Permanent Magnet Synchronous

Motors (PMSM)
 Permanent Magnet Technology
The use of permanent magnets (PMs) in construction of electrical
machines brings the following benefits:
no electrical energy is absorbed by the field excitation system
and thus there are no excitation losses which means substantial
increase in the efficiency,
higher torque and/or output power per volume than when using
electromagnetic excitation,
better dynamic performance than motors with electromagnetic
excitation (higher magnetic flux density in the air gap),
simplification of construction and maintenance,
reduction of prices for some types of machines.
 Permanent Magnets
Advances in permanent magnetic materials results in
dramatic impact on electric machines.
Permanent magnet materials have special characteristics
which must be taken into account in machine design, i.e.
 the highest performance permanent magnets are brittle
ceramics
 chemical sensitivities

 temperature sensitivity

 sensitivity to demagnetizing fields.

Proper machine design requires understanding the

materials well.
 B-H Curve

The portion of the

curve in which
permanent magnets
are designed to
operate in motors is
the top left quadrant.
This segment is
referred to as the
“demagnetizing curve”.
Demagnetizing Curve
 Demagnetizing Curve
Maximum flux density corresponding to point A’ available initially
if magnet is short circuited.
After installation in machine, air gap has demagnetizing effect and
operating point shifts to B’ i.e. corresponding to no-load line.
With stator currents flowing in machine, armature reaction results in
more demagnetization and operating point is C’ i.e. corresponding
to load line.
Worst case magnetization can shift the load line further may be due
to fault, transient or starting.
Once point D is reached and demagnetization effect is removed
magnet will recover along recoil line.
Stable operating point is determined by intersection of recoil line
and load line.
 Permanent Magnetic Materials

Alnico - good properties but too low a coercive force and too
square a B-H loop => permanent demagnetization occurs
easily
Ferrites (Barium and Strontium) - low cost, moderately high
service temperature (400o C) , and straight line
demagnetization curve. However, Br is low => machine
volume and size needs to be large.
Samarium-Cobalt (Sm-Co) - very good properties but very
expensive (because Samarium is rare)
Neodymium-Iron-Boron (Nd-Fe-B) - very good properties
except the Curie temperature is only 150o C
Permanent Magnet Materials
 PMSM
PMSM are widely used in industrial servo-applications
due to its high-performance characteristics.
In PMSM the DC field winding of the rotor is replaced
by Permanent Magnets
General characteristics
 Compact
 High efficiency (no excitation current)
 Smooth torque
 Low acoustic noise
 Fast dynamic response (both torque and speed)
 Expensive
 PMSM
Advantages:
Elimination of field copper loss.
Higher power density.
Lower rotor inertia.
More robust construction of motor.
Higher efficiency.
Disadvantages :
 Loss of flexibility of field flux control.
 Demagnetization effect.
 Higher costs.
Application:
 Low power range motors are widely used in industries.
 PM Motor Construction
There are two types of permanent magnet motor
structures:
1) Surface PM machines
2) Interior PM machines
 Regardless of method of mounting PMs, basic
working principle is same.
 Mounting of PMs results in variation of direct and
quadrature axis inductance.
PM Motor Construction
The permeability of high flux density magnets is almost
same as air gap.
This results in extension of thickness of magnet by amount
of air gap.
Stator flux along quadrature axis sees only iron core.
Effective air gap seen along direct axis is multiple times
the actual air gap along quadrature axis.
So the reluctance along d-axis > reluctance along q-axis.
It results in Ld < Lq which is contrary with conventional
salient pole synchronous machine.
 Surface PM machines
Magnets are mounted on outer
periphery of rotor laminations.
Known as surface mount PMSMs.
Provides highest flux density.
Little variation between Ld and Lq
(<10%).
Its drawback is lower structural
integrity and mechanical
robustness.
Not suitable for high speed
application (> 3000 RPM)
 Surface Inset PM machines

Magnets are placed in grooves of

outer periphery of rotor
laminations.
Surface of rotor is uniform
cylindrical surface.
More robust mechanically as
compared to surface mount
PMSMs.
Ratio of Ld and Lq is high (2 to
2.5).
Known as inset PMSM.
Interior PM machines
 Interior PM machines
Magnets are placed in the middle of the rotor
laminations in radial and circumferential
orientations.
Generally referred as interior PMSM.
Mechanically robust and hence suitable for high
speed applications.
Manufacturing is more complex.
Ratio of Ld and Lq is more than inset magnet
PMSM but not more than 3.
Working Principle
PM machines are inherently synchronous
machines.
As stator coils experiences a change of flux
linkages caused by the moving magnets, there is
an induced emf in the windings.
The shape of the induced emf is very dependent
on the shape of the flux linkage.
If the rotational electrical speed of the machine ωr
and the air gap flux is sinusoidal then it can be
expressed as:
Working Principle
Φm is the peak flux produced
ωr electrical speed of rotation of the rotor
ωmech is the mechanical speed of the rotor
Np is the number of poles of the motor
Working Principle
The emf is proportional to the product of the rotational frequency and
air gap for a constant number of turns.
Assuming that air gap flux is constant, it can be seen that the e.m.f is
influenced only by the rotational speed of rotor ωr which is same as the
stator current frequency (because the PM machines are synchronous
speed)
By changing the frequency of stator current, the speed of the motor can
be changed and a speed control of the motor can be achieved.
However, beyond a certain speed known as base speed, an increase in
stator frequency will result in voltage demand exceeding the supply
capability. During that operation, keeping the voltage constant and
increasing the excitation frequency reduces the air gap flux and thus
allowing the excitation frequency reduces the air gap flux, thus
allowing going to higher speed over and above the base speed. This
operation is known as flux weakening.
 Classification of PMSM
Based on nature of voltage induced in the stator
classified as
Sinusoidally excited:
Stator has distributed winding.
Stator induced voltage has sinusoidal waveform.
Trapezoidally excited:
Stator has concentrated winding.
Stator induced voltage has trapezoidal waveform.
PMSM Classification
Trapezoidally excited
The major class of PM motor drives is alternatively known
as trapezoidally excited PM motors, or brushless DC
motors, or simply as switched PM motors
Normally, these have stator windings that are supplied in
sequence with near rectangular pulses of current.
The rotor magnets extend around approximately180°
peripherally.
The stator windings of this motor are connected in a star.
These windings are generally similar to those of an
induction or synchronous motor except that the conductors
of each phase winding are full pitched; that is, they are
distributed uniformly in slots over two stator arcs each of
60°.
Trapezoidally excited
Trapezoidally excited
Three concentrated stator phase windings are displaced
from each other by 120°.
Each winding spans 60° on each side.
Upto 120° all conductors of phase A are under north pole,
so induced voltage in all conductors upto 120° is same.
Beyond 120°, some conductors of phase are under north
pole and rest are under south pole.
Same happens for bottom conductors of phase A.
Induced voltage in phase A linearly reverses in next 60°
Trapezoidally excited
 Dynamic Model of PM Machines
Assumptions for deriving dynamic model:
The stator windings are balanced and mmf
produced by the windings is sinusoidal.
The variation of the inductance with respect
to the rotor position is sinusoidal
The effects of magnetic saturation are
neglected.
SWITCHED RELUCTANCE
MOTOR
Switched Reluctance Motor
Switched Reluctance Motor (SRM) drives are
used for variable speed motor drives due to the
low cost, rugged structure, reliable converter
topology, high efficiency over a wide speed range,
and simplicity in control.
These drives are suitable for electric vehicles,
electric traction applications, automotive
applications, aircraft starter/generator systems,
mining drives, washing machines, door actuators,
etc.
Switched Reluctance Motor
Stator and rotor both has salient structure like
stepper motor.
But these are designed for different applications.
Stepper motors are designed to have open loop
position control and low power applications where
efficiency is not important.
SRM is used in variable speed derives and is
designed for higher efficiency and it requires
position sensing.
Switched Reluctance Motor
SRM has salient pole stator with concentrated
coils like DC machine
Rotor of SRM is also silent but it has no winding.
So it is more rugged than squirrel cage IM.
Number of stator and rotor poles is not same.
Commonly used stator and rotor pole numbers are
8/6 and 6/4.
 Switched Reluctance Motor
 Stator windings on diametrically opposite poles are
connected in series or parallel to form one phase of the
motor.
 The configurations with higher number of stator/rotor pole
combinations have less torque ripple.
Operation of SRM