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Methods of Modeling Permanent Magnet Synchronous Motor

This paper presents the dynamic analysis and computer simulation of interior permanent magnet synchronous motor (IPMSM) with intermittent loading. This objective was realized with the aid of MATLAB m.file function program, which is based on an explicit Runge-Kutta fourth order numerical method to solve a set of first order differential system of equations describing electrical and mechanical models of IPMSM. The IPMSM used in this research is of specifications 3-phase, 2 KW, 50 Hz, 4 poles, 240

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11 views4 pages

Methods of Modeling Permanent Magnet Synchronous Motor

This paper presents the dynamic analysis and computer simulation of interior permanent magnet synchronous motor (IPMSM) with intermittent loading. This objective was realized with the aid of MATLAB m.file function program, which is based on an explicit Runge-Kutta fourth order numerical method to solve a set of first order differential system of equations describing electrical and mechanical models of IPMSM. The IPMSM used in this research is of specifications 3-phase, 2 KW, 50 Hz, 4 poles, 240

Uploaded by

ezeonyechinonso
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 3

MATERIALS AND METHOD

In dynamic modeling and simulation of permanent magnet synchronous motor for improved

performance, MATLAB software will be used to model and observe the dynamic behavior of the

Surface-Mounted and Interior PMSM under various operating condition. A generalize method of

solution and analysis by computer simulation using machine variable (voltage, current, or flux

linkage) by describing them either in rotor reference frame, stationary frame or synchronous

frame. This will enable the motor current, voltage, speed, power, torque characteristics to be

viewed under different operating condition and the results of relationship between them and time

will be showed.

3.1 MODELING OF PMSM

Detailed modeling of Permanent Magnet motor drive system is required for proper simulation of

the system. The d-q model has been developed on rotor reference frame as shown in figure 3.1.

At any time t, the rotating rotor d-axis makes and angle θr with the fixed stator phase axis and

rotating stator MMF makes an angle α with the rotor d-axis. Stator MMF rotates at the same

speed as that of the rotor.

Figure 3.1 Motor Axis

The model of PMSM without damper winding has been developed on rotor reference frame

using the following assumptions:

i. Saturation is neglected.

ii. The induced EMF is sinusoidal.

iii. Eddy currents and hysteresis losses are negligible.


iv. There are no field current dynamics.

3.2 Equivalent Circuit (Without Core Loss)

Figure 3.2 Equivalent circuit of PMSM without core loss

The equivalent circuit shown in figure 3.2 express about the dynamic equation of PMSM without

considering core loss. It should be notified that, all lower case symbols in introduce

instantaneous values, not upper case as for steady state.

3.2.1 Dynamic Equations of PMSM

The voltage equations are given by:

V q =Rs i q + ρ ( λq ) +ωr λ d 1

V d =Rs i d + ρ ( λ d ) −ω r λq 2

Where the q and d-axes flux linkages in the rotor reference frame is

λ q=Lq i q 3

λ d=Ld i d + λm 4

Substituting equations 3 and 4 in equations 1 and 2,

V q =Rs i q + ρ ( Lq i q ) +ωr ( Ld i d + λm ) 5

V d =Rs i d + ρ ( Ld i d + λm ) −ωr ( Lq i q ) 6

Resolving further,

V q =(R ¿ ¿ s+ ρ Lq )i q+ ωr Ld i d + ωr λ m 7 ¿

V d =−ω r Lq i q + ( R s + ρ Ld ) i d 8

Putting equation 7 and 8 in matrix form,

[ ][
V q (R ¿ ¿ s + ρ Lq)¿ ω r L d
Vd
=
¿
i
][
ω λ
]
( R s + ρ Ld ) ¿ q +[ r m ]9
id 0

λ m=λ af =Lm i fr 10
ρ ( λ m )=0

d
ρ :Operator
dt

ω r : Electrical velocity of therotor .

λ m :The flux linkage due ¿ the rotor magnets linking the stator .

3.2.2 Torque Equation:

The electromagnetic torque of the motor is given by:

3 P 3 P
T e = ( ) ( λ d i q −λq i d ) = ( )( λm i q + ( Ld −Lq ) i q i d )11
2 2 2 2

The electromechanical power is given as:

3
Pem =ω rm T e = ωr ( λd i q− λq i d ) 12
2

P
ω r= ω 13
2 rm

Where:

P: Number of poles

ω rm : Mechanical velocity of therotor

ω r : Electrical velocity of therotor .

The general mechanical equation for the motor is:

T e =T l +T d + B ω rm+ J ρωrm 14

Solving for the rotor mechanical speed from equation 9, assuming the dry friction is equals zero,

T e −T l−B ω rm
ω rm=∫ (¿ )dt 15 ¿
J

and

2
ω rm= ω 16
P r
Where:

B: Viscous frictions coefficient

J: Inertia of the shaft and the load system

Td: Dry friction

Tl: Load torque

3.3 Equivalent Circuit (With Core Loss)

Figure 3.3 Equivalent circuit of PMSM with core loss

Here, the effect of core loss on the various performance characteristics equations is considered.

ids, iqs: d, q axes stator currents.

id , iq : d, q axes stator currents.

idc , iqc : d, q axes core loss currents components.

(Rs + R c ) (R s+ Rc )
V q =Rs i q + ρ ( λq)+ ω λ d 17
Rc Rc r

(R s + Rc ) (R s + Rc )
V d =Rs i d + ρ ( λd )− ωr λ q 18
Rc Rc

The expression of Te is the same as without core resistance, this implies that the effect of this

resistance does not appear directly in this expression but as its effect in l d also lq and

consequently on Te.

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