GENERALIZED MACHINE THEORY ASSIGNMENT

SIMULATION MODEL OF PERMANENT MAGNET SYNCHRONOUS MOTOR WITH ROTATING REFERENCE

Submitted By

R RAKESH BHAKTHA (12MPE1003) RAMAMURTHYRAJU P (12MPE1013)

Simulate a Permanent Magnet Synchronous Motor With Rotating Reference in MATLAB Simulink Software.

INTRODUCTION A permanent magnet synchronous motor (PMSM) is a motor that uses permanent magnets to produce the air gap magnetic field rather than using electromagnets. These motors have significant advantages, attracting the interest of researchers and industry for use in many applications. Detailed modelling of PM motor drive system is required for proper simulation of the system. The d-q model has been developed on rotor reference frame as shown in figure. At any time t, the rotating rotor d-axis makes and angle r with the fixed stator phase axis and rotating stator mmf makes an angle with the rotor d-axis. Stator mmf rotates at the same speed as that of the rotor.

EQUIVALENT CIRCUIT OF PMSM: Equivalent circuits of the motors are used for study and simulation of motors. From the d-q modelling of the motor using the stator voltage equations the equivalent circuit of the motor can be derived. Assuming rotor d axis flux from the permanent magnets is represented by a constant current source

PMSM MODELLING: Voltage equations are given by:

Flux Linkages are given by :

Substituting flux linkages in voltage equations :

In matrix form:

The developed torque :

The mechanical Torque equation is :

Solving for the rotor mechanical speed :

Where,

Parks Transformation and Dynamic d q Modelling :

The dynamic d q modelling is used for the study of motor during transient and steady state. It is done by converting the three phase voltages an currents to dqo variables by using Parks transformation. Converting the phase voltages variables vabc to vdqo variables in rotor reference frame the following equations are obtained

Convert Vdqo to Vabc

SIMULATION MODELS:

Parameters Used:

B= 0.001 Mechanical Torque Tm= 5 Nm

PMSM Model:

Vabc to dq

Current, Speed, Torque Block

q-axis current

d-axis current

Electromagnetic Torque

Idq to abc

RESULTS

Torque (Torque v/s Time):

100 80 60 40
Torque(Te) in Nm

20 0 -20 -40 -60 -80 -100

0.1

0.2

0.3

0.4

0.5 Time in seconds

0.6

0.7

0.8

0.9

Rotor Speed (Speed v/s Time):

1000

800

600

400
Speed in rpm

200

-200

-400

-600

0.1

0.2

0.3

0.4

0.5 Time in sec

0.6

0.7

0.8

0.9

d-axis and q-axis currents:

25 20 15 10 5 0 -5 -10 -15 -20 -25

d axis and q axis currents

0.1

0.2

0.3 Time in sec

0.4

0.5

0.6

Current (Iabc)
6

2
Current in amps

-2

-4

-6 0.4

0.42

0.44

0.46

0.48

0.5 Time in sec

0.52

0.54

0.56

0.58

0.6

CONCLUSION Permanent Magnet Synchronous Motor with rotating reference was simulated using MATLAB/Simulink software and desired outputs were obtained.