IEEE TRANSACTIONS ON MAGNETICS, VOL. MAG-22, NO.

5 , SEPTEMBER 1986

1069

Tomy Sebastian and Gordon R. Sl-n University of Toronto Toronto, Canada M 5 S 1pL4
Abstract A permanent magnet motor w i t h power semiconductor s u p p l y and s h a f t p o s i t i o n sensing can be constructed u s i n g r a d i a l l y - directel h i g h energy magnets OR its r o t o r . T h i s paper presents e q u i v a l e n t c i r c u i t models fur such motors, The model parameters are related t o t h e motor structure and dimensions. Computed values o f parameters are compared w i t h those measured f r m two experimental motors w i t h different rotor construction.

M.A. rcahman

-rial University of Newfowdland St. John's, Newfoundland A1B 3x5

wc '

f
d '

Ll

k
Lgd3
1

L T

Introduction
Developments i n power electronics and in h i g h energy permanent magnet (PM)materiais such as Neodymium Boron Iron have enhanced t h e a p p l i c a t i o n o f PM synchronous motors in v a r i a b l e speed drives, position control systems and robotics. A motor w i t h a power electronic s u p p l y and shaft positidn sensing does not n e d a

squirrel cage winding since it is always in synchronism. Also, the residual f l u x density of t h e newer PM materials is h i g h enough t o use r a d i a l l y oriented magnets f i x e d to the surface of t h e iron core of the r o t o r . The stator design is similar t d that of an i n d u c t i o n motor'. Magnetic Circuit and Flux Linkage Models Cross-sections o f two 4 - p o l e PM motors are shown in Fig. I . Using the approach h i c h is conventional in

d-axis q-axis Fig. 3 Flux linkage m e l s Electric Circuit Models With a rotor angular velocity v , the f l u x l i n k a g e A d i n t h e d-axis generates a v o l t a g e Ad i n the q-axis, where v ' = v p / 2 a d p is the number o f poles. Also the f l u x l i n k a g e A q generates a voltage - A q v ' i n t h e d-axis. The electric equivalent circuits for + h e two axes are then shown in Fig. 4 where Ld=L1+L,dr Lq= L 1 t LOq and i,'=i,l,~/l~. is t h e s t a t o r

f l ,

Fig. 4 E l e c t r i c &valent

circuits

w i n d i n g resistance. The c i r c u i t s o f F i g . 4 have constant parameters and are v a l i d as long as t h e a i r gap i n t h e q - a x i s region is long enough t o avoid saturation i n t h e s t a t o r teeth + The motor torque is given by

Fig. 1 Whanical layouts cf 4x0 4 pole R x n m e n t magnet synchronous notors

e l e c t r i c machine a n a l y s i s , t h e stator w i n d i n g s may be replaced by s i n u s o i d a l l y - d i s t r i b u t e d e q u i v a l e n t w i n d i n g s along the d and q axes o f symmetry o f t h e r o t o r , The equivalent magnetic circuit models for t h e two axes a r e as shown i n F i q . 2. Because of the l i n e a r 8-H characteristic o f t h e newer h i g h energy PM

Fd ,

f
-

v. 5 F h l F q
rrd

d-ads

q- a x i s Fig. 2 Ylgnetic circuit m d e h

m a t e r i a l s , t h e magnet can be modelled as a magnetomotive force (mmf)source F , in series w i t h a linear reluctance h d . Rgd and Rgg are t h e l i n e a r r e l u c t a n c e s due to t h e a i r gaps in the i r e c t and quadrature axes and Rmq is t h e reluctance due to t h e magnet in t h e q - a x i s . The paths f o r t h e s t a t o r leakage f l u x e s in t h e d and g axes are represented symbolically by R l . The parameters o f the magnetic circuits are n o t e a s i l y determinable because t h e m m f s are d i s t r i b u t e d and t h e magnets cover o n l y a p a r t o f t h e pole p i t c h . These magnetic circuits are however u s e f u l in determining the structure o f the f l u x l i n k a g e models shown in Fig. 3 , These are dual in form to t h e magnetic circuits. Each mmf source becomes a current source and each reluctance becomes an i n v e r s e l y proportional inductance carrying t h e same s u b s c r i p t n o t a t i o n , The p a r a l l e l combination of Lgd and 1 , is denoted as Lode [ I ]

Consider a 3-phase winding w i t h N , t u r n s per p o l e s i n u s o i d a l l y d i s t r i b u t e d for each phase, For phase currents i,, f b and i,, the phase mmfs can be resolved i n t o two s i n u s o i d a l l y d i s t r i b u t e d components Fde centred on t h e d - a x i s o f t h e rotor pole and Fqe on t h e q - a x i s , as shown in Fig 5 ( a ) . The e f f e c t i v e l e n g t h of the air gap 4 0 is shown as function of the angle e measured f r m t h e d - a x i s , i n Fig. T ( b ) . The magnets are assum4 to be partly imbedded in the r o t o r i r o n . I n determining the f l u x due to stator mmf, t h e magnets may be assumed to be replaced by an a i r space equal to the radial l e n g t h o f t h e magnet d i v i d e d by the r e l a t i v e magnet permiability Prwhere vrfar h i g h energy materials is of the order o f 1.05. The a i r gap flux density is given in Fig. S ( c ) and (d) where, for the d - a x i s , f&dF v Only t h e fundamental space component of f l u x d e n s i t y produces a net flux l i n k a g e i n the s i n u s o i d a l l y d i s t r i b u t e d stator windings. For t h e direct a x i s , t h i s fundamental space component has a maximum value R l g d where
n/L

Blgd=4_
a

f
0

Bgde sin 0 d e

(2 1

It is convenient to v i s u a l i z e the d and q - a x i s equivalent w i n d i n g s as having / 3 / 2 Ns t u r n s per pale-phase each i n converting fran mf f l u x density variables to f l u x Linkage-current v a r i a b l e s . The direct axis f l u x linkage due t o t h e fundamental component Blgd is then given by

Ad=/?

IT Ns

81gd

(3)

where

1 is t h e a x i a l l e n g t h o f t h e r o t o r and r is i t s a i r gap r a d i u s . The inductance Lod is t h e n g i b e n by 'Od = od /id where id is t h e peak v a l u e o f Fd 8

0018-94~/86/Q900-1~9$01.0001986 IEEE

1070
s i n s o i d a l current source a t fundamental frequency

The f a c t o r ~ 2 / 3 canpensates f b r t h e turns r a t i o between one phase and t h e e q u i v a l e n t d w i n d i n g . The d a x i s t h r o u g h t h e magnet is taken as t h e reference resulting i n t h e phase a n g l e o f zero,

The s t a t o r current i n phase a leads t h e e f f e c t i v e magnet c u r r e n t by an a n g l e f3 and is related to t h e a x i s c u r r e n t s o f F i g . 3 and 4 by IS = (id J3 (6) An a l t e r n a t i v e f o r mo f t h e e q u i v a l e n t c i r c u i t is g i v e n i n F i g . 6 ( b ) where E, = Lo I, and L=LL+Lo

LO+^^ kou

f o r these models, t h e torque is T=3 P Lo I, Im s i n B

I

(7 1

'

"me t
B
mD

Experimental R e s u l t s f o r Non-Inset Magnets A motor was fabricated u s i n g a standard 5-hp i n d u c t i o n motor s t a t o r and neodymium magnets s l i g h t l y notched i n t o t h e i r o n core as shown for Machine #/I i n F i g . I . The e q u i v a l e n t c i r c u i t parameters of this motor were measured and are compared w i t h computed v a l u e s i n T a b l e I . It is noted t h a t the q u a d r a t u r e
. .

- . . -

PARAMETER
Ld mh

COMPUTED

EXPERIMENTAL

4.75
5.04
88.5

4.02

Lq rnh

4.0
88.4

Fig. 5 - Mrtf and Flux IXnsity Space Waveforms d i v i d e d by f l 2 S' S i m i l a r e x p r e s s i o n s may b e used t o determine t h e quadrature axis i n d u c t a n c e LOq. The stator leakage i n d u c t a n c e L 1 may b e c a l c u l a t e d a s f o r an i n d u c t i o n m o t o r . [ 2 ] Determination o f Eauivalent Source Current o f Maanet The current source e q u i v a l e n t i, o f t h e magnet i s d e t e r m i n e d by comparing t h e fundamental space c m p o n e n t o f f l u x d e n s i t y B l m t h a t t h e magnet produces i n t h e a i r gap w i t h t h e value o f B l g d p r o d u c d by d i r e c t a x i s s t a t o r current i d ' F o r a magnet material w i t h coercive force H , and a l i n e a r characteristic t h r o u g h o u t t h e second 8-H quadrant, t h e magnet m m f is F,=Hcl, where 1, is t h e radial l e n g t h of t h e m a g n e t . The a i r gap f l u x density due t o t h e magnet is t h e n g i v e n by = ,' p0 Fm / g e over t h e - w i d t h o f t h e magnet a s shown i n F i g . 4(e), If 3 1 ~ is t h e fundamental space component o f t h i s f l u x d e n s i t y , t h e current source i, i s e v a l uated as i,=i(j l3I m /'Iyd (4) S f r n d i f i e d Eauiva ent Circuit f o r Fundamental Freauencv . , A model g i v i n g t h e relationships of t h e fundamental frequency v o l t a g e s and currents may be d e r i v e d f o r t h e special case where t h e magnets a r e o n l y s l i g h t l y inset i n t h e i r o n , For t h i s s i t u a t i o n , t h e a i r gap inductances t,d and LOq are then each e q u a l to to. The fundamental frequency components o f p h a s e v o l t a g e and current o f an inverter-driven motor can b e regarded as three-phase balanced s e t s for s t e a d y s t a t e and for slowly varying transient c o n d i t i o n s , T h e motor can t h e n be represented by t h e per phase e q u i v a l e n t c i r c u i t o f F i g . 6 ( a ) , The constant magnet current i , in t h e f l u x linkage model o f F i g . 3 is r e p l a c d by a
I ,

i , '

T a b l e I Computed and experimental r e s u l t s for motor w i t h n o n - i n s e t magnets

a x i s inductance is o n l y s l i g h t l y higher t h a n the direct a x i s inductance (4-6%).Thus t h e steady s t a t e c i r c u i t models o f Fig. 6 which assume equality o f t h e inductances are applicable.
Experiments were performed on the motor w i t h a s i n u s o i d a l current controlled supply. F i g . 7 shows
0-r
cr)

--*

CQl_CHtRTED

SYM8OLS-EXPERIMENTRL

9Q. m 00 DEL.

1-

Torcpe v s Stator cwrcnt of Motor w i t . non-Inset magnets m r vLx3.ous angles B the measured torque vs stator current t o g e t h e r w i t h v a l u e s computed u s i n g t h e equivalent circuits, The computed v a l u e s o f l i n e - l i n e v o l t a g e as a function o f for several v a l u e s o f s t a t o r current are p l o t t e d along with experimental results i n F i g . 8. The close correspondence o f c a l c u l a t e d and experimental v a l u e s confirms the v a l i d i t y o f t h e circuit models.
Fig, 7
Motor w i t h Fullv-Inset Maqnets An a l t e r n a t e Form of permanent maqnet m o t o r a s shown f o r Machine #I2 i n F i g . 1 h a s i t s magnets f u l l y

00

F i g . 8, a l y t i c a L and mpximntal Line-Line Voltage vs mgleB for Various stator Currents at 700 rev/mh inset i n t o t h e rotor core. The a i r gap i n t h e quadrature axis region i s small, providing o n l y mechanical clearance as i s characteristic o f i n d u c t i o n motors. Typically, in an induction motor, a magnctirlng current greater than about 0 3 o f r a t e d value may be assumed t o produce essential l y c m p l e t e saturation i n t h e stator teeth. As noted p r e v i o u s l y ,

RNGLE B IDECREESI

angle 8 is nomally i n excess o f 90" for motoring, Fig,, 9(a) shows a t y p i c a l distribution o f the s t a t o r
the

mmf

Fse

i n F e h t i o n t o the magnet flux density

f o r motoring a c t i o n Eq leads E, by 9 0 " . f o r generatlng action with reversed torque, t h e operating range is 210 + d < f i (330- 6 The f l u x density in t h e iron s e c t i o n 1 s as shown i n F i g . 9(c ) except t h a t it is reversed in direction. Accordingly, the source valtwe Eq l a g s E , by Y O " , The inductance Lo in F i g . IO represents the e f f e c t o f the s t a t o r m m f i n modifying the net f l u x density in t h e a i r gap above t h e magnet, Its value i s somewhat less than 1 , i n Fig. 6 since the stator mmf is e f f e c t i v e o n l y over the magnet width, The inductance is g i v e n by L ~= * I .5 ~ , 2 pol r -( n-26 -Sin N / q m (10) where g , is t h e value o f i n the magnet region. Tests were made on a motor (Machine #2) constructed w i t h f u l l y inset magnets. The measured relationship between torque and angle B a t rated stator current is shown i n f i g . 11 together w i t h two c a l u l a t e d curves. The a n a l y s i s was continued beyond the region o f v a l i d i t y of t h e circuit model of Fig. 10 to include s i t u a t i o n s in which the iron section was p a r t i a l l y unsaturated, In the dotted curve, t h e e f f e c t of stator mmf i n t h e magnet region was ignored, equivalent to neglecting L ., Also i t was assumed that the iron region saturated abruptly w i t h any value of s t a t o r mmf, In the s o l i d curve, t h e e f f e c t o f stator mf i n the magnet region was i n c l u d e d and linear

*Od*ers
A
U

Fig* 9

inset mgrlets

& F l u d a s i t y distribution for mtor

With

distribution shown i n Fig.9tb) for a magnet angular w i d t h o f 160-26 any value o f 8 betneen 6 and t80-6 w i l L result in p o s i t i v e m n f across t h e iron section between 180- 6 and 180+6 For rated stator current, the m n f will be adequate t o saturate the stator teeth above t h e iron section for the range ' 6+3O c W 1%- 6 assuming saturation occurs a t .S o f rated current. Assume t h e average a i r gap flux d e n s i t y i n this region is 8, as shown i n f i g c 9 ( c ) . While the f l u x density i n t h i s region is then i n s e n s i t i v e t o t h e value o f F,a, the stator mnf can produce a fiux density distribution in t h e magnet region as shown by t h e dotted line. It is assumed that the sum of t h i s flux density and that far t h e magnet does not saturate t h e

s t a t o r t e e t h . For the limited operating range w i t h 30+S<a< 1TO-6 and w i t h s u b s t a n t i a l stator current, tht? motor may be represented by t h e fundamental frequency e q u i v a l e n t circuit o f F i g . 1 0 . The v o l t a g e E , due t o t h e magnet i s i d e n t i c a l w i t h t h a t of Fig. 6 ( b ) and i t s