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Abstract
This paper shows a universal method for composing a simulation model for any type of electrical rotating machine. Models
for Asynchronous machines, Permanent Magnet- or exited Synchronous machines, brush-less and brush DC, Stepping- and
Variable Reluctance motors are presented. A simulation model
is needed when detailed interactions between driver circuitry,
machine, load and controller are t o be studied. In such cases
it is usually not possible to transform the system into a solvable matrix differential equation. A general applicable transient machine model, interacting easily with existing models of
its surroundings, the inverter and the mechanical load, is to be
preferred.
(Z)
$=----?3
Gi
1,
E
dip
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194
g.
~(6,j,q5)=
wonm
Tc
7;
is
lGsll.sl
sin 4
x $ ~
(7)
(8)
t 'Pglz = I
:
/
- '@If
:
(9)
2.2
00.
= I ~ s ~ ~ 1 3 ~ c o s(6)
~
~_
( $i,_
, 4)
-a_
T. = -*:I;
I n figure 3, the Ideal Rotattrig TransFormer, IRTF [G]thkes care
nf the energy exchaiigP trrtween stator, rolnr and the mechanical section. The IRTF is an ideal transformer with:
@.is
84
Virtual impedances
Suppose an IRTF with a rotor circuit that just contains a resistor Rn switched in series with an inductor L R . Under steady
state conditions and sinusoidal voltage and currents, the rotor
impedance is:
pn
Z R = RR + J W R L R= -1R
(3)
A n ideal transformer transforms current and voltage of any
In
frequency perfectly by means of the mutual main flux I.
order t o maintain a flux in an IRTF, no magnetizing current is
needed, so the current on the rotor side of the IRTF is calculated from the current on the stator side or visa versa. Only
one electrical quantity can be input on either rotor or stator
side so that if
is input on the rotor side, 6
: must be inpnt
on the stator side, as indicated by the following expressions.
(10)
RR + i ~ ~ J , n j ~ , ( ~ ~ t + ~ )
iwn
(11)
&,
Equation 4 shows that current and flnx on the rotor side are
equal to the quantities on the stator side, turned over angle
0 ( t ) . So (I) yields:
IRlF.
2.1
Torque computation
195
3
3.1
Model construction
Leakage inductances
By applying Thevenin's equivalent theory 121, 161,the main inductance L, (figure 2) can be moved parallel to rotor resistance
R R , or t o the left side of L,s. Both rotor leakage and stator
leakage inductances can be replaced by one ellective total leakage iuduclance Lo,,, if all leakage is concentrated in the stator.
In case all leakage inductance is supposed in the rotor, LOtzapplies. In this way the three dependent inductances are replaced
by just two independent ones.
t
,...._._____........~~.......~~~~~~~~~-.--.-.
'
'
' Eq.11
Figure 4: Both possible simulation models, all leakage inductance i n the stator or i n the rotor.
The IRTF can be inserted a t three dilTerent places f ,2,3 in both
circuits. Dashed lines indicate the possible points of insertion.
Both figures 4 q . I , E q . I 1 are equivalent in terms of representing
the circuit in figure 2. Their simulation models are equivalent
but not identical. A major dilTerence is that, in case the IRTF
is inserted between the two inductors (option 2). Eq.1,2 produces rotor flux, while Eq.11,2 produces rotor current. Both
equivalents in figure 4 are starting points for more elaborate
machine models. The transformed parameters in both equivalents are related to the general parameters in the steady state
machine model from figure 2.
shaft angle (21) and J, the total inertia of all rotating parts on
the shaft:
Illlo,
(21)
pole
pairs.
3.2
3.4
Inductor model
5).
&,
3.3
mechanical section
The mechanical section can he represented by the following differential equation with np the number of poles, 8, the physical
Computational causality
Synchronous machines
Synclironous machine rotors usually contain two distinct rotor windings, an excited rotor winding to generate the rotor
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196
Te
- V,"
%I," a
Figure 8: General simulation model /or a machzne with impressed stator current.
t o cslirnate the input voltage as a result of impressed stator
1,SRs.
current by means of a derivator: G: = d(';Lt$Ls''l
6
6.1
Auxiliary phenomena
Tooth effects
All previous machine modrls were models for smooth air gap
machines. An additional romponent that incorporates torque
and inductance ellerts lor toothed stators and rotors is presented, The main quantity that. changes with shaft position
is the main inductance in both axis: l,,,,ls(0), L,,,lb(0). Because the niairi indurtance determines the reriprocal relation
i t is easier t o directly consider this rebetween
and
lation. Suppose the most siniplc_ronfiguration 01 a two pole
rot,or, with magnetizing current I,,,,, and a stator with four
arbitrary teeth, one each 90",as depicted in figure 9. T h e resulting flux vector under static conditions in the stator core
has a preference for the teeth positions, and will therefore not
always be aligned with the current vector in the rotor. This
non alignment causes a torque, just as in the IRTF (8).
2,
Figure 9: Idealized fluz and current vector relations in a uartable reluctance machine: toothed stator.
71,
For 0 t [O,:, n,
the flux is high, the alignment is correct:
I.hese are stable poqitions. The positions in between,
-:,
1-9,
197
$,?I
li; = CL.,,(I
+ I<~c"') = / ~ L , ( o )
(24)
~ = L Jl
~ K~
=L+:K
~
L,
Eq.l,l and Eq.11,1,2 with impressed stator current: Algebraic loop problem.
(26)
%-
Conclusions
A unified framework for deriving simulation models for electrical machines has been presented. It has been shown that both
asynchronous and synchronous (Permanent Magnet, Variable
Reluctance, hybrid and Brush-less DC) machines can be described uniformly by the introduction of the Ideal Rotating
TransFormer. Auxiliary effects such as tooth effects, detent
torque, skin effects and saturation can be added elegantly.
References
111 Leonard, W., "Control of Electrical Drives",
Verlag, 1985.
Springer-
[Z] Say, M.G., "Alternating Current Machines", ELBS and I'itman, 1983, pp 264-267.
All electrical rotating machines, can be simulated with the presented block diagrams. In practise, most types of machines are
of the synchronous type. P M stepping motors, Variable Reluctance stepping motors, Hybrid stepping motors, Brush-less DC
machines are all synchronous machines. All inhabit some kind
of rotor losses, expressed in the resistor RR. The asynchronous
machine is just a synchronous machine without a magnet or
excited winding with VE = 0. How t o choose the appropriate
model can be seen in the following list, in which the following abbreviations are used: Eq.L circuit in figure 4Eq.l. The
optional IRTF positions are indicated with 1 , Z or 9. For example: With Eq.1,2 the general structure in figure 5 is meant.
Eq.lL circuit in figure 4Eq.11. The general structure in figure 7
is indicated with Eq.I1,1.
Asynchronous machines: Eq.1,1,2,3; Eq.l1,1,2,3, f{ = 0.
6
'