UNIT-I PERMANENT MAGNET SYNCHRONOUS MOTOR Introduction Ref: Special Electrical Machines By Gnanavadivel

In conventional Synchronous Motor, the rotor carries the field winding which is excited by a DC supply to produce the magnetic flux needed for the operation of the motor. The slip ring and brushes are necessary to excite the field winding by transferring current from a stationary terminal to the rotating rotor. Now, the electromagnets and the field magnets are replaced by permanent magnets. This eliminates the need of slip ring and brushes assembly. Those motor using permanent magnets to produce the required flux without brushes are called permanent magnet synchronous

motor or burshless

1.1 Construction
The construction is very similar to conventional synchronous motor but it differs only in the rotor construction as shown in the figure 5.1. Important parts of the motor are stator and Rotor. The stator consists of outer frame which encloses the whole machine and protects it from the environmental hazards. The outer frame is usually made of cast iron (or) steel. Inside the stator frame, stator core is fixed which consist of thin lamination to reduce eddy current loss and made up of soft magnetic steel material mixed with silicon to reduce the Hysteresis losses. The stator core has slots in it which are also laminated. The slots are used to house the poly phase stator winding called armature winding made of copper material. The thickness of the lamination depends on the frequency of the armature voltage, cost of the machine and core loss component of the machine. Usually for large machine, lap type Double layer winding will be provided but for smaller machines solenoid (or) random winding is used. The rotor construction can be two types, cylindrical pole type and salient pole type. Usually cylindrical type of rotor is used to maintain the air gap uniform flux distribution. The permanent magnet made of rare earth magnetic material such as ferrite, cobalt are used. The rotor also consists of damper winding which is used to damp the oscillation near the synchronous speed and also used to start the motor. The rotor also carries the shaft and bearing systems. The various types of rotor construction used are i. Peripheral: the magnets are located on the periphery of the rotor and the flux is radial. ii. Interior: interior of the rotor carries the permanent magnets and the flux is distributed radially.

iii. iv.

Claw-pole (or) Lundell: The permanent magnets in this structure are disc shaped. The flux is axial. Transverse: The permanent magnets are in between the soft iron poles and the flux is circumferential.

Figure 1.1

Working Principle
The operation of the Permanent Magnet synchronous motor is very similar to the conventional synchronous motor. This motor is also not self starting hence additional winding is placed on the rotor. Once the synchronous motor is started by applying voltage at certain frequency and then it is pulled into synchronism. The motor speed is decided by the frequency of the supply which excites the phase windings of the stator. Necessary torque is produced in the motor for the motor by the interaction of fluxes produced by the permanent magnet Rotor and the excited stator winding. The torque produced is called as synchronous Torque. The hunting near the synchronous speed is possible which is eliminated by using the damper winding. Due to the presence of the damper winding, the synchronous motor can be started from zero speed as an induction motor. The stator phase windings can be excited with variable frequency and the amplitude to achieve wide range of operating characteristics and motor is highly controllable.

Advantages:
1. 2. 3. 4. 5. 6. Slip rings and brushes are absent, so there is no sparking. These motors are flexible as they are highly controllable. No DC field excitation is required. So field losses are reduced. It requires less space as field windings are absent. They have low inertia & friction. These motors are reliable and have long life.

Disadvantages:
1. The electronic circuitry driving the motor is complex and complicated. 2. There is possibility of demagnetization due to excessive currents. 3. The flux density produced in the airgap is limited due to permanent magnet.

Applications:
1. These motors are used in the applications where constant speed is required such as synthetic fiber drawing, turn table drives in record players, spindle drives in hard disk in computers. 2. Used for tape drive for video recorders, in the field of aerospace, gyroscope motors and biomedical instruments like artificial heart pumps. 3. Used in textile and glass industries, hand drills, vacuum cleaners etc.

Characteristics features of permanent Magnets synchronous Motor

1. Sinusoidal (or) quasi-sinusoidal distribution of magnetic flux in the airgap. 2. Sinusoidal (or) quasi-sinusoidal Current waveforms. 3. Quasi-sinusoidal distribution of stator conductors (i.e.) short pitched and distribute (or) concentric stator winding.

1.2 TORQUE EQUATION OF PM SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel
The torque production of the motor can be analyzed in terms of the interaction of the magnet flux produced by the permanent Magnet with the stator ampere-conductor distribution in the motor. The figure 5.2 shows the basic concept of the motor with two poles. The stator conductors are distributed sinusoidally around the stator bore, such that in any angle d, the number of conductors is given as No. of conductors in the small angle d= sin p.d

Considering that one turn consists of two conductors in series, then number of turns per pole Np is given as Np=

Figure 1.2 This means that if all the poles are connected in series, then Ns is automatically equal to the number of turns in series per phase. The distribution of the turns per pole for two pole and four pole motors is shown below figure 1.3

Figure 1.3 In the following analysis the angle is in mechanical degree (or) radians. The stator ampere-conductor distribution is a sinusoidal distribution such that the sinedistributed current has the same form as the conductor distribution. So that, at the angle d, the ampere conductors following in the positive direction (i.e.) out of paper is given as Ampere conductor in the small angle d=i sin p.d

The rotor magnetic flux distribution is centered on its north d-axis which is displaced by a positive angle from the axis of the stator winding which is given as

B()= sin(P+(/2-)) B()= B()= sin(/2+(P-)) cos(P-)

Where is expressed in electrical radians. The force on the elementary group of ampere-conductors for a small angle d is in the circumferential direction and it is given as F=Bil sinP.cos(P-)

Similarly the corresponding force on the opposite element also will be produced. So two forces together produces a couple 2 F r on the stator. As equal & opposite couple acts on the rotor and the total electromagnetic torque on the rotor is the integral of the elementary area over the whole air gap periphery (i.e.) over P-pole pairs and Torque is given as

T=-P

When P=1 then =-2rBl i T=-2rBl i T=-2rBl i T=-2rBl i T=-2rBl i (

( )

( (

) ) ) )
)

Integrate the above equation and apply the limits we get the below expression for torque

T=

Maximum positive torque is obtained with =- (i.e.) rotor north d-axis lagging 90 electrical behind the axis of the stator ampere-conductor distribution. The above analysis has been carried out for a stationary winding. To provide a constant Torque with the rotor rotating at a steady speed, the stator-ampere-conductor distribution must be made to rotate in synchronism with the rotor. This can be done by means of poly-phase winding supplied with poly-phase balanced currents. With P-Pole pairs, if Np=Ns/2 is the number of sine distributed turns per pole, the total numbers of turns per phase in Ns. If the phase current flows through all those windings in series, then with balanced sine wave currents and three phase windings whose axes are 120 apart, the rotating ampere-conductors distribution can be derived as

Rotating ampere-conductors =icost = I sin P+icos (t-120) sin (P-t) sin (P-120) +icos (t+120) sin (P-120)

The rotating magnetic flux distribution is given as B()=Bcos(P-t-) The torque provide is obtained using the same expression as for the stationary winding with (P-t) substituted for P, it is given as,

T= I

Where =-. The angle is called the torque angle and it is positive for motoring and negative for braking. It is measures in electrical degree (or) radians. If the phase windings are divided into a parallel paths, the above equation remains valid provided that I is the total phase current and there is no change in the total number of turns per phase (Ns), but the number of turns in series per phase is the Ns/a. The Flux Density B in the torque equation is the peak air gap flux density produced by the magnet acting alone and does not include any contribution due to the mmf of the stator currents. The armature reaction mmf also modifies the air gap flux density but it does not adversely affect the torque expression, unless it significantly affects the saturation level of the magnetic circuit. In normal operation the stator frequency in radians/sec is made equal to the rotational frequency in electrical radians/sec and it is given as =2f electrical rad/sec The mechanical angular velocity is given as

The stator ampere-conductors distribution rotates in synchronism with the rotor and the torque angle is kept constant by means of Vector control (or) field oriented control which requires a shaft position sensor. If the supply frequency and rotational frequency are unequal, then the motor will be running asynchronously. So that no average torque will be produced but there will be a large alternating torque at the beat frequency (or) pole-shipping frequency.

1.3 E.M.F EQUATION OF PM SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel
The Emf equation of the motor can be derived by considering the Emf induced in the elementary group of conductors as shown in figure 5.2 . from the figure drawn the two pole motor has P=1, for a motor with P-Pole pairs in series, the Emf can be given using the B L V formulation as

de=B()lr sin Pd But B()=Bcos(P-t-) =Bcos(P-(t+)) When we integrate the elementary group of conductors for the complete distribution we get the instantaneous phase Emf given as e=2 e=2Bl r e=2Bl r e=2Bl r e=2Bl r e=2Bl r ( ( ( ) ( ( ( ( ( ) (
(

)) ) )
)

( ( ( ))

)) ))

))

Integrate the above equation and apply the limits we get the equation for the instantaneous EMF which is given as e=2Bl r e=
(

sin(t+) volts
) sin(t+)

volts

Where

=2Bl r

The R.M.S phase Emf is therefore given as

( )
( )

volts

The line-line Emf is

( ) =3 ( )

Here again the flux density B is the peak air gap flux density produced by the magnet acting alone and does not include the contribution of mmf due to stator currents. The Emf equation can also be derived from Faradays law. In this derivation of Emf, armature reaction is also taken into consideration. Faradays law is more rigorous then the BLV formation but it is useful to show that for E both methods give the same result. By Faradays lay, the instantaneous emf induced in the stationary phase winding is given as e=volts

Where is the instantaneous flux linkage. To calculate the flux linkage, consider the coil formed by the elementary group of conductors within the angle and assume that the return conductors of coil are located with the angle . Although results are derived for P-pole pairs. On open circuit, there is no current in the coil and all the flux is due to the permanent Magnet Rotor. The flux through the elementary coil is But B()=Bcos(P-t-) ( ( ( )) ) ( )) ( ) ( ) (webers)

Integrate the above equation and apply the limits we get the instantaneous Flux which is given as

sin Pcos(t+) (webers)

Where D=2 r is the diameter of stator bore. The flux per pole can be extracted from this expression by putting = =

and t=0. Thus

(webers)

This is the fixed flux that rotates with the rotor. The flux linkage of the elementary coil is D= [ ]

The total flux linkage of the winding is obtained by integrating the contribution of all the elementary coil with P-Pole pairs, Thus, =P =P =P =

= P

( ( ) d ) ) (
( )

) sin P d

( (

d )d

Integrate the above equation and apply the limits and few get the Instantaneous flux linkage as =

cos(t+)
) cos(t+)

Where

)=

The subscript m indicates flux produced by Magnet only. By Faradays law the instantaneous phase Emf is e== sin(t+) volts

The r.m.s phase emf is given as

volts

1.4 Inductance of phase winding of PM synchronous Motor Ref: Special Electrical Machines By Gnanavadivel
Consider the figure 5.2 (ie) single phase, two pole sine-distributed winding. Here we consider the flux which is produced by the current in the stator winding and we assume that the magnet is unmagnetized while we calculate the inductance by determining the flux linkage of the winding due to its own current i. Assume that the steel core in the rotor and stator have infinite permeability, then the mmf is concentrated entirely across the air gap. Across each air gap, the mmf drop is equal to one half of the ampere conductors enclosed within the amperes law contours (or) flux line and it is given as g= sinP d

Integrate the above equation and apply the limits and we get the following expression g= = cos P cos P

The flux density across the gap and the magnet is assumed to be radial and the magnet is assumed to be equivalent to an airgap of length . Therefore the effective airgap length g is given as g=g+ Hence, B()= Where = The subscript a has been added to indicate the peak airgap flux density to denote that it is generated by armature current. By integrating the flux density around the periphery of the airgap, the fundament armature reaction flux per pole can be determined and given as = cos P= cos P

(webers)

Where again D=2r is the stator bore. This expression is exactly the same form as the flux pole of the magnet and therefore it produces a flux linkage given as = The self inductance is obtained as the flux linkage per ampere with given as =

turns in series per phase and it is

(Henry)

The inductance is only half the value which would be obtained with the same number of turns concentrated into one pole pair spanning 180 degree. The Inductance which is calculated above is the actual airgap inductance (ie) the value which would be measured with rotor stationary and unmagnetised with the other phases open circuited and with negligible leakage inductance from the slots (or) the end turns.

1.5

SYNCHRONOUS REACTANCE OF PM SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel

We know that three sine-distributed phase windings carrying balanced three phase sinusoidal currents produce sine-distributed ampere-conductor distribution which is represented by the expression. Three phase Rotating ampere-conductors = I2 sin(p-t) This will setup a rotating flux wave in the airgap given as B()= cos(p-t) Where = I2

This rotating flux wave which is established by armature reaction, generates voltage in all the three phases. In each Phase, the voltage is proportional to current I and it is therefore given as the voltage drop ( ) drops across winding Reactance called as synchronous Reactance . By substituting peak flux density into the expression derived earlier for emf and diving by I we get synchronous Reactance as follows w.k.t Where =
( )

= Therefore

=
(

We know that

E=
Where i=I2 Therefore

= =

(ohms)

This expression applies to an ideal two poles sine distributed three phase winding with turns in series per phase and it neglects the leakage inductance of the slots and end turns.

1.6. PHASOR DIAGRAM

If the magnets are on the rotor surface and if the shaft cross section is circular, the sine wave motor is a mom salient Pole synchronous Motor (ie) its d-axis and q-axis synchronous Reactances are equal. In the steady state with balanced sinusoidal phase currents, the operation can be represented by the phasor diagram shown in figure 5.4.

Figure 1.4 Phasor diagram of surface magnet sinewave motor The construction of the phasor diagram is simple and its analysis provides the basis for understanding the performance characteristic and what happens at different speed & torques. We know that the o-pen circuit phase emf E is a sinewave which lags behind the magnetic flux by 90 electrical. Its r.m.s value is given as = k

Volts

The phasor relationship between written as

and the fundamental flux linkage due to the magnet can be

=j

=j

Volts

The subscript d in the magnetic flux linkage denotes that this phasor is synchronized with the direct axis of the rotor. The subscript i indicates the fundamental space harmonic component. The subscript q in denotes that it is synchronized with the q-axis. In all phasor diagrams, the d-axis is taken to defined the real axis of the complex plane of the phasor diagram. Note that as the rotor flux rotates in space, the flux linkage of a stationary phase winding pulsates in time. The angle defined the position of the physical rotor d-axis at t=0, measured from the positive axis of the phase a winding. Next we determining the current phasor and we read the rotating ampere-conductor distribution of all three phases taken together. Assuming balanced currents. =icost =icos(t- ) =icos(t+ )

The axes of the three windings are displaced by 120 degree in such a way that the rotor d-axis rotates past them in the sequence a,b,c. this gives rise to the ampere-conductor distribution given as Ampere-conductor distribution =icost sin+ icos(t- )sin(- )+ icos(t+ )sin(+ ) = I2 sin(-t) The phasor RI represents the voltage drop across the phase resistance and it is parallel to I . Similarly, the voltage drop across the synchronous reactance is represented by j I and leads the current phasor by 90 . The sum of the back emf and the voltage drop phasor must be equal to the applied voltage at the terminals. Thus =E +RI + j I Next, neglect the resistance in order to bring out the essential mechanism of operation. So the below phasor diagram in the figure 5.5 gives the current and voltage resolved into d-axis and q-axis components (ie) I = .

Figure 1.5 In figure 5.5, the current leads the d-axis by angle less than 90 , and lags the q-axis by the angle , where -= - The minus sign indicates that the angle is measured from the q-axis in the normal positive direction.

Figure 1.6

The d-axis and q-axis components of current are given by =-Isin

= I cos If is positive, then the armature (or) stator current produces an m.m.f distribution around the air gap that tends to increase the d-axis flux produced by the magnet. This conduction, the armature reaction is said to Magnetizing. The flux produced by the stator mmf induces the voltage j in the d-axis and in the q-axis of the phasor diagram. The q-axis component adds to j . The magnet flux density is increased, so that the operating point moves up the demagnetization characteristics and may end up in the first quadrant with . In the figure 5.6, is negative and the stator mmf is also negative and demagnetization will occur. The power factor angle is given by =-(demagnetization) =+(magnetization) T is less in demagnetization than the magnetization. Therefore, high power factor can be achieved with operation in the demagnetization Mode.

1.7. CIRCLE DIAGRAM OF PM. SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel
The phasor diagram and associated voltage equations can be used to derive control laws and predict the performance of the sinewave motor in closed analytical form. If the resistance is neglected, then from phasor diagram (a) and (b) =-Vsin==Vcos= +

is given by the following equation for synchronous Machines on d,q-axis theory, ie T=3P[ ]

Where p is the number of pole pairs and the phase and the phase number is three. The flux linkages , are r.m.s per phases given by

Therefore the Torque is given by T= [ ( ) ] (Nm)

The first term is Magnet alignment Torque and the second term is called Reluctance Torque. In surface Magnet rotor, = = . So, there is no reluctance torque and therefore T= (Nm)

The above equation is valid even when the resistance is not zero. At a given speed, is fixed by the magnetic flux and the torque is proportional to the q-axis current . Since is itself proportional to speed. The amount of current that can be supplied limited by the heat dissipation capability of the motor and by the current rating of the converter. It can also be limited by the converter voltage, which must overcome the back Emf and the voltage drops across the synchronous Reactance and the resistance. In the complex plane of the phasor diagram, the maximum continuous converter current limits the current phasor to a circular locus described by the equation. = +

Fig 1.7 This is shown in the figure 5.7. The maximum converter voltage limits the current phasor.

To another circular locus with a different radius and a different center and it is derived as follows, if = Then Then = + +( ) ). The offset is independent of ) =

= +(

The above equation represents the circle with centre at the point (frequency and speed since both

are proportional to frequency. If the controller is a PWM sine

wave supply, then at low speeds there is usually sufficient voltage available to cause the voltage limited locus to enclose the current limit locus, so that maximum current can be obtained at any angle. The most advantageous angle for the current is obviously along the q-axis, since this maximizes the torque per ampere. In general at low speeds the PWM duty cycle is low and the phase voltage is Chopped Down to a value much less than Operation along OQ with torque proportional to current.

1.8 SPEED-TORQUE CHARACTERISTICS OP PM SYNCHRONOUS MOTOR

The speed-Torque characteristics can be drawn with respect to the circle diagram shown in the figure 5.8.As the speed and frequency increases, the current limit locus remains fixed but there comes a speed at which the radius of the voltage limit locus begins to decrease. This happens when the PWM duty cycle reaches its maximum and the phase voltage equals the maximum available sine wave from the converter. This point is called as saturated point of the PWM control shown in thick lines.

Figure 1.8

Figure 1.9 The operation along OQ is still possible, but it is only just possible for the currents to reach its rated value at Q.The speed at which this happens is called the Corner point speed. It is the maximum speed at which full torque can be developed. If the speed increases further, the radius of the voltage limit locus decreases. The maximum current is now at the interaction of the two circles. The decreasing radius of the voltage limit circledrags the maximum current phasor further and further a head of the q-axis current decreases while the d-axis current increases in the negative direction (Demagnetization).This continuous unit point D, at which speed the maximum current Ic can still be forced into the motor and it is entirely in the d-axis so that no torque is developed. The power function at this point is zero and the current is wholly demagnetizing. The logical OQ and OD together form the limiting locus for the current phasor throughout the whole speed range and gives rise to torque-speed characteristics. Along OQ maximum torque can be developed with maximum oriented along q-axis. Along QD the torque decreases until at point D, ie T=0 with maximum current still flowing but oriented in the d-axis in the negative direction. The speed-torque curve is shown in the figure 5.9 The ratio between the speeds at point D and Q is

K=

If we neglect the resistance at Q we have =0; = ; and == .

The subscript C in the synchronous reactance denotes the value at the corner point frequency. From the phasor diagram I=j = And +

At point D;

I= =

= at the two speeds, we get

Equating the expressions for K=

We can define as the per unit open circuit voltage at the corner point with the maximum r.m.s ac voltage of the base voltage, ie. = Then k=

At the corner point, the d-axis current is zero and the power factor is given by cos Also, Where Where = = = sin = = = =

which is the base value of synchronous Reactance.

is the per unit synchronous reactance at the corner point.

If the speed is increased beyond point D, there is a risk of over current because the back Emf continues to increase while the terminal voltage remains constant. The current is almost a pure reactive current flowing from the motor, back to the supply. There is a small q-axis current and a small torque because of losses in the motor and the converter. The power flow is reversed and this mode of operation is possible only if the motor over turns the converter. The reactive current is limited by the synchronous reactance and as the speed increase it approach the short circuit current which may be many times the normal rating of the motor winding (or) the converter. The current is rectified by the fly back diodes and over voltage on the dc side of the converter. An effective solution is to use an over speed relay to short circuit the phase winding in to a three phase resistor(or)short circuit, to produce a braking torque without stressing the converter.

1.9. CONVERTER VOLT-AMPERE REQUIREMENTS AND TORQUE PER AMPERE: Ref: Special Electrical Machines By Gnanavadivel
With a torque angle of 90 degree, the torque per r.m.s ampere of phase current in the three phase sine wave motor is given as (PM synchronous motor) = (Ie) it is

(Nm/A) .

Where as in the PM brushless DC motor, assuming 180 magnets arcs, star connection and 120 square wave phase currents, the torque per pack ampere of phase current is given as =4 l ( )

The r.m.s phase current T is derived from 120 square wave I given as I=i Where I is the peak (or) flat top value of the phase current is = Bl ( )

With the above two expressions, the ratio of torque per ampere in the two motor can be compared. (i.e.) Torque per r.m.s ampere= =

=1.47

With equal peak current, the factor is 1.27 Therefore with equal r.m.s phase current, the torque of the square wave (or) per brushless DC motor exceeds that of the sine wave (or) synchronous motor by the factor 1.47. The above analysis neglects many important effects such as armature reaction and losses.4 Now the comparison is to be carried out to the volt-ampere requirements of the Electronic converter. A very simple estimate of the converter rating can be made in terms of the total KVA rating of its main switches and per KW of power fed to the motor. The relevant parameters are discussed below With respect to the r.m.s current in each switch, if q is the phase number, then R.M.S Where =2q x is the r.m.s current in each switch and is the peak voltages across each switch.

For the converters normally used in BLDC motor, the peak device voltage is normally equal to the DC supply voltage, because each switch must block this voltage while the other one in the same phase leg is conducting. So usually there must be a margin for the voltage spikes caused by

stray inductance and reverse recovery of diodes. Therefore the DC supply will be used for the comparison. With respect to the peak current in each switch. Peak Where =2q

is the peaks current in each switch.

In the case of synchronous motor (or) sine wave motor, the line current are assumed to be wave and each switch conducts a half sine wave for 180 and does not conduct for another 180 The r.m.s line switch phase current is times the rms line current and which will be assumed to be same as the phase current if the motor is star connected. The peak device current is equal to the phase current. The relation between the DC supply voltage V and ac. The line voltage of the motor is that the peak line-line voltage of the motor is equal to V. =V=

Therefore,

Peak phase voltage.

So we can write

R.M.S switch VA=6V

Peak switch VA=6vi=6v x

Converter power output (kw) =3

I=3

xI

The rms switch

=3.5

The peak

=6.9

For the PMBLDC motor, the equation can be written as R.m.s switch VA=6

Peak switch VA=6 V

The R.M.S switch

=4.9

The peak value

= 6.0

The results are same for the star and delta connected. Thus the PMBLDC motor has a slightly better utilization of the peak current capability of the converter switches. The synchronous motor appears to have a much better utilization of their R.M.S currently capability.

1.10 POWER CONTROLLERS OF PM SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel
The control for PMSM both in the region of constant torque and in that of flux weakening could be presented and its schematic controls scheme is shown in the figure 5.10. Assume that the speed controller drive system, generate the torque command . According in the speed error. Depending on the mode of operation Block1 (or) Block2 will be selected the outputs of these controllers are the stator current magnitude command & torque angle command. These commands will combine together with the electric rotor position, provide the phase currents command through the transformation block. The current commands are enforced with an inverter by current feed back control with any current methods. The rotor position& speed are obtained with a encoder and a signal conditioners respectively.

Figure 1.10

1.10.1 CONSTANT TORQUE MODE CONTROLLER Ref: Special Electrical Machines By Gnanavadivel
The block1 contains the constant torque mode controller with maximum torque per ampere. The schematic diagram is shown in the figure 5.11. The speed signal determines the mode of operation of the derive system. In the torque control mode of operation, if the rotor speed is less than the base speed, then enables bloc1 in the form of onward transmission of Torque command signal . The torque signal is limited by the maximum torque that could be generated with maximum permissible stator current phasor. Then the resulting torque signal provides the stator current magnitude ant torque angle command to the transformation block.

FIGURE 1.11

1.10.2 FLUX WEAKENING CONTROLLER Ref: Special Electrical Machines By Gnanavadivel

There are totally three inputs to the block 2, they are the torque request, rotor speed and maximum permissible stator current. The rotor speed determines the d-axis stator current request from the function generator. The d-axis stator current along with the maximum stator current determine the permissible quadrature axis current. Then this q-axis current determines the maximum electro magnetic torque allowed within maximum voltage & current constraints .This command is compared with and generated by the speed error and logic sub module adjusts the torque request depending on the load and maximum capacity of the motor drive system. as a function of the rotor speed. From this final torque request * and the stator d-axis current is computed by using the transformation block. Then the d-axis and q-axis stator current requests are then used to calculate the stator current phasor magnitude & torque angle request. The torque mode or flux weakening controller mode is chosen based on the rotor speed is lower or higher than the base speed. The schematics diagram of flux weakening mode of controller is shown in figure 1.12.

Fig 1.12

1.11 MICROPROCESSOR BASED CONTROL OF PM SYNCHRONOUS MOTOR

In latest emerging trends to control the drive system using fast devices such as microprocessor. Micro controller, DSP processor are in common uses. Using these controllable system we can program the drive for its smooth and efficient operation of the drive system. The microprocessor based has various blocks in its flow of control. Since nowadays microprocessor are available cheap we find extensive use of it in the closed loop control motors. The microprocessor will be pre-programmed already by using the data which are available readily. The various input to the microprocessor are rotor speed, rotor position and motor current. The shaft rotor position is

detected by the position encoder or by using optical encoder. The speed of the rotor can be driven from the encoder itself by using signal conditions. The mode of operation of PM synchronous motor can be decided by the microprocessor whether the speed is below or above the base speed. The microprocessor sets the reference Torque, current in the d-axis and q-axis and the torque angle, for the operation of the motor. The microprocessor in turn drives the inverter with the logic circuit to ensure that the motor runs at a synchronous speed for different load conditions. The schematic block diagram is shown in the figure 1.13.

Figure 1.13

Application of synchronous motor drive

i. ii. iii. iv. v. Fiber spinning mills, Rolling mills, Cement mill etc. Ship propulsion, Electric vehicles, Servo and robotic drives. MAGLEV linear synchronous motor propulsion. Variable frequency starters for 60 Hz wound field synchronous motor. Starters/Generators for aircraft engines.

1.12 CONTROL METHODS OF PM SYNCHRONOUS MOTOR Ref: Special Electrical Machines By Gnanavadivel
The speed of the machine is uniquely related to the frequency supplied by the inverter (or) cycloconverter. Unlike an induction machine, it will run at synchronous speed (or) will not run at all. There are two control modes of machine: i. ii. Open loop control, (or) true synchronous machine mode, where the motor speed is controlled by the independent frequency control of the converter. Self control mode, where the variable frequency converter control pulses are derived from an absolute rotor position encoder mounted on the machine shaft.

1.12.1 Open loop volts/Hertz control

An open loop volts/Hz speed control is an independent frequency control shown in the figure 5.14. It is the simplest scalar control method of a synchronous machine but it is achieved at the cost of inferior performance, unlike high performance vector control which will be discussed later. Here the machines are connected in parallel to the same inverter so that they move in synchronism corresponding to the command frequency * at the input. The phase voltage * is generated through a function generated (FG), where the voltage is essentially maintained proportional to the frequency so that the stator flux remains constant. The front end of the voltage fed PWM inverter is supplied from the utility line through a diode rectifier and LC filter. The machine is normally built with a damper (or) cage winding to prevent oscillatory (or) under damping behavior during the transient response.

Figure 1.14 The operation of the drive is shown in the figure 1.15 in which the motoring and braking modes are shown and its corresponding phasor diagram is also drawn.

Figure 1.15 Volts/Hz speed control characteristics in torque speed plane

Phasor diagram of synchronous (motoring mode only) Assume for simplicity that initially the load torque on the machine shaft is zero. The machine can be easily started from standstill condition at point O to point A by slowly increasing the frequency. At this point, the is gradually increased. At steady state condition = , the operating point will move vertically along AB in the first quadrant. The torque expression is given as = P =3( ) Where = torque angle = -phase component of the stator current. Therefore with constant , the angle and the stator current will increase gradually until the rated torque is reached at point B. where wither the limit angle (or) the rated stator current is reached. Usually the inverter current limit is reached before the machine stability limit. The operating point can be changed from B to C slowly increasing the frequency command and then it can then it can be brought back to point D by gradually decreasing . At base speed . The voltage will saturate. Beyond this point, the machine will enter into field weakening mode; therefore the available torque will decrease due to reduced as shown. For variable speed operation, the motor speed should be able to track the command frequency without losing synchronism. The rate of * change (or) maximum acceleration/deceleration capability is given by the equation J( ) = =( ) is the synchronous electrical speed in rps, P=number of sin

Where J=moment of inertia,

poles and = mechanical speed in rps. There, the maximum acceleration and deceleration capabilities are given as.

=+ ( ) ( =- ( ) ( Where

) ) -contributes to deceleration

- rated torque and

At point A, if is ramped up, the machine follow the path ABCD. Similarly, the profile during deceleration will be DEFA. The recovered electrical energy in deceleration is dissipated in the dynamic braking (DB) installed in the DC link. The speed reversal is possible by reversible by reversing the phase sequence of the Inverter. The damper winding prevents hunting (or) oscillatory behavior mentioned before.

1.12.2 Self control model

A self controlled synchronous machine has close relation with a DC machine. The figure 5.16 shown is the self controlled synchronous motor with permanent in the rotor.

Figure 1.16

The stator winding of the machine is fed by an inverter that generators a variable frequency variable voltage sinusoidal supply. But in this case instead of controlling the inverter frequency independently, the frequency and the phase of the output voltage are controlled by an absolute position sensor mounted on the shaft. The output from the sensor is continues pulse train which is delayed by an external command.

A self controlling synchronous machine can be considering similar to a dc motor except the following difference. i. ii. iii. Unlike a dc machine, the field is rotating and the armature is stationary. Unlike a mechanical position sensitive inverter we have in this case an electronic inverter that is controlled by an absolute position sensor. Unlike stationary fluxes in space, the fluxes and phasor diagram are rotating at synchronous speed.

The self controlled synchronous machine has several features which is given below. i. An electric commutator replaces the mechanical commutator and brushes, thus eliminating the disadvantages of the DC machine such as maintenance and reliability problems, sparking, and limitations in speed and explosive environment the limitation of altitude and the EMI problems. Because of self control, the machine does not show any stability (or) hunting problem of the traditional synchronous machine. The transient responds can be similar to a DC machine The phase angle between the current and flux can be controlled as necessary by delay control. The is no longer fixed to the angle as in a DC machine. With a high energy magnet, the rotor inertia can be made smaller, which is an advantage in a fast response servo type drive.

ii. iii. iv. v.

Because of so many favorable characteristics the synchronous machine drivers are exclusively use self control. The synchronous machines have absolute location of rotor magnetic poles, which is unlike the location of slipping poles in an induction motor. The sinusoidal PM machines require continuous information of rotor position with high accuracy. The position encoders can generally be classified into two types i. ii. Optical type Resolver type

1.12.3 Vector Control

Consider a non salient pole machine with a large efficiency air gap. So that ht synchronous induction and the corresponding armature flux = is very small that is .for maximum torque sensitivity with the stator current with maximum efficiency we can set =0 and = which shown in the phasor diagram in which the stator resistance is neglected. Under the above condition, the inverter operates at minimal power rating. The torque developed is given as = There is the space vector magnitude that is 2 and =cos= . The torque equation indicates that the torque is proportional to torque angle . The vector control diagram for the machine is shown below with the phasor diagram where the stator command current is derived from the speed control loop. Its polarity is positive for motoring mode but negative for regeneration mode.

Phasor diagram Since this is the synchronous machine the slip frequency =0 because the machine always run at synchronous speed ( ). The magnetizing current , because the rotor flux is supplied by the PM and unit vector is generated from the absolute position sensor. The vector control method is somewhat similar to the IM vector control but expect the above points.

Block Diagram: Vector control of SR machine under constant torque region The rotating frame signals are converted to stator current commands with the help of unit vector signals (ie) cos and sin as shown. Note that phasor are at quadrature like the DC machine except, they are rotating at synchronous speed. The machine operates at a region. As the speed increases, the voltages and increases proportionality to speed and vector control losses its state when the PWM controller saturates at the edges of the constant torque region.

Field weakening mode

The speed of the machine can be controlled beyond base speed by field weakening control. But the field weakening speed angle is small because of a weak armature reaction effect. This is explained below with phasor diagram and torque speed curve. As the stator voltage tends to saturate at the edge of the constant torque region and since = , the stator flux must be weakened beyond the base speed so that stator current control remains possible, which means that a demagnetizing current must be injected on the stator side. But because of low armature reaction flux the demagnetizing demands large . Therefore with in the specified stator current rating, it appears weakening of is small which gives small range of field weakening speed control.

Phasor diagram

Torque speed curve showing field weakening control above base speed

It is also possible that with constant , will increase proportionally with machine will get over excited and gives loading P.F. at the terminals. With lated = is rotated anticlockwise in the a-a locus so that =

and the , here

helps in weakening the stator flux alone A-A. At point A, =| | which corresponds to zero torque at the speed of is shown in the above figure. It is also possible to increase the field weakening range at stator current by increasing the synchronous inductance from to

UNIT I PERMANENT MAGNET SYNCHRONOUS MOTOR

CONSTRUCTIONAL FEATURES :

Construction wise the BLPM sine wave motor is similar to that of BLPM square motor is similar to that of BLPM square wave motor. The armature winding and he shape of the permanent magnet are so designed that the flux density distribution of the air gap is sinusoidal ie the magnetic field set up by the permanent magnet in the air gap is sinusoidal. Because of the presence of permanent magnet inthis motor the slip rings and field windings are absent. STATOR: The stator, the stationary members houses the armature winding. By making continuous strips of soft steel the stator laminations for axial windings are formed. The thickness of the laminations depends upon the frequency of the armature source voltage. The cost is also a major constraint for selection of thickness. The yoke of the machine completes magnetic path. The armature windings are double layer and lap wound. Individual coils are connected together to form phasor groups. The phasor groups are connected together in series/parallel combinations to form star, delta or single phase windings. Ac windings are generally short pitched to reduce harmonic voltage generated in the windings. Coils phase groups and phases must be insulated from each other in the end turn regions and the required dielectric strength of the insulation will depend upon the voltage rating of the machine.

ROTOR: The rotor poles are shaped that the voltage induced in a stator phase has a sinusoidal waveforms.As we know the rotor is made up of permanent magnet. Usually ferrite magnets are employed. Rare earth magnets although expensive are sometimes used to reduce the volume and weight of the motor. Many permanent magnet synchronous machines may be physically cylindrical but electrically the permanent magnet is equivalent to a salient pole structure. Actually the permanent magnet poles are inherently salient type. Types :i. ii. iii. iv. Peripheral Interior Claw pole Transverse

PERIPHERAL TYPE ROTOR:-

The peripheral type of permanent magnet synchronous motor is shown in the fig. The permanent magnets are located on the rotor periphery. The flux patirn of permanent magnet is radial. INTERIOR TYPE ROTOR :-

In this type the permanent magnet are located in the interior of the rotor as shown in fig. The pattern of flux is generally radial. Interior type rotors are more robust by not earier to construct compared to peripheral type. They are suitable for high speed applications.

CLAW POLE TYPE ROTOR :-

The following fig, shows the claw pole type rotor configuration:The permanent magnets are generally disc shaped and magnetized axially. The long soft extensions of the construction comes out axially from the periphery of the disc like claws or lundell poles. Hence it is called as claw pole type or lundell type rotor. There is a set of equally spaced alternate claws on each disc forming alternate north and south poles.

PRINCIPLE OF OPERATION :

i. ii.

iii. iv.

v.

vi. vii.

The permanent magnet synchronous motor stator is a cleric 3 stator and employing permanent magnets in rotor. In this motor field windings and slip tings are absent. The motor is driven by sine wave voltage coupled with the given rotor position. The stator flux together with the rotor flux which is generated by a rotor magnet defines the torque and thus speed of the motor. The permanent magnet synchronous motor is fed by directly from a 3 supply. When the armature winding draws a currently, the current distribution within the stator armature winding depends upon the rotor position and the turning on process of the devices in the control circuit. The sine wave voltage output is to be applied to the 3 winding system in such a way that angle between the stator flux and the rotor flux is kept close to 90 to get the maximum generated torque. To meet this criterion the motor requires electronic control for proper operation. The armature supply frequency is changed in proportion to the rotor speed changes so that the stator field always moves at the same speed as the rotor. The rotor position sensor is required for accurate tracking of the speed in order to prevent the motor from pulling out of step and to avoid instability due to the change in torque or frequency. The PMSM drive is widely used in high performance servo drives in spite of its high cost. For starting the large synchronous motor the machine is operated in self controlled mode.

EMF EQUVATION :Ref : Special Electrical Machines by gnanavadivel.

Let at + = 0, the axis of the coil coincides with polar axis. Consider a full pitch single turn armature coil.

Let the rotor be revolving with an angular velocity of wm mech rad / sec. Flux density at the at the strip B sin p Incremental flux in the strip d

= x area swept by the conductor = x (lrd )

= sin lrd =
= lr *

lrd

= = =

[ [

) ]

= -N

Emf induced in the single turn coil N = 1 e = -N = =

= 2 lr wm sin Pwmt Let the armature winding be such that all the per phase are full pitched and concentrated. Let Tph be the number of turns connected in series per phase. Thus the emf induced per phase is the algebraic sum of the emf due to individual turns. eph = 2 lr wm sin x Tph = 2 lr wm Tph sin Pwmt

eph

= ph sin Pwmt = 2 l rwn Tph maximum value of induced emf

Eph Eph eph

= l r wm Tph = ph sin Pwmt = ph sin p ( ) t = ph sin wet

We

= Angular velocity in electrical rad / sec

m = maximum value of flux per pole in sinusoidal distribution. = BA = Bav x = m rl = =

xl l

---------------------------------- (1)

RMS value of the induced emf per phase Eph = r l Tph wm ------------------ (2)

Sub equ (1) in equ (2) Eph = x x wm x Tph x x Tph

= x = x

Eph = 4.44 f

The above equation is the Rms value of the induced emf / phase of an ideal BLPM SNW motor.

TORQUE DEVELOPED IN A BLPM SNW MOTOR :Ref : Special Electrical Machines by Gnanavadivel Let the ampere conductor density distribution is A sin p Let the axis of the ampere conductor density distribution be displaced from the axis of the flux density distribution by an angle ( B = Sin [ = Sin [ = = cos [ ( ( ] )] )] )

Force experienced by the conductors in the strip = df df =BxAd = cos (p xl

df Let r

= B A sin p cos (p

Torque experienced by the ampere conductor in the strip = dF x r dT

PROPERTIES OF TORQUE DEVELOPED IN A PRACTICAL BLPM SNW MOTOR A.p turn density distribution of a phase winding consisting of full pitched coil is Tph Fundamental component of the Amp-turn distribution of a phase winding is 4/ iTph\In a practical BLPM SNW motor chorded coils and are accommodated in skewed slots. Therefore for getting the fundamental component of the Amp-turn distribution in this case. The turns per phase is modified as kw1.Tph. Thus the fundamental component of the Amp-turns per phase =4/ I kwTph. When a balanced 3phase sinusoidally varying AC currents is passed through the 3phase balanced windings then the total sinusoidally varying Amp turns density distribution is = x ( ) elec. rad (or) mech rad. The current in

The axis of phase winding are displaced by

the winding are also balanced. The armature winding is said to be balanced. If all the 3 windings are exactly identical in all aspects. But there axis are mutually displaced by The 3 armature current is said to be balanced when the 3 currents are exactly equal but mutually displaced in phase by 120

Ia = Im sinwt Ib = Im sin (wt Ic = Im sin (wt ) )

When the 3 AC current phases thro the 3 balanced windings its sets up an armature mmf in th airgap. Phase distribution in the fundamental component of the armature ampere conductors can be written as Fa = Fm sinwt Fb = Fm sin (wt Fe = Fm sin (wt ) )

PHASOR DIAGRAM OF A BLPM SNW SYN MOTOR : (1) Consider a BLPM SNW motor. Its stator carries a balanced 3 winding. The winding is connected to a dc supply through an electronic commutator whose switching action is influenced by the signal obtained from the RPS under steady state operating condition. (2) The air gap is sinusoidally distributed. Rotor carries a permanent magnets. Its flux density is sine distributed. It also revolves in the airgap with a particular speed. (3) It is assumed that motor acts as a balanced 3 system. There fore it is sufficient to draw the phasor diagram for only one phase. Armature winding is influenced by the following emgs. V = Supply voltage across each phase winding Ef = Emf induced per phase in the armature winding due to sinusoidally varying permanent magnetic field. = 4.44 f Ea mf Tph Kw volts.

= Emf induced in the armature winding per phase

Due to the flux a setup by the armature mmf. = 4.44 f = = Ia Ia mf Tph Kw volts.

a lags behind the flux a by 90 a lags behind Ia by 90 it is shown in fig.b

 Xa a

= 4.44 f (Ka Ia) Kw Tph. = 4.44 f Ka Kw Tph. = Xa Ia = - j xa Ia

al = emf induced perphase in the armature winding due to armature leakage flux ( ) = 4.44 f = Kal Ia Xal = 4.44 f = -jIa x al Kal Ia kal Tph al Kwl Tph

Eal = - jIa x al

VOLTAGE EQUATION : + f + a + al = Iara + f + ( ) ( )

+ f =Iara _ JIa (Xa + Xal) = Ia [la + j (Xa + Xal] + f = IaZs = - f + IaZs

= - f + IaZs

Fig shown is phasor diagram for permanent magnet synchronous motor. Let EMF Eq in X axis

OA OB

= mf = main field flux = Ef = emf induced perphase due to mf

of = Ia = , power angle CD = Iara OE = V DE = Iaxs CE = IaZs

Input power = 3 = 3 ( q + IaZs) a q a + a Ia (ra + jXs) =3 a 2 Ia ra + 0) = = 3 ( q Ia + a Input power = power converted to mechanical + copper loss Electro magnetic Torque developed = Pm = 3 Eq Ia Cos (90 - ) Pm = 3 f| Ia sin T=
( )

N.M

can be resolved into two component d X q setup an mmf along the direct axis = setup an mmf along the Quadiature axis. = q+ Z s I = q + q = q + r a+j X s

 + q ) ra + j ( d + q ) Xs. = q + ( d = q + d ra + q ra + jd Xs + j q Xs

TORQUE SPEED CHARACTERISTICS :Fig shows torque speed characteristics of PMSM the frequency is varied from 0 to f, the PMSM developed maximum torque. Again we increasing the frequency the torque will reduced and goes to zero at a frequency of FD

SELF CONTROLLED PMSM DRIVE EMPLOYING TOAD COMMUTATED THYRISTOR INVERTOR : Ref : Special Electrical Machines by Gnanavadivel.

A CLOSED 100P SPEED CONTROL OF LOAD COMMUTATED INVERTER FED SYNCHRONOUS MOTOR :-

(i) (ii)

(iii)

(iv) (v)

Self control ensure that for all operating points the armature and rotor field moves exactly at the same speed. The torque angle is adjusted electronically. Hence there is an additional controllable parameter causing greater control of the motor behavior. By varying the firing of the semiconductor switched of an inertor the torque angle is set electronically. The drive employs two converters, which are termed here as source side convertor and load side converter. Inductance Ld reduces ripples and interfering with two converters. The source side converter is a 6 pulse line commutated thyristor converter, For a firing angle rand 0< < 90 it works as a line commutated fully controlled rectifier delivering +ve vds and positive Id. For a firing angle range 90 < < 180 it work as a line commutated inverter delivering ve Vds and +ve Id. 0< < 90 - it works a rectifier giving +ve Vds 90 < < 90 - it works a inverter giving ve vds

For 0< < 90 ; 90 < < 90 and with Vds Vds the source side converter works as a rectifier and load side converter as an inverter causing power fww from ac source to the motor, thus giving motoring operation. (vi) Consequently the power flow fww reverses and machine operates in regenerative braking. The magnitude of torque depends on (Vds-Vds) speed can be changed by control of line side converter firing angles.

ADVANTAGES:(i) (ii) (iii) It does not require commutation circuits. Frequency of operation can be higher. If can operate power levels beyond the capability of forced commutation.

APPLICATIONS : (i) (ii) Compressors Blowers

(iii) (iv) (v)

Conveyers Steel rolling mins Air craft

CLOSED 100P CONTROL :(i) It employs outer speed control 100p and inner current control with a limiter, like a dc motor. The terminal voltage sensor generates reference pulses of the same frequency as the machine induced voltages. The phone delay circuit shifts the reference pulses suitably to obtain control at a constant commutation lead angel rc. Depending on the sign of speed error is set to provide motoring (or) braking operation speed wm can be sensed either from the terminal voltage sensor (or) from a separate tacho meter. An increase in reference speed wm produces a + ve speed error. rc value is set for motoring operation. The speed controller and current limiter set dc link current reference at maximum permissible value. The machine accelerates fast when close to the derived speed, the current limiter set the dc link current reference at the maximum permissible value. Similarly reduction in reference speed produces ve speed error. This sets for regenerative braking operation and the motor decelerates when speed error changes sign value is set for motoring operating and the drive settles at the desired speed.

(ii)

(iii) (iv) (v)

ADVANTAGES :(i) (ii) (iii) High efficiency Four quadrant operation with regenerative braking is possible. High power ratings and run at high speeds.

APPLICATIONS :-

(i) (ii) (iii) (iv) (v) (vi) (vii) (viii)

Compressors Blowers Fans Pumps Conveyors Stell rolling mills. Mainline traction Ship propulsion

VECTOR CONTROL OF BLPM SNW NOTOR :Ref : Special Electrical Machines by Gnanvadivel Electromagnetic torque developed due to the interaction of the current carrying conductor and magnetic field. Fig shows flux axis is in quadrature with the armature mmf axis. Each and every armature conductor experiences a force which contributes the torque.

The torque contributed by armature conductors have the same direction. It is observed that the steady an dynamic performance such an arrangement are better.

SECOND CASE :Angle between the axis of the flux and the armature mmf axis different from . In this case some conductors developed torque in one direction, while the other developed in the opposite direction. Its observed that both the steady state and dynamic performance of such a motor are poor. For a BLPM SNW motor to have better steady state and dynamic performance. It is essential that the armature mmf axis and the axis of the PM are to be in quadrature in all operating conditions. I = Id + Iq Id = Direct axis current Iq = Quadrature axis current

VECTOR CONTROL:-

(i)

(ii)

Knowing the values of the derived torque and speed and also the parameters and voltage to which the motor subjected to its possible to compute values of id ref and iq ref for the desired dynamic and steady steady state performance the ref. values of id and iq are transformed into ref. values of currents namely ia ref, ib ref, ic ref. These currents are compared with actual currents and error values actuate the triggering circuitry which is also influenced by rotor position sensor and speed sensor.

MICROPROCESSOR BASED CONTROL OF PMSM :(i) A block diagram of the controlled PMSM drive is shown in fig. PMSM is fed from a current source. Dc luck converter system. Which consists of a sck bridge rectifier connected to a 3 SCR converter through rectifier is operated from 3 ac supply lines and its gating signals are provided by digitally controlled firing circuit.

(ii) (iii)

(iv) (v)

(vi)

(vii)

The optical en coder which is composed of a coded disk attached to the motor shaft and four optical sensors providing rotor speed and position signals. The inverter triggering pulses are synchronized to the rotor position reference signals with a delay angle determined by an B.bit control input. The inverter SCTS are naturally commutated by the machine voltages during normal operation. The speed signal which is a pulse train of frequency propositional to the motor speed is fed to a programmable counter used for speed sensing. The stator current is defected by current sensor an amplified by optically isolated amplifier. The output signals are multiplied and converted to digital form by a high speed analog to digital converter. The main functions of the microprocessor are monitoring and control of the systems variables for the purpose of obtaining desired driver features. It can also perform various auxiliary fasts such as protection. diagnosis display. In normal operation commands are fetched from the input-output terminals and system variables are sensed and fed to CPU. After processing the microprocessor issues control signals to the input rectifier, the machine inverter so as to provide the programmed drive characteristics.

SYNCHRONOUS REACTANCE : The synchronous reactance is the reactance employed to account for the voltage effects in the armature circuit produced by the actual armature leakage reactance and the change in the air gap flux caused by armature reaction.

For an ideal two pole sine-distributed 3 winding with Ns turns in series per phase neglecting the leakage inductance of the slots and end turns, the expression for synchronous reactance is given by armature reaction. For an ideal two pole sine distributed 3 winding with Ns turns in series per phase neglecting the leakage inductance of the slots and end-turns, the expression for synchronous reactance is given by. Xs = (3 N2 lr1
)/

(8p2g) ohms

= Permeability r1 l = Stator bore radios = Stack length = Angular velocity in mech / rad P g = Pole pairs = Effective airgap length allowing for magnet

CONVERTER VOLT AMPERE REQUIREMENTS :The volt ampere per watt of shaft power of PMSM is defined as the volt ampere product required in the ratings of the semiconductor devices in the converter. The eg calculations are all based on a two phase PMSM and it was assumed that each phase was supplied by a full bridge circuit requiring a total of eight transistors. The nominal convector volt-amperes, based on rms current in each device times peak current times the number os switching devices, is therefore.

X8X

= 8VI