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MM
SM
MTPA
N
n
h
in
ih
1
3
Ib
Tb
Td
N OMENCLATURE
Main Machine (1st harmonic)
Secondary Machine (3rd harmonic)
Maximum Torque Per Ampere
Phase number (5)
Phase n back-emf at 1 rad/s speed
Peak value of the h-th harmonic of 0
Phase n current
Peak value of the h-th harmonic of i0
MM back-emf to MM current angle
SM back-emf to SM current angle
Base 5-phase machine current
Base average torque (MTPA sinus control)
Average torque with damping control
I.
I NTRODUCTION
000811
N
1 i1 cos 1
2
+
N
k2N 1 i1 cos (k2N 1 )
2
k=1
+
N
k2N +1 i1 cos (k2N + 1 )
2
(5)
k=1
=
+
+
N
3 i3 cos 3
2
+
N
k2N 3 i3 cos (k2N 3 )
2
k=1
+
N
k2N +3 i3 cos (k2N + 3 )
2
(6)
k=1
N
1
n ()in ()
2
h sin h hn
N
(2)
2
g
ig sin g gn
N
g=1
+
(3)
By using relations (1), (2) and (3), taking into account the
fact that back-emf contains only odd order harmonics, the
electromagnetic torque can be expressed as follows:
T () =
+
N
2
N
2
(1 , 3 ) {0, }
(8)
=0
1
3 =
(9)
11 9
i3 = i1
= i1 r
13 7
C. Virtual machine torque sharing analysis
h+g=k2N
(7)
In equation (7), the cosinus term corresponds to the q-axis
currents for the two virtual machines (q1 and q3 ) whereas the
sinus term depends on the d-axis currents (d1 and d3 ). In order
to generate torque and to remove the rst harmonic of the
pulsating torque in the same time, the two d-axis currents has
to be canceled. Thus the phase angles have to comply with the
following relation:
2
The same operation can be done for the phase current. The
following relation is obtained where ig and g respectively
denote the g-th harmonic peak value and the g-th harmonic
phase angle of the current:
in () =
N
2
(
)
i
cos
+
(
11
9 1
1
13
7 )i3 cos 3 cos (2N )
(
11 + 9 )i1 sin 1 + (
13 + 7 )i3 sin 3 sin (2N )
t1 () =
(1)
n=0
n () =
From equations (5) and (6), the rst harmonic of the pulsating
torque can be isolated:
(4)
hg=k2N
000812
Tb =
N
1 Ib 2
2
(10)
Base Em power
Base speed
Base voltage
Base current
MM electrical time constant
SM electrical time constant
Pole pair number
Slot number per phase per pole
Effective length
Stator diameter
Stator yoke thickness
Mechanical airgap
Rotor yoke thickness
Max magnet layer thickness
Remanent ux density
Slot width (s , tooth pitch)
Slot width opening
Slot-closing thickness
Slot depth
Linear load
Current density
A. Electromagnetic design
000813
x 10
6
3
Backemf (V/rad/s)
4
2
8
0
Fig. 2.
6
8
Mechanical Angle (deg)
10
12
14
30
60
90
120
270
300
330
360
23
25
2.5
1.5
0.5
0.137
0.031
0.022
0
0.04
0.5
11
13
15
Harmonic order
17
19
21
Fig. 3.
0.8
Torque (pu, Tb)
0.6
0.4
MM
SM
MM+SM
0.2
0.2
0
Fig. 5.
000814
30
60
90
120
270
300
330
360
<T> =0.79T
0.85
d1 q1 -axis (MM) and d3 q3 -axis (SM) currents are regulated with PI controllers tuned according to [14] with
back-emf compensation
0.84
0.83
0.82
0.81
0.8
0.79
0.78
0.77
0.76
0.75
0
30
60
90
120
270
300
330
360
Fig. 6. Sinus control (MM alone) and damping control comparison for the
same average torque (0.79Tb )
<T> =0.79Tb
0.85
1.5
0.84
1
0.83
Amplitude (pu)
Torque (pu, T )
0.82
0.81
0.8
0.5
0.5
0.79
0.78
V /(0.5 V
a
DC
Ea/(2 Vb)
1.5
0.77
Ia/(2 Ib)
0.76
0.75
0
2
10
20
30
40
Electrical Angle
50
60
0.028
0.03
0.032
0.034
Time (s)
0.036
0.038
0.04
70
Fig. 7. Sinus control (MM alone) and damping control comparison (full FEA
estimation)
Fig. 8.
Phase-to-neutral voltage, back-emf and current according to the
inverter simulation for damping control strategy
C ONCLUSION
000815
[2]
1.2
[3]
0.8
Torque (pu)
[4]
0.6
[5]
0.4
MM+SM
MM
SM
0.2
[6]
[7]
0.2
0.028
0.03
0.032
0.034
Time (s)
0.036
0.038
0.04
[8]
Fig. 9.
[9]
1.5%
Amplitude (pu)
MM alone
1%
[10]
0.5%
[11]
1.5%
Amplitude (pu)
MM + SM damping
[12]
1%
[13]
0.5%
[14]
0
Fig. 10.
3
4
5
Electrical frequency (kHz)
000816