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The main difference between a permanent magnet synchronous motor (PMSM) and an
induction motor is in the rotor. Studies1 show that the PMSM has an efficiency of approximately
2% more than a highly efficient (IE3) induction electric motor, provided that the stator has the
same design, and the same variable frequency drive is used for control. In this case, permanent
magnet synchronous electric motors in comparison with other electric motors have the best
performance: power/volume, torque/inertia, etc.
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Typically, the rotor is located inside the stator of the electric motor, there are also structures with
an external rotor - inside out electric motors.
Constructions of a permanent magnet synchronous motor: on the left - standard, on the right - inside
out.
The rotor consists of permanent magnets. Materials with high coercive force are used as
permanent magnets.
According to the rotor design, synchronous motors are divided into:
electric motors with salient pole rotor;
electric motors with non-salient pole rotor.
An electric motor with non-salient pole rotor has an equal direct and quadrature inductances L d
= Lq, whereas for an electric motor with salient pole rotor the quadrature inductance is not equal
to the direct Lq ≠ Ld.
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The cross sections of the rotors with a different ratio of Ld/Lq. Magnets marked black. Figure e, f shows
axially layered rotors, figure c, and h shows the rotors with barriers.
Also, according to the design of the rotor, the PMSM are divided into:
surface permanent magnet synchronous motor;
interior permanent magnet synchronous motor.
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The stator consists of an outer frame and a core with windings. The most common design with
two- and three-phase winding.
Depending on the stator design, a permanent magnet synchronous motor can be:
with distributed winding;
with concentrated winding.
Distributed call such a winding, in which the number of slots per pole and phase Q = 2, 3, ....,
k.
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Concentrated called such a winding, in which the number of slots per pole and phase Q = 1. In
this case, the slots are evenly spaced around the circumference of the stator. The two coils
forming the winding can be connected both in series and in parallel. The main disadvantage of
such windings is the impossibility of influencing on the form of the EMF curve [2].
The form of the back EMF of the electric motor can be:
trapezoidal;
sinusoidal.
The form of the EMF curve in the conductor is determined by the distribution curve of the
magnetic induction in the gap around the stator circumference.
It is known that the magnetic induction in the gap under the salient pole of the rotor has a
trapezoidal shape. The EMF induced in the conductor has the same form. If it is necessary to
create a sinusoidal EMF, then the pole tips are given such a shape that the induction distribution
curve would be close to sinusoidal. This is facilitated by the bevels of the pole tips of the rotor
[2].
The magnetic field of the rotor, interacting with the synchronous alternating current of the stator
windings, according to the Ampere's Law, creates torque, forcing the rotor to rotate (more).
Permanent magnets located on the rotor of the PMSM create a constant magnetic field. At a
synchronous speed of rotation of the rotor with the stator field, the rotor poles interlock with the
rotating magnetic field of the stator. In this regard, the PMSM cannot start itself when it is
connected directly to the three-phase current network (current frequency in the power grid
50Hz).
Control is not optimal, not suitable for tasks where the variable load, loss of control
Scalar Simple control scheme
is possible
Sinusoidal
With
Smooth and precise setting of the rotor position and motor Requires rotor position sensor and powerful microcontroller inside the control
position
Field oriented control
Vector
Direct torque Simple control circuit, good dynamic performance, wide control High torque and current ripple
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Control is not optimal, not suitable for tasks where the variable load, loss of control
Open loop Simple control scheme
is possible
With position Hall sensors required. There are torque ripples. It is intended for control of PMSM
Trapezoidal
sensor (Hall Simple control scheme with trapezoidal back EMF, when controlling PMSM with sinusoidal back EMF, the
Not suitable for low speed operation. There are torque ripples. It is intended for
Without sensor More powerful control system required control of PMSM with trapezoidal back EMF, when controlling PMSM with sinusoidal
To solve simple tasks is usually used trapezoidal control with Hall sensors (for example,
computer fans). To solve problems that require maximum performance from the electric drive,
field-oriented control is usually selected.
Trapezoidal control
One of the simplest methods of control of a permanent magnet synchronous motor is -
trapezoidal control. Trapezoidal control is used to control the PMSM with trapezoidal back EMF.
At the same time, this method also allows you to control the PMSM with a sinusoidal back EMF,
but then the average torque of the electric drive will be lower by 5%, and the torque ripples will
be 14% of the maximum value. There is a trapezoidal control without feedback and with
feedback by the rotor position.
The open loop control (without feedback) is not optimal and may lead to the release of the
PMSM out of synchronism, i.e. to loss of controllability.
The closed loop control can be divided into:
trapezoidal control by position sensor (usually by Hall sensors);
trapezoidal control without sensor (sensorless trapezoidal control).
As a rotor position sensor for three-phase trapezoidal control, three Hall sensors built into an
electric motor are commonly used, which allow determining the angle with an accuracy of ± 30
degrees. With this control, the stator current vector takes only six positions for one electric
period, as a result of which there is ripple torque at the output.
Field Oriented Control of Permanent Magnet Synchronous Motor using a rotor position sensor
At present, sensorless field-oriented control of PMSM in the full speed range is possible only for
motors with salient pole rotor.
References
1. Markus Lindegger. Economic viability, applications and limits of efficient permanent magnet
motors.- Switzerland: Swiss Federal Office of Energy, 2009
2. N.I.Volkov. Electromachine devices of automatics: A textbook for universities.- Мoscow:
1986.
Also read
https://en.engineering-solutions.ru/motorcontrol/pmsm/ 9/9