Overview Electrical Machines and

Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam

Challenge the future 1

Permanent magnet AC machines
(6.13)
• Introduction
• Calculation example
• Brushless DC motor (rectangular / trapezoidal waveforms)
• PMSM (sinusoidal waveforms)
• For these machine types
• Construction
• Electromotive force
• Voltage equations and equivalent circuit
• Power balance
• Force or torque

Challenge the future 2

PM AC machine

Challenge the future 3

Rotor layouts
1 surface mounted magnets
• Ld≈Lq
• L small because of
large air gap
2 inset magnets
• Ld<Lq
• reluctance torque
3 embedded magnets, radial
magnetization
• Ld<Lq
• reluctance torque
4 embedded magnets,
circumferential
magnetization
• flux concentration

Challenge the future 4

Permanent magnet AC machines
(6.13)
• Introduction
• Calculation example
• Brushless DC motor (rectangular / trapezoidal waveforms)
• PMSM (sinusoidal waveforms)
• For these machine types
• Construction
• Electromotive force
• Voltage equations and equivalent circuit
• Power balance
• Force or torque

Challenge the future 5

PM AC machine: calculation
example
• air gap radius rs
• axial length ls
• magnet length lm
• air gap length lg
• number of turns Ns
• remanent flux density Brm
• recoil permeability µrm
• rotor speed ωm
Determine and sketch
• air gap flux density in gap
• flux linkage as a function of rotor
position
• induced voltage

Challenge the future 6

PM AC machine

Challenge the future 7

PM AC machine

Using Ampère’s law:

∫ H ⋅τ d s =∫∫ J ⋅ n d A
Cm Sm
2 H m lm + 2 H g l g = 0

Magnetic flux continuity

∫∫ B ⋅ n d A = 0
S
Bm = Bg

BH curve of magnet Bm = µ 0 µ rm H m + Br

BH curve of air Bg = µ 0 H g

lm
Result Bg = Br
lm + µ rml g
Challenge the future 8
PM AC machine

For one phase without load:

λmax = NBA = N s Bg πrs ls
dλ
E pm max = = 4 fλ pm max = 2 N s Bg rs lsωm
dt
E pm max = Blv

Challenge the future 9

Permanent magnet AC machines
(6.13)
• Introduction
• Calculation example
• Brushless DC motor (rectangular / trapezoidal waveforms)
• PMSM (sinusoidal waveforms)
• For these machine types
• Construction
• Electromotive force
• Voltage equations and equivalent circuit
• Power balance
• Force or torque

Challenge the future 10

Construction: PMAC or BDCM
PMSM:
• sinusoidal B
• distributed windings
• sinusoidal voltage
• sinusoidal currents
• continuous position sensor
• smooth force

BDCM:
• rectangular B
• concentrated windings
• trapezoidal voltage
• rectangular currents
• 6 step position sensor
• force ripple
Challenge the future 11
Brushless DC
machine
Name may be confusing

Idea:
• PM excitation on rotor:
no brushes
• mechanic commutator
replaced by converter

Challenge the future 12

 Brushless DC machine

Why trapezoidal voltage?

ea
ia

eb
ib

ec
ic
0 π 2π ωt

Challenge the future 13

Brushless DC machine operation

• Six step operation

• Six times per revolution position information necessary

Challenge the future 14

PM AC machine

For one phase without load:

λmax = NBA = N s Bg πrs ls
dλ
E pm max = = 4 fλ pm max = 2 N s Bg rs lsωm
dt
E pm max = Blv

Challenge the future 15

BDCM voltage equations
dλ
Maxwell, Faraday: u = Ri +
dt
λsa = Lsa isa + M sabisb + M sabisc + λ pma (θ )

λsb = M sabisa + Lsa isb + M sabisc + λ pmb (θ )

λsc = M sabisa + M sabisb + Lsa isc + λ pmc (θ )
No star-point connection: isa + isb + isc = 0
Ls = Lsa − M sab
λsa = ( Lsa − M sab )isa + λ pma (θ ) = Ls isa + λ pma (θ )

λsb = ( Lsa − M sab )isb + λ pmb (θ ) = Ls isb + λ pmb (θ )

λsc = ( Lsa − M sab )isc + λ pmc (θ ) = Ls isc + λ pmc (θ )
Challenge the future 16
BDCM voltage equations

d λa
u a = Ria +
dt
Single-phase equivalent circuit

 d ia
ua = Ria + Ls d t + e pma

 d ib
 b
u = Rib + Ls + e pmb
 dt
 d ic
uc = Ric + Ls d t + e pmc
 Three-phase equivalent circuit
Challenge the future 17
BDCM torque

Always two phases conducting:

2
d 12 Ls I
P = u x ix + u y i y = 2 RI + 2 + 2 E pm max I
2

dt
Losses
Electrical
= + Increase + Mechanical
input power stored energy output power

Torque:
P 2 IE pm max
T= = = 4 Bg N s ls rs I T = rs F = rs BlI
ωm ωm
Power balance gives same result as Lorentz

Challenge the future 18

BDCM pros and cons

• Main problem:
• Six times per period irregularities in the torque because
• Hall sensors different and positioned with limited accuracy
• Motor coils are slightly different
• The EMF (voltage induced by magnets) are different
• Controller branches are different
• Current can not be a square wave. Why not?
• Consequences
• Not nice for position servo
• Can be improved by hysteresis in Hall sensors
• Strengths BDCM
• Simple controller with six step position sensor
• Sensorless operation possible at higher speeds.

Challenge the future 19

Permanent magnet AC machines
(6.13)
• Introduction
• Calculation example
• Brushless DC motor (rectangular / trapezoidal waveforms)
• PMSM (sinusoidal waveforms)
• For these machine types
• Construction
• Electromotive force
• Voltage equations and equivalent circuit
• Power balance
• Force or torque

Challenge the future 20

Construction: PMAC or BDCM
PMSM:
• sinusoidal B
• distributed windings
• sinusoidal voltage
• sinusoidal currents
• continuous position sensor
• smooth force

BDCM:
• rectangular B
• concentrated windings
• trapezoidal voltage
• rectangular currents
• 6 step position sensor
• force ripple
Challenge the future 21
PM AC machine

Challenge the future 22

PM synchronous machine

Challenge the future 23

PM synchronous machine
Cosinusoidal because of
Φ pma = −Φˆ cos( x) π
τp • skewing

pm
 ˆ pm cos( π x − 2 π )
• end teeth
Φ pmb = −Φ τp 3
 How can the voltage be
ˆ pm cos( π x − 4 π )
Φ pmc = −Φ τp 3 calculated?

Challenge the future 24

PMSM voltage equations

d λa
ua = Ria +
dt
λa = Lsa ia + M sabib + M sabic + NΦ pma
Single-phase equivalent circuit
Ls = Lsa − M sab
 d ia
ua = Ria + Ls d t + e pma

 d ib
 b
u = Rib + Ls + e pmb
 dt
 d ic
uc = Ric + Ls d t + e pmc
 Three-phase equivalent circuit
Challenge the future 25
PMSM voltage equations

λa = Lsa ia + M sabib + M sabic + NΦ pma

= Ls ia + NΦ pma Φ pma = −Φ
ˆ pm cos( π x)
τp

 d ia
u
 a = Ria + Ls + e pma
dt e pma = eˆ pm sin( τπ x)

 d ib  p

ub = Rib + Ls + e pmb

e pmb = eˆ pm sin( τ p x − 3 π )
π 2
 dt
 
= − 3π)
d ic ˆ π 4
 pmc
e e sin( x
uc = Ric + Ls d t + e pmc pm τp


What should be the current phase to make maximum force?

Challenge the future 26

PMSM currents
I1i

I2i

I3i

ia = iˆ sin( τπ x)
 p


ib = iˆ sin( τ p x − 3 π )
π 2

 E1i
ic = iˆ sin( τπp x − 43 π ) E2i

E3i

Challenge the future 27

PMSM power and force

p = ua ia + ubib + uc ic

d L(ia + ib + ic )
1 2 2 2
p = Ria + Rib + Ric + + e pma ia + e pmbib + e pmcic
2 2 2 2
dt
3 ˆ 2 dW f 3
p = Ri + + eˆ pmiˆ = p Cu + p f + pmech
2 dt 2
pmech 3eˆ pmiˆ 3 π ˆ ˆ
Maximum three-phase force: F= = = NΦ pmi
v 2v 2τp
π dx
Voltage uˆ = ( Riˆ + ωNΦ
ˆ ) 2 + (ωLiˆ) 2 ω=
pm
τ p dt
Challenge the future 28
Example: Archimedes Wave Swing

Challenge the future 29

Linear AWS
generator

Challenge the future 30

Linear generator AWS

Challenge the future 31

Measure
ment

Challenge the future 32

Permanent magnet AC machines
(6.13)
• Introduction
• Calculation example
• Brushless DC motor (rectangular / trapezoidal waveforms)
• PMSM (sinusoidal waveforms)
• For these machine types
• Construction
• Electromotive force
• Voltage equations and equivalent circuit
• Power balance
• Force or torque

Challenge the future 33

Overview Electrical Machines and
Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam

Challenge the future 34