Permanent Magnet Synchronous motor drives

By
ASISH KUMAR MONDAL
(UNIVERSITY REGISTRATION NUMBER - 210608010)

UNDER THE GUIDANCE OF

Dr. KAUSHIK MUKHERJEE

Dr. MAINAK SENGUPTA

A Term paper
Submitted in partial fulfillment of the requirements

For the degree of

MASTER OF ENGINEERING (Electrical Engineering)
(Specialization: POWER ELECTRONICS)

Department Of Electrical Engineering

BENGAL ENGINEERING AND SCIENCE UNIVERSITY, SHIBPUR
HOWRAH – 711 103.
WEST BENGAL,INDIA.
Bengal Engineering and Science University, Shibpur
Howrah – 711 103
West Bengal, India

I hereby forward the Progress Report entitled “Permanent Magnet Synchronous

motor drives ” submitted by Sri Asish Kumar Mondal (Registration No. 210608010 of
2008-2009) under my guidance and supervision in partial fulfillment of the requirements
for the degree of Master of Engineering in Electrical Engineering (Specialization: Power
Electronics) from this University.

-------------------------------
(Project Supervisor)
[Dr. KAUSHIK MUKHERJEE]

-------------------------------
(Project. Supervisor)
[Dr. MAINAK SENGUPTA]

Countersigned by:

-----------------------------
(Dr. S.K.MALLIK)
Professor & Head
Department of Electrical Engineering,
Bengal Engineering and Science university, Shibpur
Howrah-711103

--------------------------
( Dr. A.K.DAS )

Dean, FEAT,
Bengal Engineering and Science university , Shibpur Howrah-711103
 Bengal Engineering and Science University,
Shibpur
Department of Electrical Engineering
Howrah- 711103 (West Bengal)

CERTIFICATE OF APPROVAL

The forgoing progress report is hereby approved as a creditable study of an engineering subject carried out
and presented in a manner satisfactory to warrant its acceptance as a prerequisite for the THESIS WORK
for which it has been submitted. It is understood that by this approval the undersigned does not necessarily
endorse or approve any statement made, opinion expressed or conclusion drawn therein but approve the
progress report only as a prerequisite for the THESIS WORK.

Board of Examiners:

1)………………………………………..

2)………………………………………..
 BENGAL ENGINEERING & SCIENCE UNIVERSITY
Howrah – 711103
West Bengal

Acknowledgement

I would like to express my deep sense of gratitude towards Dr. KAUSHIK MUKHERJEE
and Dr. MAINAK SENGUPTA of Bengal Engineering and Science University for their
guidance and help. I am privileged working under them.
I am very thankful to Dr. PRASID SYAM who has helped me in every
possible way. I also want to express my gratitude towards Prof S.K.MALLIK, head of the
Department of Electrical Engineering for providing necessary facilities for carrying out
the work. I would also like to thank the staffs of Bengal Engineering and Science
University Library for providing me the Library facility at all times.

I also thankfully acknowledge the assistance received from my friends and

others for their cooperation during the preparation of the Progress Report.

Date:
(ASISH KUMAR MONDAL)
Place: Bengal Engineering and Science University , Shibpur Roll No.160806010
Howrah: 711103 Reg. No. 210608010
Master of Engineering
Electrical Engg. Dept.
B. E. S. U., Shibpur
Howrah – 711103
CONTENT

1. INTRODUCTION

2. Permanent Magnet Synchronous Motor Drives

3. Modeling of PMSM

4. CONCLUSION

5. Hands on experience with DSP TMS320LF2407

INTRODUCTION

In recent years, Permanent Magnet Synchronous Motors (PMSM) are

increasingly applied in several areas such as traction, automobiles, robotics
and aerospace technology. The growth in the market of PM motor drives has
demanded the need of simulation tools capable of handling motor drive
simulations. Simulations have helped the process of developing new systems
including motor drives, by reducing cost and time. Simulation tools have the
capabilities of performing dynamic simulations of motor drives in a visual
environment so as to facilitate the development of new systems. Accurate
simulation are necessary to evaluate their performance particularly when
they are driven with solid-state drives connected to larger electrical
networks. One of the areas of interest is the design of controllers for these
motor drives. In many applications the physical controls have to be designed
and tuned for best performance.

Permanent Magnet Synchronous Motor

The PM Synchronous motor is a rotating electric machine where the stator is
a three phase stator like that of an induction motor and the rotor has surface-
mounted permanent magnets. In this respect, the PM Synchronous motor is
equivalent to an induction motor where the air gap magnetic field is
produced by a permanent magnet. The use of a permanent magnet to
generate a substantial air gap magnetic flux makes it possible to design
highly efficient PM motors.

Permanent Magnet Synchronous Motor

Permanent Magnet Synchronous Motor Drives

Permanent Magnet Synchronous Motor Drives consists of four main

components, the PM motor, inverter, control unit and the position sensor.

Figure1: Drive System Schematic

Modeling of PMSM

Modeling 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 2 .At any time t, the rotating rotor d-axis makes and angle θr
with the fixed stator phase axis and rotating stator mmf makes an angle α
with the rotor d-axis. Stator mmf rotates at the same speed as that of the
rotor.
 Figure 2: Motor Axis

The model of PMSM without damper winding has been developed on rotor
reference frame using the following assumptions:

1) Saturation is neglected.
2) The induced EMF is sinusoidal.
3) Eddy currents and hysteresis losses are negligible.
4) There are no field current dynamics.
Voltage equations are given by:

………………………………….1

……………………………….2

Flux Linkages are given by

………………………………………….……..3

…………………………………………….4

Substituting equations 3 and 4 into1 and 2

Equivalent Circuit of Permanent Magnet Synchronous Motor

Equivalent circuits of the motors are used for study and simulation of
motors. From the d-q modeling 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 as described in the following equation

Figure: 3 Permanent Magnet Motor Electric Circuits without Damper Windings

Parks Transformation and Dynamic d q Modeling

The dynamic d q modeling is used for the study of motor during transient
and steady state. It is done by converting the three phase voltages and
currents to dqo variables by using Parks transformation
Converting the phase voltages variables abc to dqo variables in rotor
reference frame the

following equations are obtained

Inverter Operation

Fig 4. Voltage source inverter

For 180 conduction mode and 6-1-2 switching
similar way for 6-1-2 , 1-2-3, 2-3-4, 3-4-5, 4-5-6, 5-6-1 switching we can
construct this figure

fig 5: orientation of resultant flux linkage for different switching

Switching Vd Vq
6-1-2

1-2-3

2-3-4

3-4-5

4-5-6

5-6-1
Steady state analysis

Flux Linkages are given by

…………………………………………...5

………………………………………6

…………………………….7

……………………….8

………………………9

Constant torque control strategy is derived from field oriented control, where
the maximum possible torque is desired at all times like the dc motor. This is
performed by making the torque producing current iq equal to the supply
current Im. That results in selecting the α angle to be 90 º degrees according
to equation 15. By making the id current equal to zero the torque equation
can be rewritten as:
 ……………………………………….6

Assuming that:

……………………………………………7

The torque is give by

……………………………………………………….8

Like the dc motor, the torque is dependent of the motor current.

CONCLUSION

For Induction motor, Stator current has two component one in magnetizing
component and other in torque producing component But for PMSM, stator
current caring only torque producing component of current. Due to
magnetizing component of current losses will increase for induction
machine. So for same rating and operation PMSM will have higher
efficiency than Induction machine
For conventional dc machine, maintenance is required for bras and
commutator but for BLDC, maintenance cost for bras and commutator is
zero .
For those advantageous feature, BLDC become very popular.