resistance Rs (0). ‘Armature inductance (H) The armature inductance of the sinusoidal model with round rotor (Ld is equal to Lq). This parameter is visible only when the Back EMF waveform parameter is set to Sinusoidal, and the Rotor type parameter set to Round Inductances [Ld(H) La(H)] The phase to neutral Ld (H) and Lq (H) inductances in the d-axis and q-axis of the sinusoidal model with salient-pole rotor. This parameter is visible only when the Back EMF waveform parameter is set to Sinusoidal, and the Rotor type parameter set to Salient -pole. Stator phase inductances Ls (H) The stator-phase-to-neutral inductance Ls (H) of the trapezoidal model. This parameter is visible only when the Back EMF waveform parameter is set to Trapezoidal. Specify Lets you select the machine constant that you want to specify for block parameterization:+ Flux Linkage established by magnets + Voltage Constant + Torque Constant ‘Once you select a constant, you can enter its value in the appropriate parameter field, while the other two parameters become inaccessible. Flux linkage ‘The constant flux A (Wb) per pole pairs induced in the stator windings by the magnets. Voltage constant ‘The peak line to line voltage per 1000 rpm. This voltage represents the peak open circuit voltage when the machine is driven as a generator at 1000 rpm. Torque constant ‘The torque per ampere constant. This constant assumes that the machine is driven by an inverter which provides a perfect synchronization between the current and the Back-EMF. + Sinusoidal model: A sine wave current is assumed (for more information, see acé_exanple_simplified). + Trapezoidal model: A square ware current is assumed (for more information, see ac7_exanple_simplified). Back EMF flat top area The width of the flat top for a half period of the electromotive force © (degrees) (only for trapezoidal machine), Inertia, viscous damping, pole pairs, static friction The combined machine and load inertia coefficient J (kg.m’), combined viscous friction coefficient F (N.m.s), pole pairs p, and shaft static friction Ty (N.m). If the static friction parameter value is omitted or not specified, the block considers this value to be 0. Initial conditions Specifies the mechanical speed (rad/s), mechanical angle ©m (degrees), and instantaneous stator current Ay: ‘Three-phase machine [Win, On ay io} Five-phase machine [W, Or, ias i, te, il Because the stator is wye-connected and the neutral point is isolated, the current ic in the three-phase machine is given by ic = -iariy, and the current ie in the five-phase machine is given by ie = -ia ip 4e “la Advanced Tabaye ee aun eS ie neo tet Ed) Permanent Magnet Synchronous Machine (ack) Implements a three-phase or a five-phase permanent magnet synchronous machine, The stator windings are connected in wye ta an internal neutral pint The three-phase machine can have sinusoidal or trapezoidal back EMF waveform. The rotor can be round of salient-pole for the sinuscidal machine, itis round when the machine is trapezoidal. Preset models are available for the Sinusoidal back EMF machine, ‘The Five-phase machine has a sinusoidal back EMF waveform and round rator, Preset madels are not available For this type of machine. [ eonfiguation | Paraneters | Adverced | Sample time (-1 for inherited) Rotor flux position when theta = 0: {90 degrees behind phase A avis (modified Park) ‘Sample time (~1 for inherited) Specifies the sample time used by the block. To inherit the sample time specified in the Powergui block, set this parameter to -1. Rotor flux position when theta = 0 Lets you select the reference position of the rotor flux relative to the phase A axis Select Rotor 90 degrees behind phase A axis when theta = @ (Modified Park) to choose the reference position of the rotor represented bybs Or as ‘The modified Park transformation [4] is more convenient for vector control because the maximum phase induction occurs at theta = 0. Select Rotor aligned with phase A axis when theta =@ (Original Park) to choose the reference position of the rotor represented by: bs 4 Or eas cs Inputs and Outputs T™m‘The Simulink input is the mechanical torque at the machine shaft. This input is normally positive because the Permanent Magnet Synchronous Machine block is usually used as a motor. If you choose to use the block in generator mode, you can apply a negative torque input The alternative block input (depending on the value of the Mechanical input parameter) is the machine speed, in rad/s. m ‘The Simulink output of the block is a vector containing measurement signals. The available signals depend ‘on the model you selected, You can demultiplex these signals by using the Bus Selector block provided in the Simulink library Name Definition Units Model ias Stator currentis_a A all ibs Stator currentis_b A all ics Stator currentis_c A all ids Stator currentis_d A 5-Phase Sinusoidal ies Slator currentis_e A 5-Phase Sinusoidal igs Stator currentis_q A 3-Phase Sinusoidal ids Stator currentis_d A 3-Phase Sinusoidal igst Stator currentis_qt A 5-Phase Sinusoidal ids1 Stator currentis_d1 A 5-Phase Sinusoidal iqs2 Slator currentis_q2 A 5-Phase Sinusoidal ias2 Stator currentis_d2 A 5-Phase Sinusoidal vas Slator voltage Vs_q v 3-Phase Sinusoidal vis Stator voltage Vs_d v 3-Phase Sinusoidal vast Stator voltage Vs_q1 v 5-Phase Sinusoidal vist Stator voltage Vs_d1 v 5-Phase Sinusoidal vase Stator voltage Vs_q2 v 5-Phase Sinusoidal vds2 Stator voltage Vs_d2 v 5-Phase Sinusoidal ca Phase back EMF e_a v 3-Phase Trapezoidal eb Phase back EMF e_b v 3-Phase Trapezoidal ec Phase back EMF e_c v 3-Phase Trapezoidal ha Hall effect signal h_a® logic 0-1 3-Phase, Sinusoidal and Trapezoidal hb Hall effect signal h_b” logic 0-1 ‘3-Phase, Sinusoidal and Trapezoidal he Hall effect signal h_c’ logic 0-1 3-Phase, Sinusoidal and Trapezoidal w Rotor speed wm rads all theta Rotor angle thetam rad all Te Electromagnetic torque Te Nm all The Hall effect signal provides a logical indication of the back EMF positioning, This signal is very useful to directly control the power switches. There is a change of state at each zero crossing of the phase to phasevoltage. These signals must be decoded before being applied to the switches, ‘OA BTW 20 140 TEN ZIG 2A SI WOU aD 900 ANT AD AGT GIO FAN BID HOU GN HD GOT THD ne ine vtane Eta pase vhoge Eb anaHal fetphas ‘© 0 G0 90 120 150 Ta 210 240 270 300 380 360 300 420 460 AB 510 S40 570 600 620 OOO GAT TED ‘30 380 280 390 420 480 40 S10 540 6 a0 60 wo oo) TD Assumption The Permanent Magnet Synchronous Machine block assumes a linear magnetic circuit with no saturation of the stator and rotor iron. This assumption can be made because of the large air gap usually found in permanent magnet synchronous machines. Limitations When you use Permanent Magnet Synchronous Machine blocks in discrete systems, you might have to use a small parasitic resistive load, connected at the machine terminals, to avoid numerical oscillations. Large sample times require larger loads. The minimum resistive load is proportional to the sample time. Remember that with a 25 us time step on a 60 Hz system, the minimum load is approximately 2.5% of the machine nominal power. For example, a 200 MVA PM synchronous machine in a power system discretized with a 50 js sample time requites approximately 5% of resistive load or 10 MW. If the sample time is reduced to 20 ys, a resistive load of 4 MWis sufficient. Example The power_brushlessbCnotor example illustrates the use of the Permanent Magnet Synchronous Machine block in motoring mode with a closed-loop control system built entirely with Simulink blocks. The complete system includes a six step inverter block from the Simscape Power Systems™ library. Two control loops are used; the inner loop synchronizes the pulses of the bridge with the electromotive forces, and the outer loop regulates the motor’s speed, by varying the DC bus voltage. The mechanical torque applied at the motor’s shaft is originally 0 N.m (no load) and steps to its nominal value (3 N.m) at t = 0.1 second, Set the simulation parameters as follows: + Type: Fixed-step + Inlegrator type: Runge-Kutta, odea + Sample time: 5e-6 (set automatically by the Model properties) + Stop time: 0.2 Set the Flux distribution parameter to Trapezoidal and run the simulation to observe the motor’s torque, speed, and currents. Change the Back EMF flat top area parameter of the trapezoidal model from 120 to 0 and observe the waveform of the electromotive force e_aTeiNm 000200 008 008 01 012 O18 O18 018 02 Timo) The torque climbs to nearly 28 N.m and stabilizes rapidly to its reference value. The nominal torque is applied at t = 0.1 second and the controller reacts rapidly and increases the DC bus voltage to produce the required electric torque. Observe the saw tooth shape of the currents waveforms. This is caused by the six step controller, which applies a constant voltage value during 120 electrical degrees to the motor. The initial current is high and decreases during the acceleration to the nominal speed. When the nominal torque is applied, the stator current increases to maintain the nominal speed. The saw tooth waveform is also observed in the electromotive torque signal Te. However, the motor’ inertia prevents this noise from appearing in the motors speed waveform, When the Back EMF flat top area parameter of the trapezoidal model is changed from 120 to 0, the model reacts exactly like the sinusoidal model. The electromotive force e_a is purely sinusoidal and the torque ripple is less than the previous case. The sinusoidal model requires a larger current to produce the same torque. That reason is why the trapezoidal machine is used in high torque applications, and the sinusoidal machine in precision applications.TeiNim) 0 oo? 004 006 00s 07 0 Oo ot 01 0. -efeaonegoeee oe O08 ot CCD Time(s) References [1] Grenier, D., L-A. Dessaint, ©. Akhrif, Y. Bonnassieux, and B. LePioufle. "Experimental Nonlinear Torque Control of a Permanent Magnet Synchronous Motor Using Saliency." /EEE® Transactions on Industrial Electronics, Vol. 44, No. 5, October 1997, pp. 680-687. [2] Toliyat, H.A, “Analysis and Simulation of Multi-Phase Variable Speed Induction Motor Drives Under Asymmetrical Connections." Applied Power Electronics Conference and Exposition, Vol. 2, March 1996, pp. 586-592. [3] Beaudart, F., F. Labrique, E. Matagne, D. Telteux, and P. Alexandre. "Control under normal and fault tolerant operation of multiphase SMPM synchronous machines with mechanically and magnetically decoupled phases." Intemational Conference on Power Engineering, Energy and Electrical Drives, March 2009, pp. 461- 466, [4] Krause, P.C., O. Wasynezuk, and S.D. Sudhoff. Analysis of Electric Machinery and Drive Systems. IEEE Press, 2002.