University of Thi -Qar Journal for Engineering Sciences ISSN :2664- 5572 ( online)

http://www.doi.org/10.31663/tqujes.12.2.444(2022) ISSN:2664-5564 (print)

Vol 12.2( December 2022) Available at http://jeng.utq.edu.iq
utjeng@ utq.edu.iq
Mathematical Model of Permanent Magnet Synchronous Motor
Fatimah F. Jaber†, Abdulhasan F. Abdulhasan‡
†
Electrical Power Engineering Techniques, Southern Technical University, Basra/Iraq, [email protected].
‡
Electrical Power Engineering Techniques, Southern Technical University, Basra/Iraq, [email protected].

Abstract

Due to the benefits that they provide, permanent magnet synchronous motors are becoming increasingly common. The
machine's mathematical modeling allows for a better understanding and provides insight into the influence of each
variable on the machine's dynamics and to design an appropriate control system for the motor. This work provides a
mathematical model of a PMSM (permanent magnet synchronous motor), and this model has been simulated via utilize
MATLAB/Simulink tools. The results obtained verify the model's effectiveness to work under different loading
conditions. This model can be used in various control strategies such as vector control or direct torque control.

Keywords: PMSM, MATLAB, modeling, and Park transformation.

1. Introduction complex electrical machines by decoupling or separating

the variables and solving equations including time-varying
The development of control technology and permanent values by referring the whole variables to a common
magnetic materials has led to the widespread usage of reference frame that might be rotating or stationary. The
PMSMs, which have the following benefits: high two most well-known transformation techniques are the
efficiency, high power density, reliable, high torque/inertia Clarke transformation and the Park transformation. The
ratio, and easy maintenance, in addition, compared to complexity of the mathematical model of the machine can
other AC machines, these motors' control circuits are be greatly reduced with careful reference frame selection
simpler [1, 2]. PMSMs are being utilized extensively in [6, 7]. The three-phase values (𝑉𝑎 , 𝑉𝑏 , 𝑎𝑛𝑑 𝑉𝑐 ) may be
both industrial and transportation applications [3, 4]. changed into the voltages 𝑉𝑑 𝑎𝑛𝑑 𝑉𝑞 that the two-axis
PMSM model requires [8].
In order to verify a range of controlling algorithms and
optimize the complete controlling system, it is crucial to Park's transformation is utilized to convert the three-
construct a Simulink model of the PMSM and its phase voltages to (d,q) voltages. The transformation of
controlling system [1]. Numerous researchers have Park is described by [9]:
conducted studies on modeling in recent years [5]. In this cos(𝜃)
2𝜋
cos (𝜃 − ) cos (𝜃 + )
2𝜋

work, the PMSM model has been built and simulated via 𝑉𝑑 3 3 𝑉𝑎
2 2𝜋 2𝜋
[ 𝑉𝑞 ] = − sin(𝜃) − sin (𝜃 − ) − sin (𝜃 + ) [𝑉𝑏 ] (1)
utilizing MATLAB Simulink tools, and the results that 𝑉0
3 3 3
𝑉𝑐
1 1 1
represent speed, torque, and (d-q) current parts of the [ 2 2 2 ]
stator were extracted.
And its inverse is [9]:
cos(𝜃) −sin(𝜃) 1
𝑉𝑎 𝑉𝑑
The structure of the present paper is as follows: 2𝜋 2𝜋
[𝑉𝑏 ] = cos (𝜃 − 3 ) − sin (𝜃 −
3
) 1 [ 𝑉𝑞 ] (2)
section 2 demonstrates the Park transformation, the two- 𝑉𝑐 1 ] 𝑉0
2𝜋 2𝜋
axis model of PMSM is presented in section 3, the [cos (𝜃 + 3 ) − sin(𝜃 +
3
)
Simulink implementation of the PMSM model is shown in Where 𝑉0 (zero-voltage component) is often ignored, and
section 4, section 5 demonstrates the simulation outcomes, 𝜃 denotes the phase (𝑎) electrical angle respect to the
and paper’s conclusion is shown in section 6. reference frame.

2. Park transformation 3. Tow-axis model of PMSM

Typically, the voltage and current equations in three- To create permanent magnet synchronous motor
phase machines are used to define and assess the control, a mathematical model of the PMSM is required.
performance and behavior. The differential equations’ The 3-phase system mathematical model is rarely used in
coefficients that characterize the machines' dynamic control design. This method is known as the time-varying
behavior are time-varying except if a motionless rotor is model. consequently, developing a control strategy
present. Since the system is in relative motion, the flux becomes significantly more difficult. As a result, a 2-phase
linkages, currents, and induced voltages vary continually, motor model with quadrature and direct axes is employed
making such a system difficult to mathematically model. [10, 11]. The permanent magnet synchronous motor
Mathematical transformations are usually used to analyze
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 Fatimah F. Jaber, Abdulhasan F. Abdulhasan Mathematical Model of Permanent Magnet Synchronous Motor

mathematical model typically includes stator flux 𝑇𝑒 , 𝑇𝑙 Electromagnetic and load torques
equations, voltage equations, mechanical equations, and
electromagnetic torque equations [12, 13]. 𝜔𝑟 Electrical speed
The following assumptions were used to build the 𝜔𝑚 Mechanical speed
PMSM model without damper winding on the rotor
reference frame [14, 15]. J Moment of inertia
1. The EMF generated is sinusoidal. P Number of poles
2. Saturation is ignored.
3. No field current dynamics B Fraction factor
4. Hysteresis losses and eddy current are ignored.
In the d-q coordinate system, the following equations 4. Simulink implementation of the PMSM model
may be expressed [15].
3.1 Voltage equations The Simulink implementation of the PMSM model is
demonstrated in figure 1. This figure contains four parts,
In the rotor reference frame, the voltage formulas of the the first one represents the (abc) to (d,q) transformation
PMSM are shown [15]: block, the second part demonstrates the (𝑖𝑑 , 𝑖𝑞 ) current
𝑑
𝑉𝑞 = 𝑅𝑠 𝑖𝑞 + 𝜔𝑟 𝜆𝑑 + 𝜆𝑞 (3) calculation block, the torque calculation block is shown in
𝑑𝑡 the part three, part four contain the speed calculation
𝑉𝑑 = 𝑅𝑠 𝑖𝑑 − 𝜔𝑟 𝜆𝑞 +
𝑑
𝜆𝑑 (4) block.
𝑑𝑡

3.2 Flux linkage equations

The flux linkage equations are given by [15]:

𝜆𝑞 = 𝐿𝑞 𝑖𝑞 (5)
𝜆𝑑 = 𝐿𝑑 𝑖𝑑 + 𝜆𝑓 (6)
Substituting equations (5) and (6) into (3) and (4), gives
[15]:
𝑑
𝑉𝑞 = 𝑅𝑠 𝑖𝑞 + 𝜔𝑟 (𝐿𝑑 𝑖𝑑 + 𝜆𝑓 ) + 𝐿𝑞 𝑖𝑞 (7)
𝑑𝑡

𝑑
𝑉𝑑 = 𝑅𝑠 𝑖𝑑 − 𝜔𝑟 𝐿𝑞 𝑖𝑞 + (𝐿𝑑 𝑖𝑑 + 𝜆𝑓 ) (8)
𝑑𝑡 Fig. 1 Simulink implementation of the PMSM model.
3.3 Torque equation
The internal construction of each part is
The electromagnetic torque for PMSM in the (d-q) demonstrated in figures (2-5), respectively.
axes may be calculated using the equation [15]:
3𝑃
𝑇𝑒 = (𝜆𝑑 𝑖𝑞 − 𝜆𝑞 𝑖𝑑 ) (9)
22

The equation that represents the mechanical torque is

given as [15]:

(𝑇𝑒 −𝑇𝐿−𝐵𝜔𝑚 )
𝜔𝑚 = ∫ 𝑑𝑡  
𝐽

The equation that represents the mechanical speed is [15]:

2
𝜔𝑚 = 𝜔𝑟 (11)
𝑃

where, Fig.2 Park transformation

𝑅𝑠 Stator resistance
𝐿𝑑 , 𝐿𝑞 The inductances on d-q axis
𝑖𝑑 , 𝑖𝑞 The stator currents on d-q axis
𝑉𝑑 , 𝑉𝑞 The stator voltages on d-q axis
𝜆 𝑑 , 𝜆𝑞 The flux linkages of the stators on d-q
axis.
𝜆𝑓 Permanent magnet flux

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 Fatimah F. Jaber, Abdulhasan F. Abdulhasan Mathematical Model of Permanent Magnet Synchronous Motor

Fig. 3 𝑖𝑑 𝑎𝑛𝑑 𝑖𝑞 currents calculation

Fig. 4 Torque calculation

Fig. 6 The speed response at no load

Fig. 5 Speed calculation

Fig. 7 Torque response at no load
5. Simulation outcomes
To validate the 3-phase PMSM model's efficacy (the
motor parameters used are demonstrated in table 1),
The MATLAB software package was utilized to
simulate the model. The no load properties are plotted
in the figures (6-9), which demonstrate the speed,
torque, and (q,d) axis currents of the stator.

Table 1 Parameters of the PMSM

No. Parameters Value Fig. 8 The stator current on the direct-axis at no load
1 𝑅𝑆 4.765Ω
2 𝐿𝑞 0.014 H
3 𝐿𝑑 0.014 H
4 P 2
4.047*10-5
5 B
N.m/rad/s
6 J 0.0001051 Kg.m2
7 𝜆𝑓 0.1848 Wb

Fig. 9 The stator current on the quadrature-axis at no load

In figures (10-13) a rated load (1.7 N.m) has been

applied to the machine after 0.5 seconds to see the
responses of the electromagnetic torque, speed, and
stator d-q axis current components under variation of
load. It demonstrates that when a sudden load is added
to the machine the speed of the motor and 𝑖𝑑 current of
the stator are decreased, but the motor torque and 𝑖𝑞
current of the stator are increased.

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 Fatimah F. Jaber, Abdulhasan F. Abdulhasan Mathematical Model of Permanent Magnet Synchronous Motor

software package. The simulation results have been

extracted such as speed, torque, and (d,q) current
components of the stator. The mathematical motor model
has been proven effective under various loading conditions
(no-load and load conditions). Also, this model can be
used with different control strategies that are used with the
PMSM.

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