International Journal of Applied Power Engineering (IJAPE)

Vol. 14, No. 1, March 2025, pp. 37~45

ISSN: 2252-8792, DOI: 10.11591/ijape.v14.i1.pp37-45  37

Performance analysis of conventional multilevel inverter driven

PMSM drive in EV applications

Rakesh G. Shriwastava1,7, Pravin B. Pokle2, Ajay M. Mendhe3, Nitin Dhote4, Rajendra M. Rewatkar5,
Rahul Mapari6, Ranjit Dhunde7, Hemant R. Bhagat Patil8, Ramesh Pawase9
1
Department of Electrical Engineering, Govindrao Wanjari College of Engineering and Technology, Nagpur, India
2
Department of Electronics Engineering, Priyadarshini J.L. College of Engineering, Nagpur, India
3
Departments of Electrical Engineering, Priyadarshini J.L. College of Engineering, Nagpur, India
4
Department of Electrical Engineering, St. Vincent Pallotti College of Engineering and Technology, Nagpur, India
5
Department of Faculty of Engineering and Technology, Datta Meghe Institute of Higher Education and Research, Wardha, India
6
Department of Electronics and Telecommunication Engineering, Pimpri Chinchwad College of Engineering and Research, Pune, India
7
Department: School of Technology, Management, and Engineering, SVKM'S NMIMS Navi, Mumbai, India
8
Department of Mechanical Engineering, Govindrao Wanjari College of Engineering and Technology, Nagpur, India
9
Department of Electronics and Telecommunication Engineering, Amrutvahini College of Engineering Sangamner, Ahmednagar, India

Article Info ABSTRACT

Article history: This paper describes the simulation and hardware analysis of a two-level
inverter-driven permanent magnet synchronous motor (PMSM) drive in EV
Received Dec 23, 2023 applications. The design of various sections of PMSM Drive is discussed in
Revised Sep 13, 2024 detail. This proposed work is based on the voltage source converter (VSC) fed
Accepted Oct 23, 2024 four-pole, 373 W. This paper highlights the design and implementation using
a microcontroller of (PMSM) drive for various operating conditions. The
experimental results show that the control and power circuit used in the design
Keywords: can achieve excellent and consistent speed performance. The performance
along with test results of the speed and load variation of the PMSM drive is
EPROM studied for steady-state conditions. The performance of the motor has been
EPS checked by increasing the inverter frequency with the speed of the motor and
MOSFET also keeping the frequency remains constant by varying the load and speed.
Permanent magnet synchronous Hardware analysis indicates the improved performance of the motor and the
motor drive. It has good speed and torque responses and is suitable for EPS
VSI applications.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Rakesh Shriwastava
Department of Electrical Engineering, Govindrao Wanjari College of Engineering and Technology
Nagpur, India
Email: [email protected]

1. INTRODUCTION
The low value of cogging torque, ruggedness, high efficiency, high power-to-weight ratio, and
additional reluctance torque are the permanent magnet synchronous motor (PMSM) characteristics. Hence it
is used in electric vehicle applications due to the motor running to different load and speed profiles. It is not
needed to supply magnetizing currents through the stator flux due to the magnet in the rotor and the constant
air gap in PMSM. This paper focuses on low speeds and the back emf respectively. When at high speed, it
gives high current and less switching losses. It would operate at low and high switching frequencies for low
and high speeds respectively [1]-[7].
This paper explains the performance analysis of VSI-driven SVM-PMSM drives for EV applications.
Voltage source inverter-driven PMSM drive is one of the widely used methods for speed and torque control
[8]-[14]. Three three-phase rectifier circuits give the fixed DC voltage. The shunt capacitor is used for filter

Journal homepage: http://ijape.iaescore.com

38  ISSN: 2252-8792

purposes. The output transfer to MOSFET bridge inverters [15]-[20]. For getting pulses, the control circuit is
used and an isolator and driver circuit is used for isolation [21]-[25].
The theme of the paper is the design of conventional inverter-driven PMSM drives in EPS
applications. Sections 1 and 2 describe the introduction and mathematical model of PMSM, section 3 describes
the simulation model and analysis, and section 4 describes design considerations. Sections 5 and 6 present
experimental results and conclusion respectively.

2. MATHEMATICAL MODEL OF PMSM

2.1. Rotor reference frame PMSM
The modelling of the PMSM machine has been presented henceforth in the rotor reference frame. In
a PMSM, the rotor is a permanent magnet without any windings and hence there are no equations associated
with the rotor. The 3-φ stationary ‘abc’ frame can be transformed into 2-φ synchronously rotating ‘dq’ frame,
with the help of abc → dq transformations. In the ‘dq’ frame, the stator has two windings: d-axis winding and
q-axis winding; and the d-axis winding is aligned with the magnetic pole axis. Consider the PMSM machine
running at the speed of ‘ωr’, in the anti-clockwise direction. The D-axis induced voltage is (1).

𝑑𝜆𝑑
𝑢𝑑 = 𝑅𝑑 𝑖𝑑 + − 𝜔𝑟 𝜆𝑞 (1)
𝑑𝑡

The Q-axis induced voltage is shown in (2)-(5).

𝑑𝜆𝑞
𝑢𝑞 = 𝑅𝑞 𝑖𝑞 + − 𝜔𝑟 𝜆𝑑 (2)
𝑑𝑡

𝜆𝑑 = 𝐿𝑑 𝑖𝑑 + 𝜆𝑚 (3)

𝜆𝑑 = 𝐿𝑞𝑖𝑞 (4)

𝐿𝑑 = 𝐿𝑞 (5)

The torque equation is (6).

3p
𝑇𝑒 = (λd 𝑖𝑞 − λq 𝑖𝑑 ) (6)
22

Put in (7).
3p
𝑇𝑒 = [(λd 𝑖𝑑 + λ𝑚 )𝑖𝑞 − Lq 𝑖𝑞 𝑖𝑑 ] (7)
22

3p
𝑇𝑒 = [(Ld − 𝐿𝑞 )𝑖𝑑 𝑖𝑞 + λ𝑚 𝑖𝑞 ] (8)
22

3p
𝑅𝑒𝑙𝑢𝑐𝑡𝑎𝑛𝑐𝑒 𝑡𝑜𝑟𝑞𝑢𝑒 = (Ld − 𝐿𝑞 )𝑖𝑑 𝑖𝑞 (9)
22

3p
𝑓𝑖𝑒𝑙𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 = λ 𝑖 (10)
22 𝑚 𝑞

3p
𝑇𝑒 = λ 𝑖 (11)
22 𝑚 𝑞

Hence the electromagnetic torque present in a round rotor permanent magnet synchronous machine is
nothing but the field torque which is present due to the permanent magnet flux linkage, λm. For a chosen
permanent magnet synchronous machine, the number of poles (p) is constant as well as the permanent magnet
rotor flux-linkage (λm). Hence, the electromagnetic torque equation for the round-rotor PMSM can be rewritten
as (12) and (13).

Te=Ktiq (12)
3p
𝐾𝑡 = λ (13)
22 𝑚

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 37-45
Int J Appl Power Eng ISSN: 2252-8792  39

Therefore, electromagnetic torque is (14).

𝑑𝜔𝑚
𝑇𝑒 = 𝑇𝑙 + 𝐵 𝜔𝑚 + 𝐽 (14)
𝑑𝑡

3. SIMULATION MODEL ANALYSIS

Figure 1 shows the Simulink model of a two-level inverter-driven PMSM drive. Figures 2-4 show
motor response at 280 rpm, 500 rpm, and 1500 rpm. Figure 5 shows a fast Fourier transform (FFT) analysis of
a two-level inverter-driven PMSM drive. Table 1 shows the torque ripple analysis of a two-level inverter. In
Figure 2, at 0.01 sec, load torque 3 N-m is applied and removed at 0.03 sec. The torque varies with the load
The reference speed is 500 rpm and the fluctuation in speed on removal of torque than speed remains constant.
Speed, three-phase stator current, and electromagnetic torque are constant with some ripples at 0.6 sec.

Figure 1. Simulink model of two-level inverter-driven PMSM drive

sec]
300 12

250 10
Electromagnetic Torques [N.m]

200
Speed[ rad/sec]

150
6
100
4
50

0 2

-50 0
0 0.02 0.04 0.06 0.08 0.1 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time Time[sec]

(a) (b)
15

10
Stator Current

-5

-10

-15
0 0.02 0.04 0.06 0.08 0.1
Time
(c)

Figure 2. Motor response at 280 rpm (a) rotor speed, (b) electromagnetic torque,
and (c) three-phase stator current

Performance analysis of conventional multilevel inverter driven PMSM drive … (Rakesh G. Shriwastava)
40  ISSN: 2252-8792
5000 25

4000
20
3000

Electromagnetic torque[N-m]
2000 15
Rotor Speed (rpm)

1000
10
0

-1000 5

-2000
0
-3000

-4000 -5
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time[sec] Time[sec]

(a) (b)
15

10
Three phase stator current[amp]

-5

-10

-15
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time[sec]

(c)

Figure 3. Motor response at 500 rpm (a) rotor speed, (b) torque, and (c) three-phase stator current

In Figure 3, at 0.01 sec, load torque 3 N-m is applied and removed at 0.15 sec. The torque varies with
the load The reference speed is 500 rpm and the fluctuation in speed on removal of torque than speed remains
constant. Speed, three-phase stator current, and electromagnetic torque are constant with some ripples at 0.15.
The torque varies with the load The reference speed is 500 rpm and the fluctuation in speed on removal of
torque than speed remains constant. Speed, three-phase stator current, and electromagnetic torque are constant
with some ripples at 0.06 sec.

5000 10

4000 8

3000 6
Three Phase Stator Current[A]

4
2000
Rotor Speed (rpm)

2
1000
0
0
-2
-1000
-4
-2000
-6
-3000 -8

-4000 -10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time[sec] Time[sec]

(a) (b)
6

4
Electromagnetic torque Te (N-m)

-1

-2

-3

-4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time[sec]

(c)

Figure 4. Motor response at 1500 rpm (a) rotor speed, (b) torque, and (c) three-phase stator current

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 37-45
Int J Appl Power Eng ISSN: 2252-8792  41

In Figure 4, at 0.01 sec, load torque 5 N-m is applied and removed at 0.03 sec. The torque varies with
the load the reference speed is 500 rpm and fluctuation in speed on removal of torque than speed
remains constant. Speed, three-phase stator current, and electromagnetic torque are constant with some ripples
at 0.06 sec.

Table 1. Torque ripples analysis (two level inverter)

Controller speed % Torque ripples
280 rpm 21.98%
500 rpm 18.57%
1500 rpm 12.48%

Figure 5. FFT analysis of two-level inverter-driven PMSM drive

4. EXPERIMENTAL RESULTS ANALYSIS

Figure 6 shows the block diagram of the PMSM drive. Figure 7 shows the output voltage and capacitor
voltage waveform. Figure 8 shows the gate pulse pattern for the MOSFET. Table 2 shows motor speed variation
by frequency. Tables 3-5 show motor speed variation by load at 30, 40 Hz, and 50 Hz. Figure 7 shows speed-
frequency characteristics. Figure 8, Figure 9, and Figure 10 shows load-speed characteristics at 30 Hz, 40 Hz,
and 50 Hz.

Figure 6. Block diagram of the PMSM drive

Performance analysis of conventional multilevel inverter driven PMSM drive … (Rakesh G. Shriwastava)
42  ISSN: 2252-8792

Table 2. Motor parameter frequency variation

Sr. No. Time Frequency Actual speed Measured Speed Voltage
1 0.033 m.s 30 Hz 900 rpm 950 rpm 240 V
2 0.025 m.s 40 Hz 1200 rpm 1210 rpm 240 V
3 0.02 m.s 50 Hz 1500 rpm 1490 rpm 240 V
4 0.05 m.s 60 Hz 1800 rpm 1790 rpm 240 V

Table 3. Motor parameter load variation (30 Hz)

Sr. No. Weight Frequency Motor Speed Motor Speed Motor Torque Motor Power
1 500 gm 30 Hz 900 rpm 950 rpm 0.12 N-m 14.20 W
2 1000 gm 30 Hz 900 rpm 950 rpm 0.22 N-m 34.78 W
3 1500 gm 30 Hz 900 rpm 950 rpm 0.35 N-m 42.48 W
4 2000 gm 30 Hz 900 rpm 950 rpm 0.56 N-m 62.47 W
5 2500 gm 30 Hz 900 rpm 950 rpm 0.78 N-m 72.02 W
6 3000 gm 30 Hz 900 rpm 950 rpm 0.85 N-m 95.47 W

Table 4. Motor parameter load variation (40 Hz)

Sr. No. Weight Frequency Motor Speed Motor Speed Motor Torque Motor Power
1 500 gm 40 Hz 1200 rpm 1210 rpm 0.14 N-m 28.98 W
2 1000 gm 40 Hz 1200 rpm 1210 rpm 0.21 N-m 47.69 W
3 1500 gm 40 Hz 1200 rpm 1210 rpm 0.35 N-m 71.54 W
4 2000 gm 40 Hz 1200 rpm 1210 rpm 0.58 N-m 92.97 W
5 2500 gm 40 Hz 1200 rpm 1210 rpm 0.74 N-m 120.15 W
6 3000 gm 40 Hz 1200 rpm 1210 rpm 0.85 N-m 144.94 W

Table 5. Motor parameter load variation (50 Hz)

Sr. No. Weight Frequency Motor Speed Motor Speed Motor Torque Motor Power
1 500 gm 50 Hz 1510 rpm 1490 rpm 0.21 N-m 32.46 W
2 1000 gm 50 Hz 1510 rpm 1490 rpm 0.43 N-m 54.61 W
3 1500 gm 50 Hz 1510 rpm 1490 rpm 0.52 N-m 82.37 W
4 2000 gm 50 Hz 1510 rpm 1490 rpm 0.65 N-m 105.34 W
5 2500 gm 50 Hz 1510 rpm 1490 rpm 0.80 N-m 132.25 W
6 3000 gm 50 Hz 1510 rpm 1490 rpm 0.95 N-m 162.94 W

Figure 7. Motor speed characteristics at a frequency Figure 8. Motor characteristics at 33.3 Hz

Figure 9. Motor characteristics at 50 Hz Figure 10. Motor characteristics at 59 Hz

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 37-45
Int J Appl Power Eng ISSN: 2252-8792  43

5. CONCLUSION
This paper presentation a detailed Simulink model for performance analysis of conventional
multilevel inverter driven PMSM drive in EV applications has being developed. It is shown in the experimental
and simulation results of performance analysis of conventional multilevel inverter driven PMSM drive that the
speed of the permanent magnet synchronous motor can be varied by varying the frequency of an inverter.
Hence an attempt has been made to verify the performance of the motor. It is found that, speed remains constant
at constant frequency, with varying load conditions and the test result shows the improved performance of the
motor. In this paper simulation of permanent magnet synchronous motor gives constant torque in experimental
and simulation results with less torque ripples and constant speed as shown in the above waveform and result
tables. Hence this PMSM drive used in EPS application.

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BIOGRAPHIES OF AUTHORS

Dr. Rakesh G. Shriwastava obtained Ph.D. degree in electrical engineering

specializing in power electronics and drives from RTM Nagpur University, (India) in 2017.
He occupied various positions to serve the engineering institutes for about 24 years. He is
currently working as a professor in the Department of Electrical Engineering, Govindrao
Wanjari College of Engineering & Technology, Nagpur. His research interests include the
analysis and control of electrical drives, particularly in hybrid, and electric vehicle
applications. He can be contacted at email: [email protected].

Dr. Pravin B. Pokle born in 1976, received a B.E. degree in Electronics

Engineering in 1998, M.Tech. degree in VLSI from RTM Nagpur University, Nagpur in
2008, and a Ph.D. in Electronics Engineering from RTM Nagpur University, Nagpur in 2015.
Currently, he is working as an assistant professor and head of the Department of Electronics
and Telecommunications Engineering at Priyadarshani J. L. College of Engineering, Nagpur,
India. He can be contacted at email: [email protected].

Dr. Ajay M. Mendhe graduated in Electrical Engineering from YCCE, Nagpur.

He has a post-graduation in Electrical Power Systems from SSGMCE, Sheagaon, Amaravati
University, and a Diploma in Business Management from Nagpur University. He is
completed his Ph.D. from SSSUTMS, Sehore (MP). He is working as an associate professor
and Head of the Electrical Engineering Department of Priyadarshini J. L. College of
Engineering Nagpur. He can be contacted at email: [email protected].

Dr. Nitin Dhote did graduation in Electrical Engineering from VNIT, Nagpur.
He graduated in Electrical Power Systems from the Government College of Engineering,
Amravati and Diploma in Business Management and a Ph.D. from RTM, Nagpur University.
He is working as a professor and head of the Electrical Engineering Department of SVPCET,
Nagpur. He can be contacted at email: [email protected].

Int J Appl Power Eng, Vol. 14, No. 1, March 2025: 37-45
Int J Appl Power Eng ISSN: 2252-8792  45

Dr. Rajendra M. Rewatkar obtained his B.E. degree in Electronics Engineering

from RTM Nagpur University Nagpur, India in 1996. He received the M.Tech. Degree in
Electronics Engineering from G.H. Raisoni College of Engineering, Nagpur, India in 2010.
He was awarded a Doctoral Degree in Electronics Engineering from RTM Nagpur
University, Nagpur (India) in 2016. He is currently working as an associate professor and
head of the Biomedical Engineering Department of the Faculty of Engineering and
Technology, Datta Meghe Institute of Higher Education and Research Sawangi (Meghe),
Wardha. He can be contacted at email: [email protected].

Dr. Rahul Mapari received a bachelor’s degree and master’s degree in

Electronics Engineering from Savitribai Phule Pune University, India, in 2004 and 2007
respectively, and a Ph.D. degree in Electronics and Telecommunication Engineering
from Amravati University, India in 2016. He has been working as a Professor in the
Department of Electronics and Telecommunication Engineering of Pimpri Chinchwad
College of Engineering and Research, Pune since 2017. He can be contacted at email:
[email protected].

Dr. Ranjit Dhunde graduated in Mathematics from the Institute of Science

Nagpur and a Ph.D. from RTM, Nagpur University. He is working as an assistant professor
in Mathematics at SVKM's NMIMS School of Technology, Management and Engineering,
Navi Mumbai. He has a total teaching experience of 17 years at UG and PG levels. He has
published 12 research papers in reputed International Journals. He can be contacted at email:
[email protected].

Dr. Hemant R. Bhagat Patil obtained master's degree in Mechanical

Engineering from RTMNU, Nagpur (India). He occupied various positions to serve the
engineering institutes for about 22 years. He is currently working as an associate professor in
the Department of Mechanical, Govindrao Wanjari College of Engineering and Technology,
Nagpur. He attended International and National conferences. He is a member of professional
bodies such as ISTE. He can be contacted at email: [email protected].

Dr. Ramesh Pawase completed his Bachelor of Engineering (B.E.) in

Electronics and Communications Engineering from Amrutvahini College of Engineering,
Sangamner in 2004 and Master of Engineering in Electronic and Telecommunication from
Dr. Babasaheb Ambedkar Technological University, Lonere in 2008. He has completed his
Ph.D. in the area of Analog CMOS circuits for MEMS in 2019 from Savitribai Phule Pune
University (SITRC Nashik). He is working as associate professor in Department of E&TC
Engineering from 2005 in Amrutvahini College of Engineering, Sangamner Maharashtra
(India). He can be contacted at email: [email protected].

Performance analysis of conventional multilevel inverter driven PMSM drive … (Rakesh G. Shriwastava)