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Inverter-Driven Synchronous
Motors for Constant Power
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nverter-driven synchronous motors (SMs) are
widely used in high-performance variable-speed
I drive systems. The typical schematic of an SM
drive system is shown in Fig. 1. The armature current
vector of an SM is decided according to the command
(torque or speed) and the current-regulated voltage-
source pulse width modulated (PWM) inverter
drives SM so that the instantaneous armature currents
follow their commanded values. The stator and wind-
ing of SMs are the same as a standard induction motor,
but the rotor configuration is different depending on
the type of machine. Therefore, SMs can be modeled
by the same d-q reference frame circuit and generally
analyzed, where the machine parameters in the d-q
equivalent circuit depend on the rotor configuration.
Several rotor configurations of SMs have been
reported for high-performance drives [ 1-61, Fig. 2
shows the typical rotor cross-sections of SMs. SMs
can be classified according to the torque production
(excitation torque and/or reluctance torque) and
the machine parameters (per unit open circuit volt-
age Eo, per unit d- and q-axis reactances Xd, Xq):
SPM ( Eo #0, Xd =X,): the surface projecting
permanent magnet synchronous motor
(SPM) shown in Fig. 2(a), in which the mag-
nets are projected from the surface of the
rotor, is a non-salient pole machine (Xd=X,),
and as a result only the magnet torque is
produced.
SynRM ( Eo =0, Xd <X,): the synchronous
reluctance motor (SynRM) L4-61 shown in
Fig. 2(f) and (g) is completely free of magnets
(Eo = 0) and only the reluctance torque is
produced. The d-axis is chosen in the direc-
tion of lowest permeance in this article.
Hybrid ( Eo #0, Xd <Xq): the inset permanent
magnet synchronous motor 111shown in Fig.
This article appeared in its original form at the 1994
IAS Annual Meeting in Denver, Colo. The authors are
with Osaka Prefecture University, Osaka, Japan. Al l
are I EEE Members.
2(b), in which the magnets are inset into the
rotor, and the interior permanent magnet
synchronous motor (IPM) E2-4, 7, SI shown
in Fig. 2(c)-(e), in which the magnets are
buried into the rotor, are salient pole ma-
chines ( X d <X,), and as a result both magnet
torque and reluctance torque are produced. This
type of machine is considered as a PM and
synchronous reluctance hybrid motor.
The current vector of SMs driven by the current-
regulated PWM inverter is controllable, and as a
result many useful control algorithms of the cur-
rent vector have been proposed in order to improve
the operating characteristics. The maximum
torque per ampere control r21 is useful for produc-
ing the maximum torque considering the current
constraint. The flux-weakening control E7-91 is
very useful for a high-speed constant power opera-
tion considering the voltage constraint, which is
desired in traction and spindle applications.
The operating characteristics, such as the maxi-
mum torque in the constant torque region, the
constant power speed region, and so on, are strictly
affected by both control schemes of the current
vector and machine parameters, which depend on
rotor configurations [lo, 111.
In this article, the effects of machine parameters
and the operating characteristics with respect to
several types of synchronous motors-which in-
clude the synchronous reluctance motors, the sur-
face permanent magnet synchronous motors, and
the interior permanent magnet synchronous mo-
tors-are examined. The optimum current vector
producing the maximum output power at any
speed is derived considering both current and volt-
age constraints. From the examinations, it is shown
that the output power versus speed characteristics
depend only on the value of Eo-Xdin per unit form,
and as a result several combinations of machine
parameters such as Eo, Xd, and X , can be selected
to achieve the same output power versus speed
characteristics. The selection of machine parame-
IEEE Industry Applications Magazine November/December I996
m
ters and design are discussed in order
to obtain the desired output charac-
teristics.
Current Vector Producing Maximum
Output Power
Model of Synchronous Motors
In this article, the synchronous mo-
tors are modeled by the d-q reference
frame circuit in the per unit form
with base values of voltage and cur-
rent chosen as the rated values ifor the
motor at rated speed, where the phase
transformation from three-phase to
quadrature-phase components is
based on the power invariant form.
The motor losses (copper, core, and
mechanical), magnetic saturation,
air gap space harmonics, and har-
monic components of voltage and
current are neglected in order to
simplify the analysis. The d-- and
q-axis voltage equations are ex-
pressed by
where
ture currents
voltages
id, iq; per unit d- and q-axis arma-
vd, 0, : per unit d- and q-axis stator
W: per unit speed
Eo: per unit open circuit voltage
at one per unit speed
Xd, X,: per unit d- and q-axis
reactances at one per unit speed
The torque T and the output
power P in per-unit form arse ex-
pressed by
T =E ~ i q +( X d -Xq)idiq , (3)
P =coT.
The first term of (3) represents the
excitation torque Teproduced by the
PM flux, and the second term repre-
sents the reluctance torque T,due to
a saliency (Xd+X,), where Te =0 in
Tr =0 in SPM.
Considering the voltage and c
straints, the armature current 1, and
voltage V, are limited as follows:
(4)
Pig. 1. Typicul schematic of SM drive system.
Fig. 2. Typical rotor cross-sections of SMs. ( a) Surface projecting PM motor. (b) Inset PM motor
(c,d) Interior PM motor. (e) Axially laminated IPM motor. (f, SynRM with multiple segment
rotor. (g) Axially laminuted SynRM.
SynRM and
:urrent con-
the terminal
I, =J- I I,, =1.0,
( 5 )
I n this article, the voltage and current are limited
by their rated values.
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IEEE Industry Applications Magazine rn November/December 1996 ~
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#3
#4
~ M Y # 1 ," 1 l; 1 x,
~ p=Xo/Xa ~ Type ~
1.41 14.1 SynRM
#2 0.2 0.1 1.33 13.3 Hybrid
0.4 0.3 1.23 4.10 Hybrid
0.6 0.5 1.08 2.15 Hybrid
#5 0.4 1 0.4 I 1.23 1 3.07 I Hybrid
#6
#7
Control Pri nci pl e of Car r ent Vector
In the consideration of voltage and current con-
straints given by ( 5 ) and (6), the optimum current
vector producing the maximum output power at
any speed is derived as follows { 9, 111.
Region I : Below the base speed (mbaJe =1.0), the
maximum torque is produced by the maximum
torque per ampere control 121. In this region, Id =
1 .O, Vu< 1 .O, where Vu reaches 1 .Oat the base speed.
The optimum current vector is derived as follows
from (3) and lu =1.0:
In the case of Xd #X,, the optimum currents
idl, iql are given by
1 0.4 0.5 1.22 2.44 Hybrid
0.9 0.436 0.436 1.0 SPM
i41 = , ( 8)
especially in SynRM ( Eo =0),
In the case of Xd = X , (SPM), the optimum
currents are
Region 11: Above the base speed, the current
vector is controlled by the flux-weakening control,
in which the terminal voltage is kept as Vd =1.0
due to the demagnetizing d-axis armature reaction.
The optimum current vector producing the maxi-
mum output power is derived as follows from (I ),
(2), and the condition of la =1 .O and Vu =1 .O:
In the case of Xd f X,, the optimum d-axis
current id2 is given by
Motor # TI, PI
0 766 5.97
0.769 5 94
I I I I !
0.667 00 00
0.464 0.9 2.15 0.27
X,E, - ,/(XdE0)' +( X i - X;)(E; +X i - 1 / w2)
x4" - xj
(11)
especially in SynRM ( Eo =0),
In caseof Xd =X , (SPM), the optimum d-axis
current is given by
E: + X i - 1 / 0'
(13)
i d2S =-
2xd EO
The optimum q-axis current iq2 is given by
The d-axis current increases toward negative direc-
tion and the q-axis current decreases as the speed
increases.
I n caseof Eo >Xd, the output power becomes
zero when id2 reaches -1.0 and iq2 reaches zero at
Q. This maximum operating speed mc is given by
1
EO- xd
a,=-.
In caseof Eo =xd, Oc is infinity and the operating
limits never exist [lo].
Region I I I : In caseof Eo <Xd, Region I11exists
at high speeds. The optimum current vector pro-
ducing the maximum output power is derived as
follows from the condition of Vu =1.0, where the
current constraint is not considered:
/FE Industry Applications Magazine rn Novemher/December 1 996
In case of Xd #X,, the optimum currents id3
and iq3 are given by
where
-XqEo i , / ( Xd Eo ) 2 +8( Xq - X d ) 2 /a2
&id =
4( xq - xd) xd
,
(18)
especially in SynRM ( Eo =0),
In case of Xd =X , (SPM), the optimum currents
are given by
The armature current In(= , / a) de-
creases as the speed increases, and as a result SMs can
be operated in Region I11when Id3 < 1 and the
operating limits never exist. The speed of transition
between Region I1and Region I11( 0 3 ) is derived by
the condition of Ia3 =1, especially 0 3 for SynRM and
SPM are given by (21) and (22), respectively.
Region I11corresponds to f a <1.0, V, =1.0.
The output power of SMs considering the cur-
rent and voltage constraints can be maximized by
the foregoing current vector control. This control
method is called maximum power control in this
article.
Machine Parameters and Operating Characteristics
In the constant torque region (Region I), the total
flux-linkage is maximum and the terminal voltage
reaches the rated voltage at the base speed. From
the condition of V, =1.0 at U: =1.0, (23) derived.
The relationship between the machine parameters
Fig. 4. Output power versas speed churucteristics of severul SMs.
of PMs controlled by the maximum power control
are given by (23) in per unit form.
where i and i are given by (7) and (8). In particular,
the relationships for SPM and SynRM are given by
( 24) and ( 25) , respectively.
The combinations between Eo, Xd and X , ob-
tained from (7), @), and ( 23) are shown in Fig. 3.
The dashed line (a) represents the condition of Xd
=X,. The motors on this line corresponds to the
non-salient pole PM motor (SPM). The curve (b)
( Eo = 0) corresponds to the SynRM. The area
enclosed with the line (a) and the curve (b) corre-
sponds to the PM and synchronous reluctance hy-
brid motor (Hybrid).
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Iff Industry Applications Magazine rn November/Decen ~
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Fig. 4 shows the output power versus speed
characteristics of several SMs listed in Table I. The
simulated SMs are indicated by black circles in Fig.
3. Table 2 shows the comparison of the simulated
SMs, where Ti is the maximum torque in the
constant torque region, Pi is the output power at
base speed, and Kcpr represents the constant power
speed region. From Fig. 4, the output power versus
speed characteristics can be classified according to
Eo and Xd. In caseof Eo =Xd(Motor # 5 ) , there are
no operating limits and the large output power can
be produced at high speeds. This is optimum in the
sense that the constant power speed region becomes
infinity [lo]. SMs with the optimum condition ( EO
=Xd ) are indicated by the broken curve (c) in Fig.
3. In case of Eo < Xd (Motor #1 and #6), the
operating limits don't exist (w, = w), but the
output power cannot reach 1 . Oand is smaller than
that in the case of Eo =Xd in all speed regions. I n
case of Eo >Xd (Motor #2, #3, #4 and #7), the
operating limits exist, but the maximum torque Ti
derived by substituting (7) and (8) into ( 3) , and the
output power at low speeds are larger than that in
the case of Eo = Xd. Therefore, SMs have to be
designed so that the machine parameters satisfy the
condition ofEo 2 Xd , which corresponds to the area
below the curve (c) in Fig. 3. If the large constant
power speed region is desired, the motor design
with Eo =Xd is required. This is possible in PM
motors, for example the axially-laminated IPM
motor with Eo E Xd is reported in 147. In caseof an
ideal SynRM, in which a saliency ratio p ( =X,/Xd)
is infinity and the machine parameters are Eo =Xd
=0 and X, = & as derived from ( 25) , the maxi-
mum torque is l i h in the constant torque region,
and the maximum output power is 1 .O at infinity
speed. But, such design is impossible, and as a
result the power capability of SynRM cannot ex-
ceeds that of the optimal designed PM motor.
The maximum operating speed 0, in the PM
1 .o 251~ , , i , , , , i , ~ , , i , , , , , , , , r ~ ~ ~ i r j
\ '
Maximum operating speed wc (pu)
Fzg 5 Operatzng charactertsttcs as a function of maxzmum
operurzng speed W,
/E Industry Applications Magozine Novernher/Deremher 1996
motor with Eo 2 Xddepends only on Eo-Xdas given
by (15). From Fig. 4, it can be found that Motors
#2, #3 and #4, in which Eo -Xd is the same (We is
the same) have almost the same output power
versus speed characteristics even if they have differ-
ent machine parameters. Therefore, it can be con-
cluded that the output power versus speed
characteristics depend only on the parameter of Eo
- Xd( =1/0,) in per unit form. I t is very interesting
that the several combinations of machine parame-
ters such as Eo, Xd> and X,, which depend on the
rotor configuration, can beselected to achieve the
desired output characteristics.
Fig. 5 shows the operating Characteristics as a
function of the maximum operating speed (=
l I ( Eo- Xd) ) , where amp is the speed producing the
maximum output power. The power factor be-
comes unity and the output power becomes 1.0
when w =amp. The constant power speed region
K,pr and amp increase almost linearly as , increases. '
On the other hand, the maximum torque Ti de-
creases extremely in the range of 0, < 10 and
reaches 0.71-0.72 when Ci), becomes infinity (Eo-
Xd =0), which is almost the same value as the ideal
SynRM with an infinity saliency ratio. From Fig.
5 , Kcpr can be expressed by (26) as a function of We.
Kip? E 0.7Wc -1 ( 26)
If the machine parameters of Eo and Xd are
given, the maximum torque in the constant torque
region ( Ti ) and the constant power speed region
can be found according to Fig. 5 and (26).
In order to produce the largest torque Ti, the
condition of = 1.0 is optimum, where the ideal
machine parameters are Eo =1 .O, Xd =X, =0, and
Ti is 1.0; however, this is impossible. Therefore,
the machine design with large Eo and small Xdand
X, is desired for a high-torque machine. On the
other hand, the optimum value of Eo - Xd has to be
designed for a wide constant power operation.
From ( 26) , the optimum value of EO -xdcan be
found according to the desired constant power
speed region.
0.7
KP+1
Eo-Xdf-
(27)
As shown in the previous chapter, there are
many combinations of machine parameters even if
the value of Eo - Xd and the output power versus
speed characteristics are the same. Fig. 6 shows the
combinations of machine parameters and the con-
tent ratio of excitation torque Te to the total torque
Ti for 0, =5 , 10, 20, and infinity. The relation-
ships between Xd and Eo is linear, which is given
by Xd =Eo -l/oc. X, as well as the saliency ratio
increases as Eo decreases and the relationship be-
tween X, and Eo is almost independent of the value
of 0, except for large Eo region. The reluctance
torque becomes dominant as compared with the
excitation torque as Eo decreases ( Eo <0.5). The
right end of the curves in this figure corresponds
to SPM (p = 1) and the other corresponds to
Hybrids (p >1). The motor with p =2-5 corre-
sponds to the configuration shown in Fig. 2(b)-(d),
and the motor with saliency ratio over 5 corre-
sponds to Fig. 2 (e)-(g).
Now we turn to design of PM motors for wide
constant power operation. In order to obtain the
large constant power speed region, Xd has to be
increased as both Eo and CO, increase. In this case, if
the permanent magnet material is the same, the
large volume and thickness of permanent magnet
is required for the large magnet flux-linkage; as a
result the equivalent air-gap length in the d-axis,
including the permanent magnet thickness, in-
creases because the permanent magnet permeabil-
ity is very close to Po; thus l i d decreases. This is
contrary to the requirement of the optimum design
for a large constant power speed region. Therefore,
the design with large Eo and large Xd is difficult.
If high remanence permanent magnets such as
rare-earth cobalt and neodymium-iron-boron are
used, the thickness of the permanent magnet can
be reduced, and as a result Xdniay increase. I t seems
that this design can apply to the IPM motor with
the rotor shown in Fig. 2(c), and the constant power
speed region from 2 to 4 may be obtained E7-91.
If Xd is designed as low as possible, a high X,
and a large saliency ratio are rrquired. This may be
possible if the rotor is axially laminated, in which
case a saliency ratio up to 10 may be obtainable
11-61. In this case, the low Eo is also required; as a
result, the low cost and low remanence permanent
magnets such as ferrite magnets are available,
where the irreversible demagnetization has to be
minded, and the constant power speed region over
5 is obtainable {3, 41. The PRl motors with small
Eo have an advantage that the overexcitation
threshold speed (= l/Eo) becomes large. The opera-
tion over the overexcitation threshold speed, in
which the motor back-EMF exceeds the dc source
voltage, may cause problems at the unexpected
situation (wrong switching of inverter, interrup-
tion) [7}.
The design of PM motors including the design
of rotor configuration, the selection of permanent
magnet materials, and their dimensions has to be
carried out so as to satisfy the desired output char-
acteristics such as the rated torque, the rated power,
the base speed, the constant power speed region,
and so on, according to the applications. The results
of examinations in this article as shown in Figs. 5 ,
6, and (27) will be useful for this procedure.
Fig. 6. Combinations of machine parameters and content rutio of
excitation torque. ( U) D-and q-axir reactances. (hi Saliency
ratio and content ratio of excitation torque t o total torque in
constant torque region.
Fig. 7. Output power versur .speed characteristics oJprototype PM
I NOt OrJ.
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41
If Ef Industry Applicutions Muguzine November/December 1996
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as the speed increases; however, both charac-
teristics are almost the same in the practical
operating region (constant torque region and
constant power region). Fig. 7 shows the
ability of the examinations in this article.
References
111T Sebastian and G R Slemon, Operating Limits of
Inverter-Driven Permanent Magnet Motor Drives,
I EEE Trans Ind Appl, vol 23, pp 327-333, Mar iApr
1987
121T.M J ahns, G B Kliman, and T W Neumann, interior
Permanent-Magnet Synchronous Motors for Adjustable-
Speed Drives, IEEE Trans Ind Appl, vol 22, pp
738-747, J ulyiAug 1986
an IPM Suitable for Field-Weakened Operation, Proc
I CEM 90, pp 1059-1065, 1990
E41 W L Soong, D A Staton, and T J E Miller, Design of
a New Axially-Laminated Interior Permanent Magnet
Motor, Proc I EEE IAS Ann Meet, pp 27-36, 1993
157 A Fratta, G P Troglia, A Vagati and F Villata, Evalu-
ation of Torque Ripple in High-Performance Synchro-
nous Reluctance Machines, Proc I EEE I AS Ann Meet ,
167 T Matsuo and T A Lipo, Current Sensorless Field
Oriented Control of Synchronous Reluctance Motor,
Proc I EEE IAS Ann Meet, pp 672-678, 1993
131A Fratta, A Vagati and F Villata, Design Criteria of
RatedTorque T, (Nmy
Rated Power P, (W)+
* ai base speed.
pp 163-170, 1993
jlji
Experimental Results
177T M J ahns, Flux-Weakening Regime Operation of an
The parameters of prototype PM are Interior Permanent-Magnet Synchronous Motor Drive,
an SPM motor with the rotor shown in Fig. 2(a),
Fig. 2(c). They are indicated by open circles in Fig
3 The experimental and simulated output power
listed in Table 3. The prototype PM motor a 1s
ZEEE TrdnJ Ind APPl, vel 23, PP 681-689, J ulyiAug
1987
181B K Bose, A High-Performance Inverter-Fed Drive Sys-
tem of an interior Permanent Magnet Synchronous Ma-
chine, I EEE Truns Ind Appl, vol 24, pp 987-997,
Nov iDec 1988
and b an IPM motor with the rotor shown I n
versus speed characteristics are shown in Fig. 7. The
solid curves show the maximum power capability,
and are strictly calculated considering the armature
resistance. The broken curves show the calculated
results based on the equations in this article, in
which the armature resistance is neglected and the
ceiling voltage given by subtracting the maximum
resistance drop RI,, (SV) from the actual ceiling-
voltage (50V) is used instead of the actual Vam. The
differences between both simulated results with
and without consideration of the resistance appear
at high speeds, in which the power factor decreases
19) S. Morimoto, T. Ueno, M. Sanada, Y. Takeda, T. Hirasa,
and A. Yamagiwa, Effects and Compensation of Magnetic
Saturation in Permanent Magnet Synchronous Motor
Drives, Proc. I EEE IAS Ann. Mea. , pp. 59-64, 1993.
110) R.F. Schiferl and T.A. Lipo, Power Capability of Salient
Pole Permanent Magnet Synchronous Motors in Variable
Speed Drive Applications, I EEE Tram. Ind. Appl, vol. 26,
pp. 115-123, J an./Feb. 1990.
111) S. Morimoto, Y. Takeda, T. Hirasa, and K. Taniguchi,
Expansion of Operating Limits for Permanent Magnet
Motor by Current Vector Control Considering inverter
Capacity, I EEE Trans. Ind Appl., vol. 26, pp. 866-871,
Sept./Oct. 1990.
IEEE Industry Applicntions Mngnzine November/December 1996