Comparison of outer rotor PMSM with different pitch factors of q=1/2 and q=1/4 at same rotor geometry

Andreas Eilenberger , Johannes Heissenberger , Florian Kogler and Manfred Schroedl

for Electrical Drives and Machines Technical University of Vienna, Austria, Vienna A-1040 Email: andreas.eilenberger@ieam.tuwien.ac.at
AbstractDue to high costs in producing distributed stator windings the fully automated produceable concentrated stator windings get more and more importance in many elds of applications. Especially in the eld of automotive and traction applications, well known companies are using this kind of technology to reduce costs in producing ac windings. To achieve an acceptable torque per volume or utilisation factor which corresponds to a high winding factor a proper selection of the ratio between magnetic pole pairs and number of stator teeth, the pitch factor q, is essential. This paper discusses various properties of an outer rotor PMSM with same rotor geometry but two different stator congurations resulting in pitch factor of q=1/2 and q=1/4. The short circuit strength and sensorless control capability are important factors for the above mentioned applications because of reliability and low failure rate. Subsequently these essential properties are compared and discussed. As an important detail the short circuit current is calculated analytically and measured.
Institute

II. S HORT CIRCUIT STRENGTH In the subsequent derivation for determining the operational behaviour of the given short circuit current, steady-state operation is supposed. All data are given in normalized values [3]. In the stator xed reference frame the complex stator voltage equation s, , (1) dt with the complex stator ux linkage s and the electrical angular rotor position us, = rs is, + s, = s,dq e , = t follows to
us, = rs is, + s,dq e + s,dq e .

(2)

(3)

I. I NTRODUCTION A lot of publications in the eld of permanent magnet excitated synchronous machines (PMSM) with concentrated stator windings were presented and published [1]-[2]. Automotive and traction applications uses this kind of technique to reduce the production costs because of high degree of automation. For such applications short circuit current strength is an important property for managing critical faults like short circuit windings or similar events. Furthermore the sensorless control capability is a factor to improve the reliability and robustness. To achieve a higher sensorless control capability it is necesarry to have an acceptable ratio between direct and quadrature inductances in the whole load range. This paper discusses the short circuit properties and the sensorless control capability of an outer rotor PMSM with twelve magnetic pole pairs and two different stator winding congurations, eighteen and thirtysix teeth. The pitch factor q representing the ratio between magnetic pole pairs and the product of phase number and teeth number is equal to 1/2 and 1/4. For better comparison the slot depth and the width ratio between slot and tooth is practically the same. Especially the behaviour of the short circuit current in direct and quadrature direction is calculated and compared with the measured results. Thuesday 24. March, 2009

In the dq rotor xed reference frame the components of the stator ux linkage are dened by s,d = ls,d is,d + M , s,q = ls,q is,q , (4) (5)

where ls,d , ls,q are the inductances in direct and quadrature axis and M denotes the ux linkage of the permanent magnets. With the steady-state assumption of a constant stator ux linkage s,dq = 0 the stator voltage equation in the rotor xed reference frame follows to us,dq = rs is,dq + s,dq . The components of above equation are us,d = rs is,d ls,q is,q , us,q = rs is,q + ls,d is,d + M . (7) (8) (6)

With us,d , us,q equal to zero the direct and quadrature short circuit currents is,d,sc and is,q,sc can be easily calculated to is,d,sc = is,q,sc =
2 rs

2 m ls,q , + 2 ls,d ls,q m rs . + 2 ls,d ls,q

(9) (10)

2 rs

978-1-4244-4252-2/09/$25.00 2009 IEEE

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(a) stator with q = 1/4; Ch1(is,q,sc ): 0.5 p.u./div.; Ch2(is,d,sc ): 0.5 p.u./div.; (b) stator with q = 1/2; Ch1(is,d,sc ): 0.5 p.u./div.; Ch2(is,q,sc ): 0.5 p.u./div.; Ch3( ): 0.125 p.u./div.; is,d,sc 1.75 Ch3( ): 0.125 p.u./div.; is,d,sc 2.8

Fig. 1: Short circuit currents is,q,sc , is,d,sc in quadrature and direct axis at rising rotor speed of both stator congurations

III. S ENSORLESS CONTROL CAPABILITY The implemented sensorless, respectively encoderless method utilizes varying magnetic properties of the motor depending on the angular rotor position due to saturation and/or reluctance effects. The current control of the machine is interrupted in certain time intervals and proper test voltage space phasers are applied to the machine by means of the inverter for a very short period of time. The hereby evoked current change space phasors are dependent on the rotor position because of the space varying inductance values and can hence be evaluated for position detection. The tests do not disturb the torque production because the current change necessary for testing is in the range of only a few percents of rated current and can almost not be seen in the phase currents. The relation of the change of current space phasor per time over the test voltage space phasor is given by us . (11) ldif f := dis /d This complex quantity represents a curve in the Gaussian plane and could be used to calculate the angular rotor position. For further details see [4]. The following picture shows the standard deviation of the calculated angular rotor position according to the mentioned method for both stator congurations with pitch factors of q = 1/2 and q = 1/4. Therefor the inductances were measured based on current changes per time due to appropriate voltage space phasors. The data values were measured during constant rotor speed and rising current in quadrature axis (approximately load). Making a statistical evaluation of the difference between a reference rotor position and the calculated rotor position (approximating the distribution of the deviation by a gaussian normal distribution), the standard deviation gives a quantitative criterium of sensorless control capability. The

Fig. 2: Standard deviation of the calculated angular rotor position error versus current in quadrature axis (p.u.) at constant rotor speed = 0.07 for both stator congurations

better the standard deviation of the calculated angular rotor position error depending on the applied test voltage space phasors, the better the sensorless control capability. Comparing this for the examined stators, g. 2 depicts a better sensorless control capability for the q = 1/2 stator conguration. Furthermore the ratio of the inductances in direct and quadrature axis, the magnetic saliency, by means of current in quadrature axis is an important property for the implemented sensorless method. Subsequent gures depicts the small signal inductances ld,dif f and lq,dif f in direct and quadrature axis in nominal values. Fig. 3 shows the direct and quadrature small signal inductances

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direct and quadrature axis (see g. 1a and 1b). Furthermore it could be shown, that the q = 1/2 stator conguration has a better sensorless performance than the q = 1/4 conguration. Explained properties like magnetic saliency, standard deviation of the calculated angular rotor position and the ratio between direct and quadrature current above the whole load range are better within the q = 1/2 stator conguration. The sensorless performance of this stator conguration is proved till steady state current and beyond. The short circuit strength is not achieved by both stator congurations, however the q = 1/4 is better than the q = 1/2 conguration (see g. 1). V. DATA OF THE REALIZED DRIVE
data of machine: continuous torque: steady state current: rated voltage: nominal inductance: rated output power: rated speed: number of pole pairs: number of teeth: q=1/4 50 Nm 57 A amp 27.7 V amp 0.78 mH 1350 W 500 rpm p=12 n=18 q=1/2 47Nm 55 A amp 0.82 mH 1100 W 490 rpm n=36

Fig. 3: Small signal inductances ld,dif f and quadrature axis lq,dif f of the given stator congurations in nominal values

Fig. 4: Ratio between direct ld,dif f and quadrature lq,dif f small signal inductances of the given stator congurations in nominal values

Fig. 5: Photo of the q = 1/4 stator conguration

of the two stator congurations with different values in subject to the quadrature current. For the sensorless drive concept an assumption of a non magnetic saliency (lq,dif f = ld,dif f ) would result in an invalid angular rotor position. So it is desirable to have a wide ratio (see g. 4) between direct and quadrature inductance over the whole load range and also to avoid an intersection of the two small signal inductances. So the q = 1/2 stator conguration has a better performance. IV. C ONCLUSION The paper shows a good agreement between the calculated equations (9) and (10) and measured short circuit currents in

ACKNOWLEDGMENT The authors are very much indebted to the Austrian Science Foundation (FWF) which generously supports the work at the Institute of Electrical Drives and Machines at the Vienna University of Technology. R EFERENCES
[1] Huth, G.; Qian, K.: Permanentmagneterregte AC-Servomotoren mit vereinfachten Wicklungssystemen. In: Innovative Klein- und Mikroantriebstechnik, ETG-Fachbericht 96, Berlin und Offenbach: VDE Verlag 2004, S. 15. [2] Mueller, G.; Vogt, K.; Ponick, B.: Berechnung elektrischer Maschinen Wiley-VCH, Weinheim, 2008.

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Fig. 6: Photo of the q = 1/2 stator conguration

[3] Kovacs P.K.: Transient Phenomena in Electrical Machines, Elsevier, Amsterdam, 1984. [4] Schroedl, M.: Sensorless control of AC machines at low speed and standstill based on the INFORM method, IEEE IAS Conference, San Diego, Proc. 1: 270-277, 1996.

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