Documente Academic
Documente Profesional
Documente Cultură
Marko Hinkkanen
Spring 2018
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Learning Outcomes
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Common AC Motor Types
I Synchronous motors
I Surface-mounted permanent-magnet synchronous motor (SPM)
I Interior permanent-magnet synchronous motor (IPM)
I Synchronous reluctance motor (SyRM)
I Permanent-magnet-assisted SyRM (PM-SyRM)
I Excited-rotor synchronous motor
I Asynchronous motors
I Induction motor with squirrel-cage rotor
I Wound-rotor induction motor
Excited-rotor synchronous motors will be omitted in this course. SPMs are only briefly reviewed and considered as a special case of a more
general IPM.
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Outline
Synchronous Motors
Model
Control Principles
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Surface-Mounted Permanent-Magnet Synchronous Motor (SPM)
β
I Current distribution produced by the 3-phase q
winding is illustrated in the figure
I Torque is constant only if the supply d
frequency equals the electrical rotor speed F
ωm = dϑm /dt ϑm
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Number of Pole Pairs p
ϑM = ϑm
ϑM = ϑm /2
2 poles (p = 1) 4 poles (p = 2)
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Interior Permanent-Magnet Synchronous Motor (IPM)
q q
d d
Permeability of the magnets is almost the same as for air (µr ≈ 1.05)
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Example IPM: GM
High Voltage Hairpin (HVH) stator winding
http://blog.caranddriver.com/we-build-the-chevy-spark-ev\OT1\textquoterights-ac-permanent-magnet-motor/
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Synchronous Reluctance Motor (SyRM)
is is
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Structure and Operating Principle
Figure: ABB
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Rotor Designs
Transversally laminated
Figure: T. Fukami et al., “Steady-state analysis of a dual-winding reluctance generator with a multiple-barrier rotor,” IEEE Trans. Energy Conv., 2008
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Example of Magnetic Saturation: 6.7-kW SyRM
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Permanent-Magnet SyRM (PM-SyRM)
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I Compared to the SyRM, the permanent
magnets improve the power factor and
contribute to the torque
I Low-cost ferrite magnets can be used
I Good field-weakening properties
I Minor risk of overvoltages due to the low
back-emf induced by the permanent
magnets
Figure: http://www.abb.com/cawp/seitp202/ad26393b09a61275c1257caf00217a16.aspx
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Example PM-SyRM: Brusa HSM1-10.18.22
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Example PM-SyRM: Brusa HSM1-10.18.22
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Example PM-SyRM: BMW i3
Finite-speed drives
Infinite-speed drives
Synchronous Motors
Model
Control Principles
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Review: Single-Phase Machine
ψaf ia
ψf
ϑm
ϑm
La dψa
dt
0 π/2 π 3π/2 2π ϑm
ψa = La ia + ψaf
h i
La = L0 − L2 cos(2ϑm ) TM = p L2 sin(2ϑm )ia2 − ψf sin(ϑm )ia
ψaf = ψf cos(ϑm )
Notice that the constant ψf is the maximum value of the stator flux linkage due to the rotor PMs. In Lecture 9, the flux linkage of the rotor field
winding was denoted by this same symbol.
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3-Phase Distributed Winding
b b
a ia a ia
b ib b ib
a a
c ic c ic
c c
2
i s = iα + jiβ = ia + ib ej2π/3 + ic ej4π/3
3
which gives the same components iα and iβ
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3-Phase Synchronous Machine
β
I Flux linkages
q d
iα
ψα Lαα Lαβ iα ψ
= + αf
ψβ Lβα Lββ iβ ψβf ϑm
Lαα = L0 − L2 cos(2ϑm ) dψα
dt α
Lββ = L0 + L2 cos(2ϑm )
Lαβ = Lβα = −L2 sin(2ϑm )
ψαf = ψf cos(ϑm ) ψβf = ψf sin(ϑm )
I Induced voltages iβ
id + jiq = i s = e−jϑm i ss
= [cos(ϑm ) − j sin(ϑm )](iα + jiβ )
= cos(ϑm )iα + sin(ϑm )iβ + j[− sin(ϑm )iα + cos(ϑm )iβ ]
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Model in Rotor Coordinates
q
I Flux linkages β
ωm ψq
id
ψd L d 0 id ψ
= + f
ψq 0 Lq iq 0
where ψf is the stator flux linkage due to the PMs (ideally constant)
I If Ld = Lq = Ls , the model reduces to the SPM model
I If ψf = 0, the model reduces to the SyRM model
I Stator voltage
dψ s
u s = Ri s + + jωm ψ s
dt
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Power Balance
dψ s
3 3 3 ωm
Re {u s i ∗s } = R|i s |2 + Re i ∗s + TM
2 2 2 dt p
I Electromagnetic torque
3p n o 3p
TM = Im i s ψ ∗s = [ψf + (Ld − Lq )id ] iq
2 2
dψ s ∗
d 1 2 1 2
Re i = Ld i + Lq i
dt s dt 2 d 2 q
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Outline
Synchronous Motors
Model
Control Principles
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Typical Control Goals
I To produce the required torque quickly and accurately at all speeds with
minimum overall losses
I To maximize the torque for the given stator current limit and the DC-bus
voltage
I Robustness against parameter variations
I Simple or automatic controller tuning
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Torque
I Torque expression
3p
TM = [ψf + (Ld − Lq )id ] iq
2
I Reluctance torque term is useful if Ld − Lq is large
I Negative id can be used to increase the torque (i.e. minimize losses)
I Same torque can be produced with various current vectors
I How to choose the current vector?
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Vector Control: Simplified Block Diagram
ωM,ref
Speed TM,ref Current i s,ref
controller reference Current u s,ref dq
controller PWM
abc
is dq ia , ib , ic
abc
ωM ωm d ϑm ϑM
1/p p M
dt
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Constant Torque Loci in id –iq Plane
I Torque iq
TM = 2TN
3p
TM = [ψf + (Ld − Lq )id ] iq
2 TM = TN
I Magnetic saturation is omitted in the TM = 0.5TN
following examples, but in practice it
should be taken into account (at id
least for SyRMs and PM-SyRMs)
I Example per-unit parameters
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Maximum Current and Maximum Voltage
iq
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Control Principles
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Outline
Synchronous Motors
Model
Control Principles
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Maximum Torque per Ampere (MTPA)
q
I Current magnitude is = id2 + iq2
I Torque is represented as MTPA iq
3p
q TM = 0.5TN
TM = [ψf + (Ld − Lq )id ] is2 − id2
2 TM = TN
I Maximum torque at ∂TM /∂id = 0 is = 1 p.u.
ψf id
id2 + id − iq2 = 0
Ld − Lq
I Special cases
I id = 0 for nonsalient PMSMs (Ld = Lq )
I |id | = |iq | for SyRMs (ψf = 0)
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Maximum Torque per Volt (MTPV)
I Flux magnitude q
ψs = (ψf + Ld id )2 + (Lq iq )2
I MTPV condition can be derived similarly as the MTPA condition
Lq
(ψf + Ld id )2 + ψ (ψ + Ld id ) − (Lq iq )2 = 0
Ld − Lq f f
I Special cases
I id = −ψf /Ls for nonsalient PMSMs (Ld = Lq = Ls )
I |ψd | = |ψq | for SyRMs (ψf = 0)
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MTPV Current Locus
MTPA iq
MTPV
is = 1 p.u.
ψs = 0.3 p.u. id
ψs = 1 p.u.
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Feasible Operating Area, imax = 1.5 p.u.
MTPA iq
MTPV
is = 1.5 p.u.
id
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Example: Current Locus as the Torque Varies at the Base Speed
MTPA iq
MTPV
is = 1 p.u.
id
ψs = 1 p.u.
iq (p.u.) TM /TN
0.5 0.5
ωm = 1.92 p.u.
0
−1.5 −1 −0.5 0 id (p.u.) 0 1 2 ωm (p.u.)
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TM /TN PM /PN
us (p.u.)
PM (overload)
1.5 1.5 PM (is = 1 p.u.)
us
1 1
0.5 0.5
0 0
0 1 2 ωm (p.u.) 0 1 2 ωm (p.u.)
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Current References for MTPA, MTPV, and Field Weakening
Field weakening
iq = iq (ψs , TM )
TM,MTPV
TM,ref |TM,ref | iq,ref
min
1D look-up tables
sign(TM,ref )
This implementation example is based on the paper by M. Meyer and J. Böcker, “Optimum control for interior permanent magnet synchronous
motors (IPMSM) in constant torque and flux weakening range,” in Proc. EPE-PEMC, 2006. Look-up tables are calculated off-line based on the motor
saturation characteristics. Other control variables and control structures are also possible.
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Further Reading
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