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2, APRIL 1996
256
Abstract- A brief design review of the Permanent Magnet through brushes and slip rings. When the brushes and slip
Synchronous Motors has been presented. A procedure has been rings are not acceptable because of environmental constraints
developed to predict the steady state and dynamic performances and frequent maintenance requirements, they are replaced by
of a brushless permanent magnet synchronous motor. Finite
element analysis has been combined with a lumped parameter a brushless excitation system having shaft-mounted rectifiers
circuit model in order to provide satisfactory engineering infor- in the ac excitation system, and rotating with the rotor. These
mation. To this end, two coordinated steps are involved. One is to brushless synchronous motors are used in medium- and lowdevelop a unified lumped parameter circuit model for both steady power industrial applications.
state and dynamic analysis. The second step is to extract the
In certain applications, the field excitation can be provided
individual lumped parameters from finite element solutions based
on correspondingequivalent circuits, each with a pre-determined using permanent magnets, thus dispensing with brushes, slip
topology. The proposed techniques have been experimentally rings and the dc field winding losses [ 5 ] , [6]. Applications
verified in a laboratory permanent magnet synchronous motor.
of these permanently excited synchronous motors are found
I. INTRODUCTION
HERE are many types of synchronous motors. Prominent
among these are wound-field and permanent magnet
types. Synchronous motors are widely used in constant speed
drives at line frequency as well as in variable speed drives
with inverter-fed variable frequency supplies [ 11-[3]. The
main advantages, as compared with induction motors, are the
absence of rotor slip power loss and the natural ability to
supply reactive current. Since the magnetic excitation may be
provided from the rotor side instead of the stator, the machine
can be built with a larger airgap without degraded performance. The ability to supply reactive current also permits the
use of natural-commutated dc link converters. These motors
also have lower weight, volume, and inertia compared to dc
motors for the same ratings.
Wound-field synchronous motors are well-known in industrial drives requiring constant speed irrespective of load.
Separately controllable dc excitation in the form of dc field
current is a unique feature in the power factor control of
such a motor from the lagging to leading mode. The leading
power factor synchronous motor is also known as synchronous
condenser used in power factor correction and reactive power
compensation in transmission systems [4]. The operation at
unity power factor mode reduces the stator and system copper
losses and permits inverter size reduction with simplicity
of commutation circuits, switching logic and control. These
are used in high-power mill-drives, compressors, conveyers,
extruders, etc. The dc excitation current to the motor is usually
fed from a static power semiconductor-based exciter system
Manuscript received June 1, 1995; revised November 7, 1995.'
M. A. Rahman is with Faculty of Engineering & Applied Science, Memorial
University of Newfoundland, St. John's, NF, Canada A1B 3x5.
P. Zhou is with ANSOFT Corporation, Pittsburgh, PA 15219 USA.
Publisher Item Identifier S 0278-0046(96)02356-8.
in various industrial drive systems, such as aerospace, machine tools, robotics, precision textiles, etc. The brushless
permanent magnet synchronous motors are simply known as
permanent magnet ac motors. These motors are either linestart or inverter-fed types whose polyphase stator windings
are simultaneously switched on via balanced polyphase supply
voltages [7].
There is another type of modem small brushless permanent
magnet dc motors, commonly called brushless dc motors.
Incidentally, these brushless dc motors are polyphase permanent magnet synchronous motors which are electronically
commutated and sequentially switched on. These are usually
operated in the self-control mode [8], [9]. These are mostly
used for control purposes such as computer disk drives,robotics, automation, high-quality turntables and tape capstans,
etc.
Modem brushless permanent magnet synchronous motors
may operate near unity power factor and have a large pull-out
torque for a given frame size [lo]. Depending on the location
of the magnets on the rotor, typical brushless permanent
magnet synchronous motors can be broadly classified into
three kinds, i.e., interior PM synchronous motors which have
the permanent magnets buried inside the rotor; surface PM
synchronous motors which have their permanent magnets
mounted on the surface of the rotor; and inset PM synchronous
motors in which the permanent magnets are inset or partially
inset into the rotor [ I l l . Depending on the magnetization
orientation for the magnets, the rotor can also be classified into
radially or circumferentially oriented type configurations, For
surface type configuration, the only direction of magnetization
is r a l a l [8]. In a brushless PM synchronous motor, there is no
provision for rotor side excitation control. The control is done
entirely through the stator terminals [l], [12]. For variable
speed drive applications, both the constant torque and constant
power operating modes are required. As the magnet flux of
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251
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258
\'
stator
q-axis
111. LUMPEDPARAMETER
MODEL
= [C]{w}ubc
{z}dqO
= [c]{z}ubc.
(1)
(2)
{.I-",,
. {i)abc
{4-tdqo . { i h q o = ( [ C l { ' u } u b c ) t .
={4-:bc[~lt[Cl{ilabc
([Cl{i>UbC)
(3)
(4)
[cy.
&iv cos w t
Jzvcos(wt - 120")
d V cos(wt - 240')
(7)
(5)
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259
I;[
+ LmqidiQ - Lmdiqif]
(16)
hv[
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260
"I
r1fjs-G
-pxd
=
jsxmd
0
pXq
rl+jSxq
0
jsxmy
jsxmd
-pxmd
r2d+jSXD
0
1.
jsxmq
0
r2qpxmq
jsxQ
(19)
+ {i".
(25)
= $(cos
erid
+ sin o r i q ) .
(26)
121
'
{ P } = { I T 1:
q}t
={A+jB C+jD E+jF
{i"} =
=
2;
F sin s w t )
fi(G cos swt - H sin s w t )
-
w,
(27)
G + j H } t (21)
and
T L )- -Wr
(28)
J
where T,= { i } t [ G ] { z }is the electro-dynamic torque defined
by (16); TLis the load torque; B is the friction coefficient, p
is the time derivative and J is the moment of inertia. From
(9), (27), and (28), it is obviously convenient to choose the
four currents i d , i q , z D and i ~the, rotor torque angle 6 and
the rotor speed w, as the state-variables. Thus, with necessary
rearrangement the above equations can be arranged in state
variable form as
PW,
iy
ps =w
= ,(Te
ps=w-w,
'
(22)
B
J
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261
Tt
}.
(31)
Fig. 2.
(32)
= Tel sin 6
+ Te2sin 26
(33)
where
(34)
and P is pole pairs, V is per phase applied voltage. Compared
with a conventional synchronous motor, for which Xd > X,,
the reluctance torque T,z is reversed in sign. It implies that
at normal supply voltage, the total torque can be negative
between 6 = 0 and 6 = 60 as indicated in Fig. 2, and since
6 = 0 is generally an unstable point, the no-load operation of
a PM motor is at 6 = 60 [23]-1251. This means that at no-load
neither the d-axis nor the q-axis is aligned with the axis of the
armature flux. The reason is that in this range of torque angles
the reluctance torque tends to align the rotor q-axis with the
armature current, whereas the magnet flux tends to align the daxis with the flux axis produced by 3-phase armature currents.
Since the reluctance torque varies with sin 26 and the magnet
alignment torque varies with sin& there are ranges of S in
which these torques are additive, resulting in a higher pull-out
torque than would be obtained with either by itself [23]. The
value of So can be approximately derived by manipulating
(33) as
(35)
Iv.
1("+1)
m
= I(%)
m + (V0 - VCZ))/V'(4
(36)
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262
S, = tan-l(bl/al)
(37)
E, =4.44f4mNsk.sKdpl
(38)
where
=
is the resultant fundamental flux per
pole; kdpl is the fundamental winding factor and k, is the
skew slot factor. Further equating the voltage components in
the d-axis and q-axis, one gets
(39)
(40)
E,' COS S: = Eo
+ I;
COS f l ' x m d .
(41)
In fact, this approach does not demand extra field calculation. After the load field investigation covers the whole
range of operation, it has become possible to draw three
curves E,(/3),S,(/3), and 1 1 (p) by the curve fitting scheme.
As a result, for any particular operating point, the required
information for both (39) and (41) can be obtained by reading
up the three ready-made curves. Practical application shows
that this scheme not only simplifies the computation, but also
offers a satisfying result as long as the selected displacement
point from the curves is not unreasonably too far from the
chosen operating point.
A laboratory 1-hp, 4-pole interior-magnet type motor with
the configuration shown in Fig. 3 is employed to illustrate
the model [26].The calculated values of the load-dependent
parameters of x d , X,, and Eo, by using the loading method,
are shown in Fig. 4 by dashed lines. In the same figure,
included by solid lines are the corresponding experimental
values. The operating point where the d-axis armature reaction
is changing from magnetizing to demagnetizing region is
around 48" of torque angle. It is noted that at the torque
angle around 25", there exists a dip on the Eo curve and
a crest on the Xd curve. The reason for this is due to the
fact that this operating point lies in the magnetizing region of
d-axis armature reaction, and the direction of the armature
reaction flux in the inter-pole ferromagnetic bridge of the
magnets is opposite to the direction of the leakage flux
of the magnets. Even so, under the most of its operation
range, the small magnet leakage flux can easily make this
narrow ferromagnetic bridge highly saturated. Thus, the main
path of the d-axis component of armature reaction is across
the magnet or the inter-pole magnetic barrier, resulting in a
very large reluctance. However, under certain load conditions
(for this particular example, around 25"), these two flux
components in the opposite direction turn out to be somewhat
v.
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40
51
experiment
263
/,-.-.
slm ulati0 n
experiment
32
F
0
- 1
0 ._.-.-
'0
20 40
-1
A
20 40 60 80 100 120 140 160
(a)
1.0,
x"
2ot---t01
0
20 40
simulation
experiment
I
II
100
80 -
w"
simulation
experiment
40L
20 0
20
40
Fig. 4. Variation of
xd,X , ,
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264
(45)
e=l
JZV, = -E,
+ I,Z
(i = A, B , C)
(46)
(47)
x& may change notably with the rotor speed due to skin
effect and nonlinearity. Stator leakage reactances x1 is the
combination of stator end winding leakage reactance xie and
x l s which are the sum of slot leakage reactance, tooth top
leakage reactance, and harmonic leakage reactance. The reason
to separate xle with zls is that the former comes from the
analytical solution, while the latter may be determined directly
from the field solution.
The procedure for obtaining starting parameters is given
as follows: first, the voltage-source finite element model is
applied to get the starting current and stator leakage reactance
xis. Then, with the 50 obtained starting currents, the finite
element model for the current source supply is employed
to calculate d-q axis eddy-current fields, respectively. Analysis will start from slip = 0, since in this case the rotor
branch circuit can be regarded as open circuit. Thus, one
or Xmq. Then, one can
can conveniently figure out X,d
proceed to evaluate the remainder parameters in terms of the
induced voltage for different slips. Since in starting process,
the magnets will not induce eddy-current in rotor part, the
rotor starting parameters can be determined in the absence
of magnets. However, the effects of magnets on magnetic
saturation have to be taken into account. In the first case
for determining starting currents, an auxiliary complex vector ,
potential A'(k) is introduced and defined by
(52)
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LOS
Fig. 7. Average torque components. (a) Using constant parameter. (b) Using varying parameter.
time (sec)
(a)
(b)
Fig. 8. Simulated and measured results of speed versus time. (a) Simulation. (b) Measured (300 r/min/div., 0.5 s/div.).
the resultant torque curve which has been pointed out in the
literatures [3], and is usually considered as one of the main
concerns for PM motors. Fortunately, the concern may turn
out to be uncalled-for. This is attributed to the skin effect
which may favorably make rotor dynamic parameters much
less unsymmetrical. Fig. 7(b) shows the results using varying
dynamic parameters. The dip of cage torque component has
disappeared. When the magnet torque is combined with cage
torque component, a dip is produced in the resulting average
torque curve. This dip may be the main concern for the
successful starting, but not the previous understanding that
there exist two tips.
Figs. 8 , 9 , and 10 show the simulation and measured results
of speed versus time, torque versus time and current versus
time, respectively, with a coupled load of about twelve times
the rotor inertia. It is shown that the agreement between the
measured and simulated results is excellent. Synchronization
of a PM motor is complex because of the interaction of
the inertial torque with the components of synchronizing
torque. It is to be noted that the effect of magnet flux
level in PM synchronous machines is important. The higher
the magnet flux, the better the pull-in and pull-out torques
will be, but the starting current and input kVA constraints
VI. CONCLUSION
Two-dimensional magnetic field calculation has been successfully applied to determine the load-dependent direct and
quadrature axis reactance parameters and excitation voltage,
in which the effect of mutual interaction between the direct
and quadrature axis reactances as well as excitation voltage is
included. Time varying eddy current field calculation is used
to get the starting parameters. In order to simplify the timevarying field calculation, time phasor is used to separate the
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266
2
3
time (sec)
(a)
(b)
Fig. 9. Simulated and measured results of torque versus time. (a) Simulation. (b) Measured (2.5 n d d i v . , 0.5 sldiv.).
REF I
time {sec)
4
0.5 s
.O.lV
(a)
Fig. 10
CHI
Cb)
Simulated and measured results of starting current (a) Simulation (b) Measured (10 Mdlv , 0 5 s/div ).
REFERENCES
[l] V. B. Honsinger, Permanent magnet machines: Asynchronous operation, IEEE Trans. Power Apparatus, Syst., vol. 99, no. 4, pp.
1503-1509, 1980.
[Z] M. A. Rahman and A. M. Osheiba, Performanceof large line-start permanent magnet synchronous motors, IEEE Trans. Energy Conversion,
vol. 5, no. 1, pp. 211-217, 1990.
[31 F. Rarashima, H. Naitoh, and T. Haneyoshi, Dynamic performance
of self-controlled synchronous motors fed by current-source inverter,
IEEE Trans. Ind. Applicat., vol. IA-15, pp. 3 6 4 6 , 1979.
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261
M. Azizur Rahman (S66-M68-SM73-F88), for a photograph and biography, see p. 246 of this issue of this TRANSACTIONS.
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