IEEE Transactions on Power Apparatus and Systems, Vol. PAS-99, No.

4 July/Aug 1980

1503

PERMANENT MAGNET MACHINES:

ASYCHRONOUS OPERATION

General Electric Company Schenectady, New York 12345

Abstract - The permanent magnet motor operating at subsynchronous speeds, as during run-up, is treated with particular emphasis placed on the role that magnet excitation plays. The torque, during run-up, is separated into components called the "cage torque", the "magnet torque" and pulsating components of doubleslip-frequency and single-slip-frequency. Equations for calculation of these torques are derived and a comparison of the relative magnitude is given.
SPEED

V.B. Honsinger

Tm= MAGNETTORQUE
Tav AVERAGE TORQUE

1.

INTRODUCTION

The permanent magnet motor when suddenly connected to a balanced ac voltage will run up toward synchronous speed, using its rotor cage winding for torque generation, and then attain synchronous speed through the process of synchronization. The run-up torque is comprised basically of a steady time averaged torque Tav and a pulsating torque T as shown by Fig. 1. The average torque is responsible for propelling the rotor forward while the pulsating torque produces noise and vibration during start (there being none of this at synchronous speed).
The average torque and pulsating torques each have their own individual components. The average torque is comprised of components called the "cage torque" Tc and the "magnet torque" Tm (see Fig. 2). The pulsating torque has components of double-slip-frequency and of

* ~~~I /1|
i

CAGE TORQUE TC /

TORQUE

FIGURE 2 COMPONENTS OF AVERAGE TORQUE,

Tav=Tc(-Tm)

single-slip-frequency.
SPEED

The magnet torque TmI during run-up, is a braking torque that opposes the cage torque Tc as shown by Fig. 2. After synchronization, the cage torque disappcears and the magnet torque reverses its role and then, in conjunction with motoring action, becomes essentially the sole source of torque. Associated with the pulsating torque are current pulsations that are liable to demagnetize unprotected The pulsations also influence portions of the magnet. the motor synchronizing process although synchronization is not treated here.
Unlike the methods employed in [31, where machine performance was established using equations derived from phasor diagrams, the methods used here begin with generalized machine equations relating voltage to flux linkage and current. The motion during run-up is assumed to be very slow such that the slip at each point While the equations during run-up is nearly constant. can be reduced to those employed in [3], the generalized equations offer a deeper insight into the mechanism of machine performance through the concept of operational impedances.

PULL-OUT TORQUE, Tpo

PULSATING

TORQUETp

TORQUE ENVELOPE

TORQUE

FIGURE 1 COMPONENTS OF TORQUE DURING RUN-UP

F 79 605-7 A paper recammrled and approved by the 2. MACHINE EQUATIONS IEEE Rotating Machinery Cmrnmittee of the IEEE Power Engineering Society for presentation at.the IEEE PES Equations for a polyphase permanent magnet motor, Summuer Meeting, Vancouver, British Columbia, Canada, when the reference frame is fixed in the rotor (see July 15-20, 1979. Manuscript submitted January 29,1979; Appendix 1 for basis) are: made available for printing April 3, 1979.

The subject of synchronous motor run-up has been treated extensively in the literature usually, however, with little emphasis placed on a run-up with the rotor excited. In this case the rotor is excitedby pernanent magnets. The treatment basically follows that of Concordia [11 and Adkins [21 with, however, emphasis placed on the role that magnet excitation plays.

0018-95 10/80/0700.1503$00.75K 1980 IEEE

1504
v=pX +r 1 i -x0 d d d q r
v

1=

e L

pX +r i + X e q l q d r

o = p 2d +

r2d 2d
2q

L6 dp qp +0 r dp Lqp (1) ~~~ Lq L2 Z V -e L v -r El =dpgq r dpd lo0 (1)

Z

pqqpd__
Z

V +Z

v - (6 L + PZ /6 )EI r qp _4p r 0

(4)

(1)

~q

O =

X2q +r2q

dp qp

*62LLqp r dp

Te
where ing

(mP/2)(Adiq

Xq id)

2.1

Currents at Synchronous Speed

for a fixed magnet excitation and no field wi

If the machine is running at a steady synchronous speed with s = o, er = W, p = jsw = o and wLmd Imf= Eo; the rms current equations given by (4) become

Xd
X
q

Ldid +Lmd i2d Lmd Ifm

= L i +L i qq mqi2q n

V(x
I
=

cos

r1 sin 6)
2
+ x
x

EE)
(5)

x2d L2di2d +Lmd id Lmdfm

2q
The

(2)
Iq =

d q

V(r1 cos

6 + xd sin 6)
2

r E

L2qi2q +Lmq iq

r1 +xd xq
which are identical to those derived in [3] by (2) therein.
3.
OPERATION AT ASYNCHRONOUS SPEEDS

line voltages are balanced; hence the dqvoltages in terms of the torque angle are vd = -Vsins and vq = Vcos6. The torque angle is defined as 6 = wt - r The slip of the machine is
s =

and

given

(-

U)/w

and the rotor speed in electrical radians per second is in terms of slip r = (l-s)w so that the torque angle becomes 6 = swt + 6 . The operator p is p = jsw. The magnet strength is represented by Ifm (amperes). This, in turn, can be translated to magnet force intensity Fm = HmLm in oersted-cm at the opencircuit magnet operating point. The magnet strength is also related to and can be measured by the voltage induced in the armature or stator windings by the magnets. This voltage (open-circuit voltage) varies linearly with rotor speed 8r according to Eo = 0r Lmd IfmIt is convenient to define a second and non-variable, open-circuit voltage measured at synchronous speed
E

When the machine, is running at a constant slip s representing a speed Or = (l-s)w different than synchronous speed, the equations for current are given by (4) with the machine parameters defined as follows:

Or
p
L L

= (l-s)w
0

6 = swt + 6

SW

dp

qp
2d

-pL2 /(r 2d +pL 2d md =L -pL2 /(r +pL) q mq 2q 2q

=L d

md
=L + mq Q

2d

equations

md fm With the help of Appendix 2, (1) and (2) may be simplified by eliminating the equations for the short circuited rotor cage in favor of operational inductance
o

WL

and hence,

E'

= E (l-s). 0 o

2q

2q

(6)

Zdp
Z

=l+PLdp
= r +pL l qp
r md

qp

Vd

=P

Xd+ rl id

q r

E= o
E

fm

=E (l-s)

Vq =P Xq + r1 iq + dO
(3)
d md fm i +L I X =L i q qp q d

=WL

nd fn

v = -Vsin(swt+ 6 ) d o

=L

dp

I(3
pL2
qp

where the operational inductances are

p2

dp

r2d+ pL2d

md

and L

= L

r2q + Pl2q

Xdp

The operational reactance xdp is defined as WLdp, etc. while the operational impedance is Zdp = rj + p Xdp. The id, iq currents can be solved from the system of equations (3) by using the last two equations to eliminate the flux linkages Ad and Aq in the first two equations and then solving for the currents. The resulting equations are:
=

q o When the voltages vd and vq from (6) are substituted in (4), it becomes clear that the currents are functions of a torque angle 6S and a slip s both of which can be parametrically varied. The value of 60 is that final angle at which the system would have operated had the machine synchronized (see Fig. 1). The equations in this paper apply only to a run-up that ends just under synchronism and not to synchronism, itself. In this case, the angle 6S is irrelevant and is The voltages can be represented as equated to zero.

= Vcos (swt+ 6)

real, instantaneous functions of time

vd
=

-V sin (swt)

v =+ V cos (swt) q

1505
or as phasors
vd
=

sin ~V (swt)

v =+ V cos (sWt) = q where - means "corresponds to".

Re(jVEt) -+ iV Re(V Sjt) - + V

Phasor representations are used to determine average torque while the real, instantaneous time form is used to determine pulsating torque.
3.1

It should be noted that the currents and flux linkages in (7) are complex numbers and contain operational The operational paramparameters like xdp, Ldp, etc. eters depend on both stator and rotor cage parameters. In contrast, the equations relating to the magnet and given by (8), contain only real'numbers and these, in turn, refer only to parameters like Eo, rl, xd and xq and, not at all, to rotor cage parameters.

3.2

Magnet Torque

Average Torque:

Phasor Representation

In phasor representation, Vd = jV and vq = V where V is the rms voltage. The operator p = d/dt is, as in (6), p = jsw or more appropriately p = j (angular frequency of the voltage or currents fiowing in the system). During run-up there are two such systems or modes each having its own frequency. The first frequency is f or that of the applied voltage V causing currents of frequency f to flow in the stator winding. The second frequency is (l-s)f or that caused by the magnet flux fixed to and rotating with the rotor causing a secondsetof stator currents having frequency (l-s)f.

The magnet torque in newton-meters contains only real numbers and can be evaluated directly from the expression
I ) T = (mP/2)(A I -X m dm qm qm dm

(10)

which by simple algebra becomes

T =

(mP/2)[EO Iqm/w + Idm I(-LL dLq

(11)

and when the currents from (9) are substituted in (11), the entire expression (11) becomes
MP

permanent magnet motor runs upto synchronous speed, two distinct modes of operation occur simultaneously. With respect to the currents, there are: 1. A set of dq currents caused by applied voltage V with p = jsw and E = 0. A second set of dq currents caused by open circuit voltage E with V= 0 and s= o hence, p= sjw= 0. 2.
In the first mode, the set of equations (4) for currents and (3) for flux linkage to be usedtocalculate cage torque Te become with p = jsw and Eo = 0

Since this analysis uses a reference framefisedtco the rotor, the two actual frequencies transform from f and (l-s)f to sf and zero, respectively. Hence, when a

2w(l-s)r2 +x

(l

The first bracketed factor modifies the second factor (which is dominant) for rotor saliency effect; it is unity when xd = xq. The product of the two bracketed terms "[ -1' I" is exactly equal to the short-circuited I2R loss in the stator windings (per phase) at any slip
s.

Fr2 1

2U

)2

dq

x(l-s)

IL
2
*

rE2U

r2x

)2

dq

(l-s)2

(12)

r "[ ]-[ ]" = (Id + I qm )r= SCl1 dm 1

I2

Idc
I

[r

(1-2s)jxd JjV/De
c

qc
dc
IC

[r - (1-2s) jx 1V/D

p~~~~
(7)

At zero speed, the magnet torque is zero. The torque after passing through a maximum, usually at alow speed, becomes nearly constant as shown by Fig. 2. The calculation of magnet braking (generator) torque, if extended to synchronous speed (s = 0), should not be applied to motor action.

1qp
I

dp dc
+ jsr (x +x)+ (1-2 s)x x 1 dp qp dp qp

= L I qp qc qc
D
c

=r2 1

The currents and flux linkages due to the magnets become with p = o and V = 0 2 =- (1-s) x E /D I q o m d3m
I

qm

=- (l-s) r E i /Dm 1
= L

X dm X
qm
D
m

d Idm

+E /W o

The magnet torque, as given by (12), is also affected by the external source impedance and a coreloss component of slip-frequency caused by magnet flux. To account for external impedance, the reactance xe and resistance re of the external source are added to the motor parameters; e.g., xd + xe, xq + xe and r, + re. To account for core-loss of the magnet system, the resistance r1 and reactances xd, xq are adjusted to core-loss adjusted parameters rl, Xd, xq using the method outlined in [3] with, however, an additional correction for speed.

r1
_
x

_
=

r1+

(r -r1)(1-s)

~~~~~~2
2
2

xd
q

= x
= x

d-xd) (l-s)

(8)

= L I q qm
=

r2 1

xdx dq

(l-s)2
and voltage E
0
have values

where the reactances xd, x measured at rated speed.

- (x-x) (-s) q q q During run-up, the torque of windage and friction is subtracted from the cage torque but, if the motor is acting in a pure braking mode (see Section 3.6), the windage and friction torque is subtracted from the magnet torque.

In a balanced, polyphase system the torques Tc and Tm although calculated from currents of different frequencies are steady torques; they can be superimposed to obtain
T

3.3

Cage Torque

The cage torque in newton-meters calculated from the complex equations (7), is given by the real part of
= (1/2) (mP/2) Re T c

= T +T . m av c

(9)

(X* Iqc -X* Id) qc dc ~~~~ds

(13)

where Ad and X* are qc dc

conjugate parts of X dc and Xqc

1506
The equation is not only an expression for time torque but also, in another sense, averages the torque produced by the asymmetrical cage where xd # xq, etc. The factor (1/2) in this equation accomplishes both purposes. If, for example, the cage were symmetrical as in an induction motor, the axis current and flux linkage magnitudes are identical but displaced In this case, the paranthetical part of 90 in time. (14) is (*c Iqc + 'dc) = 2 Xdc Iqc and the torque then could be calculated as Tc (mP/2)Re(Xac.Iqc). This follows from equation set (7); for example, consider the current Iqc with all axis quantities made The quadrature-axis equal, xd = xq, r2d a r2q# etc. cage current is

averaged

3.5

Two Combinations of Magnet Torque and Cage Torque

)*c

The cage torque depends greatly upon the rotor and stator leakage reactances but not all on quantities such as the voltage Eo generated by the magnets. In contrast, the magnet torque is independent of rotor quantities but depends on the voltage Eo and greatly on the direct-axis reactance xd. Thus, it is possible with one magnet system to have radically different average torques depending on the rotor cage design.

Iqc = r
q

(1-2s)jx

(14)

rl 4+ j2srl x p (1-2s) (jxpp)2

and
can be hence

factored to (r1 + ix..) the reciprocal of E e bracketed part rthe impedance) becomes Zqp = ri + jxqp. After a series of algebraic manipulations, this becomes

[r,

The

(1-2s) jx'I

denominator

Figure 3 illustrates the case of one magnet torque system operating in conjunction with two rotor cage designs producing two cage torques. The one Tcl, in Fig. 3a, has a large, desirable cage torque that is likely to permit synchronism when combined (Fig. 3b) with the magnet torque. The other Tc2, in Fig. 3a, has a very high reactance and resistance cage which severely deIn this case, combipresses the maximum cage torque. nation of Tc2 and Tm will not permit synchronization and the machine will operate, as an induction-motor, well below synchronous speed even at no-load (Fig. 3b).
SPEED

= r

++ i jx

(jX
+

)2

2q/

2q

(15)

Since X2q = Xmg + x2q, (15) expressed in terms of leakage reactances becomes

jX+ + (r i =r 2 =pr1+j1+jXmqxq2/s2q) q/s + jx2q)

s

(16)

Equation (16) is the conventional input impedance of an induction motor. It consists of a stator impedance (r1 + jx1) in series with a parallel combination consisting of a magnetizing reactance jXmq and a rotor impedance (r2q/s + jx2 ). The entire induction machine performance can be predicted using, in this case, one set of either d-axis equations or q-axis equations and not both. However, if both are used or if the axisparameters are different, in which case both must be used, then the factor (1/2) also must be used in the torque equation. This was not necessary in the calculation of magnet torque wherein only real quantities were present.
3.4
Cage Torque: Correction for Core-Loss and Windage; Intercept at Synchronous Speed

a)

(bl

FIGURE 3

ROTOR CAGE TORQUE DESIGNS WITH ONE MAGNET SYSTEM WHICH WHEN COMBINED, (b), GIVES TWO AVERAGE OR RUN-UP CHARACTERISTICS

(a) TWO

3.6

Dynamic Braking

The cage torque Tc can be corrected for core-loss through utilization of core-loss adjusted parameters rl, xd, xc instead of ;he conventional parameters r1, Xd, x using the method outlined in (3]. Unlike the magnet torque, the adjusted parameters should not be corrected for speed during run-up. However, the torque of windage Wf should be subtracted from the developed air gap torque (13) to obtain the shaft torque according to
T

When an induction motor is to be stopped rapidly, it is customary to remove the ac power and then connect a source of dc power to the stator windings. This requires, in addition to a dc power source, dynamic brake contractors, a separate dc bus, extra cable, and so on.
A permanent magnet motor can be braked by simply short circuiting the stator by means of a contactor and using the stator I2R loss as braking power. However, it is more usual to brake the motor using external resistances. The magnitude of braking torque and speed where at the maximum torque occurs can be adjusted by use of various external resistances re. Figure 4 shows several braking torque curves for various values of re using the equations in Section 3.2. The use of capacitors to reduce the net reactance xd - xc, xq - xc can lead toa very large braking torque also shown by Fig. 4.

(shaft)

= T

(air gap)

(PWf/2w)(1-s)2
the developed air gap cage is not zero as in a symmetcage torque of the asymmetis given by

Of interest is that torque at synchronous speed rical induction motor. The rical P.M. machine at s = 0

Tc

(1/2)(mP/2{o)(xd-xq)2 r1 V2
=

4.

PULSATING TORQUE

r +

xd xq

which is always positive except when xd = xq; in this case, it is zero. The P.M. motor runs at synchronous speed on the left-side of the intercept.

Suppose that the expressions for currents and flux linkages have been rendered into their real and imaginary parts [1] keeping in mind that the cage currents and flux linkages are represented by complex numbers but the magnet quantities are real numbers.

1507
1.0
RPM

P.U.

Eo

0.9
0.8 0.7

With this change and noting that the phasor E is (17) Eo 3 C:jo becomes a set of expressions representing instantane.oi.ts, real functions of time in the rotor reference frame.
=

~~~~~~~~~~~0

id= acos

(sut) - bsin (swt) + a'

i = ccos (swt) - dsin (swt) + c' q Xd= ecos (swt) - f sin (swt) + e'
etc.

(18)

0.6
0.5

The total instantaneous torque containing both average and pulsating components, which are now real expressions, is given by
T
=

(mP/2)(Xd iq -Xq id)

(19)

0.4
0.3 0.2

To ascertain this torque, one forms the products Xqid and Xdiq from (18) and substitutes in the torque exAfter considerable algebraic and trigpression (19). onometric manipulation, this becomes T = T + T cos (2swt-c) + T cos (sWt-6) pm av pc e

(20)

0.1

where Tav T and T are torque, pulsating -orque torque of the magnet.

the magnitudes of average of the cage and pulsating

-50 % TORQUE

-40

-30

-20

-10

Tav =(mP/2)1(ce+ df- ag- bh)/2+ c'e'- a'g'] TPc = (1/2)(mP/2) 4

T

(21)

FIGURE 4

DYNAMIC BRAKING CHARACTERISTICS USING RESISTORS AND A CAPACITOR FOR THE MOTOR OF FIGURE 4.

pm

= (mP/2) C + D

and where
A = ce + bh- df- ag

id
i

= a

jb

+ a'

ah+bg-de-cf
ec'+ ce' -ga'
-

=c + jd + c'
e +

Xd =
X

jf

(17)
+

C
D
a

ag'
fc'

e'

bg' + ha'

de'

=g + jh + g'

tan-1 (B/A)
tan
1

where the primed quantities are those of the magnet. The a, b, c, etc. quantities are specifically given by:

(D/C)

c=

Re(I qc), d
Re

Im(Iqc), c'=
=

Iqm
d=

e=

(X dc

im

(xd

),

e'

etc.

In the equations, just referenced, sentations for voltage were employed:

phasor jV
V

repre-

It can be shown that the average torque given by the first equation in (21) is identical to average torque calculated from Tav = Tc + Tm = (12) + (13). The pulsating torque is comprised of components whose phase angle and magnitudes depend on the motor parameters and the slip. Consequently, the addition of the two components produces a nonsinusoidal and ever changing wave form as the motor runs up toward synchronous speed.
The pulsating torque of the cage Tpc is independent of the magnet system except as to how the magnets change the machine permeance. The pulsating torque of the magnet Tpm arises from an interaction between magnets and the cage. For example, if by design or through extreme saturation, the machine is rendered symmetrical in which case xd = x, x2d _ x2qt etc., the pulsating cage torque will disappear but the magnet torque Tpm will not. At standstill, the average-magnet component Tm disappears but the pulsating magnet ccmponent Tpm does not.
Of the two pulsating components, the pulsating magnet component Tpm is much larger than the cage component Tpc. Figure 5 shows the relative magnitudes for

vd
v
q

-V sin (swt)

Re (jVE

swt)

+V cos (sut) =Re (V s) -

The more general complex quantity (say) y = a + jb be reestablished as an instantaneous real quantity by the reverse process y= a+ jb
can

Re (a +

jb)jswt
-

=Re (a +jb) (cosswt +j sin sut)

=acos

(swt)

b sin (swt)

1508
APPENDIX 1: BASIS FORPERMANENT MAGNET VOLTAGE EQUATIONS

PULSATING MAGNET TORQUE

Let h represent either voltage, current or flux linkage. Transformation equations for the case where d, q axes are fixed in the rotor are (except for the

ENVELOPE

special case m = 2):

q

hd=k[hl sinG r+h2 sin (Or-2Y/m)+...................

STEAD) MAGNE TORQUI

r 2 r k(h1cosiOr +h cos (O-2'7/m) + .... I

m

(1-Al)
form
(2-Al)

Voltage equations for each phase

TOTAL PULSATING TORQUE, MAGNET PLUS CAGE

have

the

V, v2

=d

1/dt + li1)
etc.:

dX2/dt +i2 r1,

TORQUE % FULL LOAD

Consider the derivative of flux linkage Xq. Replace hq in (1-Al) with Xq , h1 with X1, etc. and differentiate:
dX
q

FIGURE 5 COMPUTED TORQUE COMPONENTS FOR A 373 WATT MOTOR, 8-P6LE, 60 Hz, 230 VQLTS, 2-PHASE, Xd=90.3, Xq'160.54 X1=21.1, rl=27.7, X2d=49.6, X2q=56.Z r-=11.0, r2q=25.8, E0=105.6, Wt=6 WATTS
particular case. The calculation was made as follows: the magnitude (envelope) of the pulsating magnet torque Tpm was superimposed over the average torque Tav. This process was repeated except now the sum of the pulsating magnet and cage torques (Tm + Tpc) were The latter process is overlaid on the average torque. approximate in that the pulsating cage torque modulates the amplitude of the magnet torque Tpm and produces a wavy envelope instead of an essentially smooth curve as shown.
one

de
=-k

dO

dt

sine

dt

r+ x
dX 2

sin(O

m
T

dt

dX1
+

kF-ose adt r

+-cOS

dt

(e

By comparing the first bracketed expression to (1-Al), it is seen to be -X dder /dt].

In the second expression and with the help of (2-Al), replace dX1/dt with V1i-1r, dX2/dt with etc. Hence V2

i2ri,

dX

qt

dO d d
d dt

+v
q

-i

at

ql1

5.

CONCLUSIONS

In this paper, the permanent magnet machine during asynchronous operation has been treated using generalized machine theory. The main body of the paper is concerned with the calculation of torques and currents during run-up. However, the subject of dynamic braking is briefly treated in Section 3.6.

Thus the dX /dt =

voltage

pXq and
V q

equation in the q-eaxis is (using now dO /dt = 0r):

q

pX +i

r ql1

+ X e

d r

Similarly

(3-Al)

torque is shown to consist of a steady, average torque caused primarily by the rotor cage with, however, a braking or opposing torque caused by the magnets. The run-up torque also contains pulsating torque components having magnitudes three or four times the rated torque depending on the machine. The pulsating torque of the magnets (actually an interaction of magnet flux with the rotor cage currents) is responsible for the largest portion of the total torque pulsation .
run-up

The

Vd
Suppose the given by
V
V2

PX +

id r

-xq r voltages
are

actual
=

phase

balanced and

Vm cosWt

Vm cos

(4-Al)

(wt-27r/m), etc.

Substitute (4-Al) in (1-Al) to obtain

Vd

magnets

Although the rotor cage effectively shields the against demagnetization during run-up, it is possible that localized regions of the magnets near the air gap could be affected.
6.

(mkVm/2Jsin (wt-0r)
+(mkVm/2)cos ((t-er)

(5-Al)

Vq

REFERENCES

1. Charles Concordia, Synchronous Machines, Theory, and Performance, John Wiley and Sons, New York, NY 1951.

2. B. Adkins, The General Theoryof Electrical Machines, Chapman and Hall, Ltd., London, 1964.
3. V. B. Honsinger, "Performance of Polyphase Permanent Magnet Machines," Companion Paper.

Let the torque angle 6 be 6 = wtOr. The derivitive of 6 is 8 = W-r and the slip, therefore, is s = (w0r)/w which is identical to the accepted expression for the With regard to the coeffislip of induction motors. cient k, if one wishes to deal solely with rms values, then k in (5-Al) is found from mk/2 V/2 = V or k = 4/m. But if one chooses to retain the maximum value of voltThe former case age Vm then mkVm/2 = Vm and k = 2/m. is chosen here, e.g., k = 4r2/m. Hence, Vd = - V sin 6 and V =+V cos 6 where V is the rms applied voltage.

1509

APPENDIX 2:

ELIMINATION OF FLUX LINKAGES AND CURRNTS IN THE ROTOR CAGE

In this case, the rotor speed 6r is constant although not necessarily the synchronous speed. The differential equations are linear with constant coefficients and are solvable by use of operational methods or Laplace transforms. To formulate a simple solut.ion, it is desirable to eliminate the rotor cage flux linkages and currents in equation (1) given in the main body of this paper. This is accomplished through the use of three equations.

d
2d
0

=Ld id +Lmd (i2d+ Ifm)

(1-A2)
(2-A2) (3-A2)

L2d i2d +
=

md

(id + Ifm

PX2d +r2d i2d

Since Ifm is constant in a permanent magnet machine, differentiation of (2-A2) gives

2d and O =

L2dPi2d +Lmd

d
current

i2d

L2dP i2d

+ r2d i2d. The rotor now is eliminated in (1-A2) to obtain

using

this
+

Lmd

to p

id

eliminate P A2d from (3-A2) gives

-LLd 2d + pL2d

FpL21 md
md

+L

md fm

Ldpid

Ifm

where the term Lmd Ifm is related to the rms opencircuit voltage by Eo = wLmd Ifm
The quadrature-axis flux linkages contain no linkage terms that can be attributed to the magnet. Thus

X =L
q where L
L

i qp q

pLq2 /(r

+pL)

For combined discussion see page 1517.