UNIVERSITY OF SFAX

Sfax Engineering National School

SMART Master

Correction of the Exam of Control Oriented Modeling of AC Actuators

by Professor Ahmed Masmoudi

Exercice (6 points)
Question Let us consider a three phase voltage supply, expressed as:
 √

 vas = 2Vrms cos(ωt)

 √
v = 2Vrms cos(ωt − 2π ) (1)
bs 3

 √

 v 2π )
cs = 2Vrms cos(ωt + 3
feeding the stator circuits of an induction machine. The resulting three phase currents are expressed
as follows:
 √



i as = 2Irms cos(ωt − φs )
 √
ibs = 2Irms cos(ωt − φs − 2π
3) (2)

 √

 i
cs = 2Irms cos(ωt − φs + 2π
3)
Let us consider the Park transform whose dq-frame is rotating with the rotating field created by the
−
→
three phase currents (ias , ibs , ics ), and whose d-axis is aligned with the phasor V s corresponding to
the Park transformation of the three phase voltages (vas , vbs , vcs ). Let us define the phasor I D as:

I D = iDd + jiDq (3)

where iDd and iDq are the direct and quadrature components obtained following the application of
the Park transform to the three phase currents (ias , ibs , ics ).

1. Find out the expression of I D in terms of Irms and φs . (2 points)

Answer The Park inverse matrix is expressed as:

 
√
2 cos β cos(β − 2π
3) cos(β + 2π
3) 
P −1 (β) =   (4)
3 
− sin β − sin(β − 2π
3) − sin(β + 2π
3)
where:

β = ωt (5)
thus:
    √ 
√ 2I cos(ωt − φs )
iDd 2 cos ωt cos(ωt − 2π
3)
2π
cos(ωt + 3 )   √ rms 
    2π ) 
 =  2Irms cos(ωt − φs − 3  (6)
3 2π 2π  √ 
iDq − sin ωt − sin(ωt − 3 ) − sin(ωt + 3 ) 2Irms cos(ωt − φs + 2π )
3
which gives: { √
iDd = 3Irms cos φs
√ (7)
iDq = − 3Irms sin φs
and then: √
ID = 3Irms (cos φs − j sin φs ) (8)

Question Now, let us consider the permutation of two among the three phase voltages and let us
consider the Park transform whose dq-frame is rotating with the rotating field created by the resulting
−
→
three phase currents (ias , ibs , ics ), and whose d-axis is aligned with the phasor V s corresponding to
the Park transformation of the three phase voltages following the permutation. Let us define the
phasor I R as follows:
I R = iRd + jiRq (9)
where iRd and iRq are the direct and quadrature components obtained following the application of
the Park transform to the three phase currents (ias , ibs , ics ).
2. Find out the expression of I R in terms of Irms and φs . (3 points)

Answer The permutation of two among the three phase voltages (for instance vbs and vcs leading
to a permutation of the currents ibs and ics ), leads to a field rotating in the air gap in the clockwise
direction, that gives:
β = −ωt (10)
thus:     √ 
√ 2π 2π 2I cos(ωt − φs )
iRd 2 cos ωt cos(ωt + 3 ) cos(ωt − 3 )   √ rms 
    2π ) 
 = 2Irms cos(ωt − φs + 3  (11)
3 2π 2π

√ 
iRq sin ωt sin(ωt + 3 ) sin(ωt − 3 ) 2Irms cos(ωt − φs − 2π )
3
which gives: { √
iRd = 3Irms cos φs
√ (12)
iRq = 3Irms sin φs
and then: √
IR = 3Irms (cos φs + j sin φs ) (13)

Question
3. Establish the relation between I R and I D . (1 point)
Answer
⋆
IR = ID (14)
Problem (14 points)
The bloc diagram of the traction chain of the Toyota Prius is illustrated in figure 1. It consists in a
serie/parallel hybrid propulsion system.

Figure 1: Bloc diagram of the series/parallel hybrid propulsion system of the Toyota Prius
Such a chain is built around a PM-excited synchronous motor. It is equipped by a three phase
distributed winding in the armature and V-shaped PMs in the rotor, with a pole pair p = 2. Such a
topology is assumed to belong to the smooth air gap brushless AC class. Moreover, the voltage drop
across the armature resistance is supposed to be negligible in the whole speed range.
r
When the motor absorbs its rated current Irms , it exhibits:
• a constant torque region of [0 1200]rpm, developing an electromagnetic torque of 400Nm,
• a flux weakening range reaching 6000rpm at a null electromagnetic power, achieved following
a reduction of the torque angle ψ,
• a flux ratio Rrφ , defined as: r
L Irms
Rrφ = < 1 (15)
Φrms

The motor is fed by a battery pack through an IGBT inverter of 50kW. The battery pack is composed
of 168 NiMH-made storage cells providing a total of 201.6V DC. A boost-chopper enables the increase
of such a voltage to reach a DC bus voltage UDC = 500V at the inverter input.
√
Starting from the base speed, the armature voltage is kept at its maximum value Vmax = π2 UDC ;
the voltage drops across the inverter switches as well as the dead-times introduced to avoid the
simultaneous conduction of the switches of the same leg, are omitted.
⋆ Part 1: Current motor (8 points)
Question
1. Find out the flux ratio Rrφ . (3 points)

Answer The base speed ΩB is expressed in terms of the rated flux ratio Rrφ as follows:
Vmax
ΩB = √ ( )2 (16)
pΦrms 1+ Rrφ

The maximum speed Ωmax is expressed in terms of the rated flux ratio Rrφ as follows:
Vmax
Ωmax = (17)
p Φrms (1 − Rrφ )
( )2
The expression Ωmax gives:
ΩB ( )2
( )2 1 + Rrφ
Ωmax
= ( )2 (18)
ΩB 1 − Rrφ

whose development leads to:

(( )2 ) ( )2 ( )2
Ωmax ( )2 Ωmax Ωmax
−1 Rrφ − 2 Rrφ + −1 = 0 (19)
ΩB ΩB ΩB
The numerical application yields: ( )2
24 Rrφ − 50Rrφ + 24 = 0 (20)

Giving the fact that Rrφ is lower than unity, the solution is then:
Rrφ = 0.75
Question
2. Find out the PM flux Φrms . (1 point)

Answer Φrms is expressed in terms of the maximum speed as follows:

Vmax
Φrms = (21)
pΩmax (1 − Rrφ )

which gives:
Φrms ≃ 716mWb

Question
r
3. Find out the rated current Irms . (1 point)

Answer In the constant torque region and for the rated armature current, the electromagnetic
r
torque Tem is 400Nm. This later could be expressed as follows:
r r
Tem = 3pΦrms Irms (22)

Then:
r
Irms ≃ 93A

Question
4. Find out the power factor at the operating point corresponding to the base speed. (1 point)

Answer Neglecting the armature resistance, the electromagnetic power Pem turns to be equal to
the absorbed one which yields, for the base speed, the following relation:
r r r
Pem = Tem ΩB = 3Vmax Irms cos φB (23)

Then: r
Tem ΩB
cos φB = r (24)
3Vmax Irms
which, accounting for the expression of electromagnetic torque given in equation (22), leads to:
pΦrms ΩB
cos φB = (25)
Vmax
The numerical application gives:
cos φB = 0.8

Question

5. Find out the trajectories described by the extremities of the armature voltage phasor V and
current one I in the dq-plane, considering the total speed range (scale: 1cm=25V=25A).
(2 points)

Answer (see figure 2)

 q

flux weakening
range

constant
constant torque
torque range
range

flux weakening
range

circle of rated
armature current

circle of maximum
armature voltage

Figure 2: Trajectories described by the extremities of the armature voltage phasor V (in blue) and
the armature current phasor I (in red) in the dq-plane considering the whole speed range
⋆ Part 2: Projected motor (6 points)
For the sake of an extension of the flux weakening range, one could investigate the solution consisting
in increasing the inductance L through the substitution of the armature distributed winding by a
concentrated fractional-slot one. Assuming an infinite extension of the flux weakening range, find out:

Question

6. the inductance ratio LL∞ . (0.5 point)

R∞
Answer The ratio RFr is expressed as follows:
F
 r 
L∞ Irms
R∞  Φrms  1
F
= 
 LI r
=
 (26)
RrF rms 0.75
Φrms
Thus:
L∞ ≃ 133%
L
that is to say a 33% increase of L which is feasible following the substitution of the armature
distributed winding by a concentrated one.

Question
7. Find out the base speed ΩB∞ (in rpm). (1 point)

Answer Under a unity flux ratio, the expression of the base speed turns to be:
Vmax
ΩB∞ = √ (27)
pΦrms 2
which gives:
ΩB∞ ≃ 1061rpm

Question
8. Find out the electromagnetic power Pem∞ in the flux weakening range. (0.5 point)

Answer Under a unity flux ratio, the flux weakening range turns to be infinite and the electro-
magnetic power Pem∞ turns to be almost constant and tends to its maximum value:

Pem∞ = 3Irms Vmax (28)

which gives:
Pem∞ ≃ 62.83kW

Question
9. Find out the power factor at the operating point corresponding to the base speed. (1 point)
Answer In the manner of the current motor, the power factor of the projected one is expressed as
follows:
pΦrms ΩB∞
cos φ∞ = (29)
Vmax
which, accounting for the expression of ΩB∞ given by equation (27), leads to:
1
cos φ∞ = √ (30)
2
and then:

cos φ∞ = 0.707

To sum up, one can notice that an infinite flux weakening range is achieved with:

• a decrease of the constant torque region with a base speed of 1061rpm instead of 1200rpm,

• a decrease of the power factor from 0.8 to 0.707, at the base speed.

Question

10. Find out the characteristics giving Tem and Pem in terms of Ωm (in rpm) assuming an infinite
extension of the flux weakening range. For the sake of comparison, Tem (Ωm ) and Pem (Ωm )
in the case of the current motor should be also plotted. (scale: 1cm=100rpm=50Nm=5kW).
(3 points)

Answer

• Constant Torque Range

Current motor
for Nm ∈ [0 1200]rpm 
r
 Tem = 400
(31)
 r
Pem = 400Ωm
Projected motor
for Nm ∈ [0 1061]rpm 
∞
 Tem = 400

(32)
∞
Pem = 400Ωm

• Flux Weakening Range

The speed is expressed as:
Vmax
Ωm = √ (33)
pΦrms R2φ + 2Rφ sin ψ + 1

which gives: ( )2 ( )
Vmax − R2φ + 1
pΦrms Ωm
sin ψ = (34)
2Rφ
 The electromagnetic torque Tem is then expressed in terms of the speed and the flux ratio as
follows:  ( )2 ( ) 
Vmax − Rφ + 1 
2
  pΦ
  rms Ωm 
Tem = 3pΦrms Irms cos arcsin   (35)
  2Rφ 

so does the expression of the electromagnetic power Pem :

 ( )2 ( ) 
V − R2φ
  pΦ maxΩ + 1 
Pem = Tem Ωm = 3pΦrms Irms cos 
arcsin 
 rms m 
 Ωm (36)
  2Rφ 

Current motor
for Nm ∈ [1200 6000]rpm
r r
The expressions of the electromagnetic torque Tem and power Pem are deduced from equations
(35) and (36), respectively, where Irms = Irms and Rφ = Rφ , as follows:
r r

  ( )2 (( ) 
 )2

 Vmax − Rrφ

   + 1 

 r r   pΦrms Ωm 

 Tem = 3pΦrms Irms cos arcsin  2Rrφ 

   






(37)

  ( )2 (( ) 
 )2

 V



  max − Rrφ + 1 
   pΦrms Ωm 


r
Pem r
= 3pΦrms Irms cos arcsin   Ω m

   2Rrφ 



Projected motor
for Nm ∈ [1061 ∞]rpm
∞ ∞
The expressions of the electromagnetic torque Tem and power Pem are deduced from equations
(35) and (36), respectively, where Irms = Irms and Rφ = 1, as follows:
r

  ( )2 

 Vmax


   − 2 

 ∞ r   pΦrms Ωm 

 Tem = 3pΦrms Irms cos arcsin  

   2 





(38)

  ( )2 



 V



  max − 2 
 ∞   pΦrms Ωm 

 Pem = r
3pΦrms Irms cos arcsin   Ωm

   2 



Following the definition of the characteristics giving Tem and Pem in terms of Ωm in the constant
torque and flux weakening ranges, for both current and projected motors, one can easily plot these
characteristics (see figure 3).
 450

projected motor
400 current motor

350
electromagnetic torque (Nm)

300

250

200

150

100

50

0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
speed (rpm)

4
x 10
7

current motor
electromagnetic power (W)

5
projected motor

0
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
speed (rpm)

Figure 3: Characteristics giving Tem (up) and Pem (down) versus the speed