Table of Content

1 Introduction and theory .......................................................................................................... 2

2 Lab objective .......................................................................................................................... 6
3 Equipment used and experimental set-up............................................................................... 7
4 Laboratory Test Results.......................................................................................................... 8
4.1 PMSM as generator ..................................................................................................... 8
4.1.2 frequency and voltage test under variable speed (4.1.2) .................................. 8
4.1.3 Load angle and torque test under variable load (4.1.3) .................................... 9
4.2 PMSM as motor: V/F control ...................................................................................... 9
4.2.1 Load torque vs load torque test under (1000rev/min) (4.2.1)........................... 9
4.2.2 Load torque vs load torque test under 50Hz (600rev/min) (4.3.1) ................. 10
4.2.3 Load torque vs load torque test under 100Hz (1200rev/min) (4.3.4) ............. 10
4.2.4 Frequency (speed) step response (4.3.5) ........................................................ 11
4.3 PMSM as motor: RFOC drive................................................................................... 11
4.3.1 Frequency (speed) step response (4.4.2) ........................................................ 11
4.3.2 Step response under inversed speed references (±𝟔𝟎𝟎𝒓𝒆𝒗/𝒎𝒊𝒏) (4.4.4) .... 13
4.3.3 T-𝝎 characteristic curve (4.4.5)..................................................................... 13
5 Simulation results by Simulink ............................................................................................ 14
5.1 Introduction ............................................................................................................... 14
5.2 v/f control part........................................................................................................... 17
5.2.1 Variable load torque test under 1000rev/min (4.2.1) ...................................... 17
5.2.2 Variable load torque test under 50Hz (600rev/min) (4.3.2) ............................ 19
5.2.3 Variable load torque test under 100Hz (1200rev/min) (4.3.4)........................ 22
5.2.4 Frequency (speed) step response (4.3.5) ........................................................ 24
5.3 RFOC part ................................................................................................................. 27
5.3.1 Frequency (speed) step response (4.4.2) ........................................................ 27
5.3.2 Step response under inversed speed references (±𝟔𝟎𝟎𝒓𝒆𝒗/𝒎𝒊𝒏) (4.4.4) .... 30
4.3.3 T-𝝎 characteristic curve (4.4.5)..................................................................... 31
6 Lab question ......................................................................................................................... 32
7 reference ............................................................................................................................... 35
1 Introduction and theory

A synchronous motor is a AC supplied, which rotation of shaft is synchronized with frequency of

supply current (steady state) with a angular difference of 𝛿, which is called load angle, it is also the
mechanical angle between the magnetic equivalent pole between rotor and shaft. it is depending on
the amount of load torque. If the load torque is larger than its maximum torque output, the motor
will lose its stability.
Synchronous motor has 2 major types: salient pole SM and non-salient pole SM. Which
differences can be easily tell from figure as follows

salient pole SM non-salient pole SM

Such motor is widely used in factories and electric vehicles because it is simple to control the
speed. The mechanical speed of rotating shaft could be found:
𝑓 × 60
𝑛= 𝑟𝑒𝑣/𝑚𝑖𝑛
𝑝
𝑛: mechanical speed of rotor (shaft);
𝑝: number of pole pairs of stator;
𝑓: frequency of supply AC current

the developed torque of the machine is given by

3𝑝𝑉𝐸
𝑇= 𝑠𝑖𝑛𝛿
𝜔𝑋𝑠
1 = variable angular frequency
V = RMS AC supply voltage (per phase)
Xs = synchronous reactance
 = load angle

From the speed equation, it appears that only the supply frequency is needed to be changed in order
to control the rotating speed because once the motor is rotating, it is impossible to change its pole
pairs. However, in most cases, the flux linkage will be changed if frequency is changed and which
also changes the maximum torque and could make motor become unstable. Thus, flux linkage
should be constant.
Flux linkage could be found as follow:
𝑉
𝜑
̂𝑠 =
4.44𝑓𝑁𝑠
Thus, in order to keep 𝜑
̂𝑠 constant, supply voltage should be changed proportionally with
frequency. Lab 4’s first component is to test this method, which is called vvvf control or scalar
control because V and f are both scalar.
However, this method has its limitation. Once the frequency reaches a critical level, the supply
voltage is not able to increase any longer because it cannot be larger than grid’s voltage in most
cases, and thus the stator flux will be crippled which could cause unstable as mentioned. In addition,
when the motor is operating in low speed, i.e. 200rpm, the resistamce may not be negligible
compared to V, so that the stator flux linkage becomes lower than the rated value and speed is not
stable in this condition, simulation results also indicated this phenomenon.
Another control method is called rotor flux-oriented control, which is also called vector control.
RFOC is achieved by transfer three phase current components into 𝛼𝛽 component, which is called
‘Clark’s transformation’. The three phases current can be combined into 1 vector, which vector is
rotating around the origin. The vector in any angle has projection on x-y axis, which are 𝛼
component and 𝛽 component, respectively. This transformation simplified the calculation of 3
phases components because there are only 2 variables in each angle instead of 3.

However, it is not the easiest way. The ‘Park’s transformation’ is introduced in order to deeply
simplify ‘Clark’s transformation’. Rotating d q axis are introduced to express the rotating vector.
The vector has projection on d and q axis and the axis is rotating together with the vector. Once the
amplitude of d and q component is known, there is only one variable, which is the rotating angle
(𝜃), needed, in order to determine three phases components. ‘Clark’s transformation’ and ‘Park’s
transformation’ can be shown as following figure:

Clark’s transformation
 Park’s transformation
Another convenience of introducing ‘Park’s transformation’ is to separate stator current into 2
components: id and iq. Id is responsible for creating magnetic field, and iq is for creating torque,
which analysis method is similar to DC motor drive, (field analysis and armature anaylsis )

There is another way to understand dq transformation:

The basic principle of PMSM could be simplified like the figure shows below:

The equivalent magnetic pole of stator leads which of the rotor by load angle, and flux created by
stator and rotor could be divided into 2 components, which could be found in the figure above. In
addition, for all motors, torque has relationship as follow:
𝑇𝑜𝑟𝑞𝑢𝑒 ∝ 𝐵𝑖𝑛 × 𝐵𝑜𝑢𝑡
𝐵𝑖𝑛 , 𝐵𝑜𝑢𝑡 can be modified as figure below:

This is to say, torque is proportional to area of rectangular on the left, which is 𝐵𝑞 ∙ 𝐵𝑑 . Furthermore,
it is common knowledge that:
𝐵 ∝𝐼×𝐿
I is armature current, which can be divided into id iq
L is inductance between rotor and stator, which is constant if stable.
Therefore, analysis of torque can be transferred to which of current.

However, it is a very long calculation path to calculation current, flux, torque, one by one, and
system’s robustness is low. DTC is introduced to simplify the calculation, as we know:
𝑑∅
𝐸=
𝑑𝑡
Which means that, once the back EMF of stator is controlled, flux can be controlled, and then,
torque, speed. This loop dramatically simplifies controlling process because there is no need to go
thorough abc-𝛼𝛽-dq transformation. However this method requires higher accuracy of sensor than
which of RFOC because there are 2 state: speed and position instead of only 1, which naturally
brings additional accuracy to control system.
2 Lab objective

The main objective of this lab is to test performance PMSM under different control method (vvvf
and RFOC control). Multiple speed references are set in order to find and verify regulation of speed,
torque, stator current, flux linkage, induced EMF, and find T-w character under different load torque
condition.
3 Equipment used and experimental set-up

- The three-phase IGBT inverter

- 1 digital three-phase power meter
- AC and DC meters
- 1 DC generator for loading
- 1 wall mounted load bank
- 1 load rheostat
- 1 digital storage oscilloscope Two isolated current sensor
- 1 PM synchronous motor with encoder
- 1 PC with a DS1102 DSP board, interface module and a printer
4 Laboratory Test Results

4.1 PMSM as generator

4.1.2 frequency and voltage test under variable speed (4.1.2)

Line-line
Speed frequency
voltage
1200 91.90 100
1100 83.65 91.4
1003 76.42 83.61
900 69.07 75.53
800 60.85 66.89
700 53.21 58.14
600 45.87 50.63
500 38.86 42.92
400 30.46 32.78
300 23.00 24.69
4.1.3 Load angle and torque test under variable load (4.1.3)

DC DC
Load Speed ∆𝑥 Torque P 𝛿
current voltage
0 1200 0.7 91.90 0 0 0 0°
1 1200 1.87 83.65 150 1.024623 129 2.7°
2 1200 2.92 76.42 225 1.906275 240 4.05°
3 1200 4.55 69.07 335 3.200953 403 6.03°
4 1200 4.86 60.85 350 3.375695 425 6.3°

4.2 PMSM as motor: V/F control

4.2.1 Load torque vs load torque test under (1000rev/min) (4.2.1)

Speed ia V_dc ∆𝑥 Power Torque 𝛿

Load0 1003 0.64 89 40𝜇𝑠 121 0.96 0.72°
Load1 1000 1.25 88 80𝜇𝑠 180 1.42 1.44°
Load2 1000 2.41 85 110𝜇𝑠 295 2.34 1.98°
Load3 1000 2.97 83 142𝜇𝑠 352 2.79 2.556°
Load4 1000 3.51 82 190𝜇𝑠 407 3.23 3.42°
Load5 1000 3.77 82 232𝜇𝑠 434 3.44 4.176°
Load6 1000 4.02 81 288𝜇𝑠 461 3.66 5.184°
Load7 1000 4.52 80 315𝜇𝑠 516 4.09 5.67°
4.2.2 Load torque vs load torque test under 50Hz (600rev/min) (4.3.1)

Speed Torque Flux V-ac I_ac V_dc I_dc Power ∆𝑥 𝛿

Load1 600 1.29 0.197 69.9 0.67 53 0.38 62 120 2.16°
Load2 600 2.6 0.187 69.1 0.7 50 1.43 119 252 4.536°
Load3 600 3.39 0.183 69 0.83 49 2.08 158 378 6.804°
Load4 600 3.75 0.181 69.1 0.93 48 2.4 178 465 8.37°
Load5 600 4.16 0.179 69.1 1.02 47 2.7 197 530 9.54°
Load6 600 4.85 0.176 68.9 1.22 46 3.29 236 605 10.89°
Load7 600 5.21 0.174 68.8 1.32 45 3.56 255 705 12.69°
Load8 600 5.52 0.172 68.7 1.42 45 3.83 274 800 14.4°
Load9 600 5.84 0.170 68.7 1.53 44 4.09 293 920 16.56°
Load10 600 6.17 0.169 69 1.62 44 4.35 311 990 17.82°

4.2.3 Load torque vs load torque test under 100Hz (1200rev/min) (4.3.4)

n Torque Flux V_ac I_ac ia V_dc Power ∆𝑥 𝛿

Load1 1200 1.74 0.194 107 0.2 0.0 100.1 163 109 1.962°
Load2 1200 2.69 0.190 105 0.942 1.053 96.81 247 150 2.7°
Load3 1200 4.45 0.185 102 1.917 2.049 94.02 410 188 3.384°
Load4 1200 4.89 0.184 101 2.916 3.000 92.33 451 220 3.96°
Load5 1200 5.29 0.182 100 3.469 3.915 89.51 490 260 4.68°
Load6 1200 6.10 0.179 98 4.096 4.770 87.79 569 300 5.4°
4.2.4 Frequency (speed) step response (4.3.5)

50-100Hz
600rev/min-1200rev/min;
Torque: 1.91-3.48
Flux: 0.18-0.179
Is=1.19A-2.2A

20(low speed)-50Hz
Speed 200rev/min-600rev/min
Torque: 0.734-1.85
Flux: 0.179-0.179
Is: 0.5A-1.18A;

4.3 PMSM as motor: RFOC drive

4.3.1 Frequency (speed) step response (4.4.2)

50-100Hz
600rev/min-1200rev/min;
Torque: 1.91-3.48
Flux: 0.18-0.179
Is=1.19A-2.2A

20(low speed)-50Hz
Speed 200rev/min-600rev/min
Torque: 0.734-1.85
Flux: 0.179-0.179
Is: 0.5A-1.18A;
4.3.2 Step response under inversed speed references (±𝟔𝟎𝟎𝒓𝒆𝒗/𝒎𝒊𝒏)

(4.4.4)

4.3.3 T-𝝎 characteristic curve (4.4.5)

5 Simulation results by Simulink

5.1 Introduction

Simulink model contains 4 major parts: input&controller module, select module, operationg module:
PWM wave(gate signal generator) module, PMSM with DC motor module and adjustable load
module.

1. Selection module: Which is to select control method (v/f or RFOC)

2. Input & controller module:

(1) v/f input & control:

This module contains with frequency input, voltage controller,

(2) RFOC input & control:
This module consists of speed input, speed controller, torque current controller, flux current
controller gain tuning module, abc to dq transformation module.
3. Operationg module:
Gate signal generator and PMSM module: PMSM is driven by gate signal from Gate signal
generator. PMSM and inverter module contains a synchronous motor and a DC generator which
shafts are mechanically connected. And ‘Gen+, Gen-’ is output of current generated by DC
generator driven by PMSM.

4. Variable load bank module: which is used to change load torque applied on PMSM
5.2 v/f control part

5.2.1 Variable load torque test under 1000rev/min (4.2.1)

n is ia V_dc Torque Flux

Load0 1203 0.2 0.0 100.1 0.2 0.177
Load1 1200 0.942 1.053 96.81 0.937 0.173
Load2 1200 1.917 2.049 94.02 2.222 0.169
Load3 1200 2.916 3.000 92.33 3.108 0.164
Load4 1200 3.469 3.915 89.51 3.717 0.162
Load5 1200 4.096 4.770 87.79 4.670 0.160
Load6 1200 4.776 5.591 85.69 5.322 0.158

Load angle from load 0 to 6

5.2.2 Variable load torque test under 50Hz (600rev/min) (4.3.2)

n is ia V_dc Torque Flux

Load0 600 0.281 0.0 59.87 0.1 0.177
Load1 600 0.905 0.6375 58.08 0.75 0.173
Load2 600 1.352 1.234 56.94 1.25 0.169
Load3 600 1.981 1.801 54.86 1.75 0.166
Load4 600 2.375 2.347 54.09 2.25 0.163
Load5 600 2.287 2.853 52.57 2.75 0.161
Load6 600 3.270 3.356 51.41 3.25 0.160

I_dc variation from load 0-6;

V_dc variation from load 0-6

Load angle variation from load 0-6:

5.2.3 Variable load torque test under 100Hz (1200rev/min) (4.3.4)

n Torque Flux V_ac I_ac ia V_dc Power ∆𝑥 𝛿

Load0 1203 0.2 0.177 0.2 0.0 100.1
Load1 1200 0.937 0.173 0.942 1.053 96.81
Load2 1200 2.222 0.169 1.917 2.049 94.02
Load3 1200 3.108 0.164 2.916 3.000 92.33
Load4 1200 3.717 0.162 3.469 3.915 89.51
Load5 1200 4.670 0.160 4.096 4.770 87.79
Load6 1200 5.322 0.158 4.776 5.591 85.69

V_dc variation from load 0-6

I_dc variation from load 0-6:

Different load angles from load 0-6
5.2.4 Frequency (speed) step response (4.3.5)

From 50Hz abruptly to 100Hz:

Idc= 1.804-3.609
Vdc= 55.32-110.6
T= 1.895-3.627
Flux= 1.684-1.685;
Is= 1.895-2.981

Idc variation from 50Hz abruptly to 100Hz:

V_dc variation from 50Hz abruptly to 100Hz:

From 20Hz abruptly to 50Hz:

I_dc= 0.729-1.805
V_dc= 22.34-55.28
T= 0.856-1.838
Flux= 1.628-1.685
Is= 1.995-1.940

V_dc variation from 20Hz abruptly to 50Hz:

I_dc variation from 20Hz abruptly to 50Hz:

5.3 RFOC part

5.3.1 Frequency (speed) step response (4.4.2)

50-100Hz
Speed= 600rev/min-1200rev/min;
I_dc= 1.805-3.610;
V_dc= 55.31-110.6
Id= 0;
Iq= 1.382-2.683;
iq_ref= 1.351-0.516;
Is= 1.319-2.662
Speed= 600-1200;
Speed_ref= 600-1200;
Torque = 1.859-3.608;
Flux: 0.179-0.1813
V_dc variation from 50Hz to 100Hz:

I_dc variation from 50Hz to 100Hz:

20-50Hz
Speed: 200rev/min-600rev/min;
I_dc: 0.601-1.805;
V_dc=1.843-5.531
Id=0
Iq=0.440-1.342; iq_ref=0.450-1.351
Is=0.455-1.371
Speed:200-600; Speed_ref: 200-600;
T=0.592-1.805;
Flux: 0.1794-0.1796
I_dc variation from 20Hz to 50Hz:

V_dc variation from 20Hz to 50Hz:

5.3.2 Step response under inversed speed references (±𝟔𝟎𝟎𝒓𝒆𝒗/𝒎𝒊𝒏)

(4.4.4)

Load=2;
Id_ref=id=0.05;
Iq_ref=+-1.350 Iq_ref_transient=5.0 Iq=-1.382, 1.334; Iq _transient=5.0;
Spd_ref=+-600; Spd=+-600; Speed_overshoot=55.1 settle time=64.067ms;
Torque =+-1.80 T_transient=6.819; T_overshoot=10.82 settle time=13.919ms;
Stator current: 1.409; transient=4.932;

I_dc:

V_dc:
4.3.3 T-𝝎 characteristic curve (4.4.5)

No load

Gradually increased torque

6 Lab question

1. From the plot of results of section 4.1.2, how does the RMS line-line voltage and frequency
of the synchronous machine vary with speed when the machine operated as a generator?
Line-line induced voltage and frequency increases with rotating speed because of formula shown as
follow:
𝐸 = 𝐾𝜑̂𝑓 𝑁𝑠
𝑓𝑒 = 𝑓 × 𝑝
2. From the plot of results of section 4.1.3, how does the load angle with load torque vary
when machine acts as a generator? Does the induced voltage E lead or lag the terminal
voltage V?
𝑇𝜔𝑋𝑠
𝑠𝑖𝑛𝛿 =
3𝑝𝑉𝐸
Thus, as load torque increases, load angle increases as well. Simulation result also verified this.
Induced voltage E lead terminal voltage V.
3. Calculate the back-emf constant of the synchronous machine for several speeds, in V/rad/s.
Explain why no load voltage is used for this calculation. How does this value change with
speed?

Because of the leakage flux is positive proportional to stotor current, which increases with load
torque and thus, only no load back EMF is used.
4. Draw phasor diagram for one phase of motor, for f=50Hz and 100Hz for loads
corresponding to 3A. The synchronous inductance of the synchronous motor,
Ls=9.4mH/phase, and R=1.73ohm/phase.
𝑿𝟓𝟎𝑯𝒛 = 𝟐𝝅𝒇𝑳 = 𝟐. 𝟗𝟓𝑯;
𝑿𝟏𝟎𝟎𝑯𝒛 = 𝟐𝝅 × 𝟏𝟎𝟎 × 𝑳 = 𝟓. 𝟗𝑯
5. From the plot of results of section 4.3.4, comment on the variation of the RMS value of a
phase current and load angle d vs load torque. Does the induced phase voltage E lead or
lag the terminal voltage V?
n Torque Flux V_ac I_ac ia V_dc Power ∆𝑥 𝛿
Load1 1200 1.74 0.194 107 0.2 0.0 100.1 163 109 1.962°
Load2 1200 2.69 0.190 105 0.942 1.053 96.81 247 150 2.7°
Load3 1200 4.45 0.185 102 1.917 2.049 94.02 410 188 3.384°
Load4 1200 4.89 0.184 101 2.916 3.000 92.33 451 220 3.96°
Load5 1200 5.29 0.182 100 3.469 3.915 89.51 490 260 4.68°
Load6 1200 6.10 0.179 98 4.096 4.770 87.79 569 300 5.4°
RMS value of a phase current and load angle are both increased when load torque is increased. The
induced phase voltage E lag the terminal voltage V, because SM is running at motor condition.
6. From the transient responses of speed during acceleration found in sections 4.3.5 and 4.4.2,
compare the transient torque and speed response capabilities under V/f and RFOC drives
Settle time: v/f is longer than RFOC for both 20-50Hz and 50-100Hz, which means that RFOC
meets need for fast response.
In addition, step response between low speed of v/f is bad, steady state error is high, system is not
asymptotically stable:
7 reference

[1] Pro. Faz Rahman, ELEC4613 Lecture Notes (4.1), 2015, Analysis of Synchronous Motor Drive
Part I, UNSW
[2] Pro. Faz Rahman, ELEC4613 Lecture Notes (4.2), 2015, Analysis of Synchronous Motor Drive
Part II, UNSW
[3] Pro. Faz Rahman, ELEC4613 Lecture Notes (6.2), 2015, Dynamics and RFOC of SM
DrivesFile, UNSW
[4] Pro. Faz Rahman, ELEC4613 Experiment IV manual, Performance of Permanent Magnet
Synchronous Motor with V/f and RFOC Drive