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PM Motor Drive
PM Motor Drive
INTRODUCTION
With the introduction of permanent magnets with a high flux
density as well as a high coercivity in the late eighties,
synchronous motors with permanent magnets became an
attractive alternative for application in high performance
variable speed drives. In the power range of a few kW to
several tens of kW, the sinusoidal excited permanent magnet
synchronous motor (PMSM) is preferred. It has better
characteristics than the brushless DC motor with square wave
currents, especially when a large constant power operation is
required. Furthermore, advantage can be taken of the
additional reluctance torque when direct and quadrature
reactances have different values. In designs with inset and
interior magnets, usually Xd is smaller than Xq.
In this paper, a motor drive with a prototype PMSM with inset
magnets and flux weakening capabilities is described. As the
magnetic parameters of inset and interior PMSMs depend on
the saturation level, an accurate measurement procedure based
on load tests is developed. The results are compared to
numerical calculations from a finite element model. For the
prototype motor, the theoretical maximum performance over
the entire speed range is determined. For the instantaneous
torque control, a commercially available DSP based
environment is used. A standard VSI-PWM invertor with
IGBTs is adapted to be commanded by the DSP control board.
) ]
Te = p Md iq Lq Ld id iq
(3)
u d = Rid + Ld
(1)
(2)
Figure 1
(4)
(5)
3
(6)
L 0
2
3
(7)
L' q = L90
2
It can be shown that the theoretical error is of the order of half
the leakage inductance.
L' d =
8.5
Ld (id);
Lq (iq);
M (iq).
L - Inductance (mH)
7.5
7
6.5
6
static tests;
load tests without load angle measurement;
load tests with load angle measurement.
phase a
phase b
phase c
5.5
5
0
20
40
60
80
100
120
140
160
180
Figure 3
8.5
Static Tests
L - Inductance (mH)
L2
7.5
L+L'0
7
6.5
6
5.5
5
0
20
40
60
80
100
120
140
160
180
Figure 4
Ld
L dq = T (T32 LT23 ) T1 =
0
Lq
(8)
Lbb
Lcb
L ac
Lbc
Lcc
(9)
Lab =
(10)
Lac
(11)
Lbc
(12)
Ld (mH)
Lq (mH)
40
20
0
-20
-40
-60
-80
0
0.005
0.01 0.015
0.02
0.025
0.03
0.035
0.04
t (s)
Figuur 6 Rotor position, measured terminal voltage and calculated
fundamental voltage for the reference phase of the PMSM
(f=50 Hz, 7,6 A, =-40,2).
Load Tests
Inductance
Figure 5
Lab
L aa
L = Lba
Lca
via directly
measured L0
and L90
8,73
11,57
via L0 and
L90from first
harmonic
9,04
11,93
via
inductance
matrix
7,35
11,99
()
-21,5
-30,1
-40,2
-42,3
Ld (mH)
8,8
8,8
8,9
9
Lq (mH)
14,8
15
15,1
14,9
Te (Nm)
-5,06
-7,12
-9,33
-9,73
()
-21,34
-29,44
-38,65
-40,71
Ld (mH)
8,43
8,52
8,38
8,36
Lq (mH)
14,87
14,87
14,88
14,88
T (Nm)
-5,04
-7,05
-9,25
-9,68
Md id
3
2
2U DC
pL d 3 I Nx +
(16)
Md
Ld
Md
= 3 I N = imax
Ld
(17)
(13)
Lq Ld
3 (2 / )U DC
2 pr Lq
r3 =
iq2 + Ld
Lq
id + Md
Ld
Figure 7
Figure 8
(14)
3
2
(15)
2U DC
Ld
L
q
pLq iqb2 +
idb + Md
Ld
30
T/A max
25
iq - (A)
rb =
base
Tr
20
15
10
Imax
max
5
0
-40
-30
-20
-10
10
id (A)
Figure 9
EXPERIMENTAL SET-UP
Figure 10 Experimental set-up. Functions implemented on the DSP-control board are indicated by the dashed line.
CONCLUSIONS
Appendix
PROTOTYPE PMSM DATA
Number of poles
2p
6
Power
P
3 kW
Rated speed
nr
1930 rpm
Rated current
Ir
10,6 A
Rated torque
Tr
15,3 Nm
Stator resistance
R
0,76
d-axis inductance
Ld
8,8 mH
q-axis inductance
Ld
15 mH
Magnet flux
0,256 Vs
Md
Acknowledgements
The research is supported by Flanders' Secretary of Economy. The
authors are also grateful to the Belgian Fonds voor Wetenschappelijk
Onderzoek Vlaanderen for its financial support of this work and the
Belgian Ministry of Scientific Research for granting the IUAP No.
P4/20 on Coupled Problems in Electromagnetic Systems. The research
Council of the K.U.Leuven supports the basic numerical research.
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80
60
40
20
0
-20
-40
-60
-80
0
Figuur 6
0.005
0.01 0.015
0.02
0.025
0.03
0.035
0.04
t (s)
Rotor position, measured terminal voltage and calculated fundamental voltage for the reference phase of the PMSM (f=50 Hz, 7,6 A, =40,2).