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Modeling of permanent magnet synchronous motor in d-q coordinates

Article · January 2005

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 M. HADŽISELIMOVIĆ, G. ŠTUMBERGER, B. ŠTUMBERGER, I. ZAGRADIŠNIK
University of Maribor, Faculty of Electrical Engineering and Computer Science

Modeling of Permanent Magnet Synchronous Motor in d-q

Coordinates

Abstract. This work deals with the magnetically nonlinear two-axis dynamic model of a permanent-magnet synchronous motor with exterior rotor
(PMSM). The model is written in the d-q reference frame, where the d-axis is aligned with the magnetic axis of permanent magnets. Magnetically
nonlinear behavior of the PMSM iron core is accounted for by current- and position-dependent characteristics of flux linkages. This work focuses on
experimental methods used for determining aforementioned characteristics of flux linkages. These characteristics are composed of two parts. The
first part contains effects due to the permanent magnets at no armature excitation. It is determined from the induced voltages measured on the open
motor terminals while the motor shaft is rotated with speed controlled load at constant angular speed. The second part of flux linkage characteristics
contains effects due to the armature excitation. It is determined by tests performed on locked rotor. The SMPM is supplied by a controlled voltage
source inverter. Current in one axis is closed loop controlled in order to keep constant value, while voltage in the orthogonal axis is changing in the
stepwise manner. For the given position and constant value of controlled current in one axis, the flux linkage characteristic in the orthogonal axis is
determined by numerical integration using measured applied voltage and responding current. In this way determined characteristics of flux linkages
contain effects of saturation, cross-saturation and effects of slotting.

Streszczenie.

Keywords: permanent magnet synchronous motor, dynamic model, magnetically nonlinear iron core, experimental methods
Slowa kluczowe:

Introduction determined. The complete characteristics of flux linkages

Permanent magnet synchronous motors (PMSM) are are composed of two parts, one due to the permanent
well known in industrial drives. They have better efficiency magnets at no armature excitation and the other part due to
and better power/mass ration than more robust induction the armature excitation.
motors. The PMSMs become even more interesting due to
decreasing prices of permanent magnet material. Dynamic model of PMSM
PMSMs used in industrial drives are normally closed- or PMSMs used in industrial drives are normally closed-
open-loop controlled. The three-phase models of PMSMs loop controlled. The wye-connected three-phase PMSM has
have dependent state variables. Therefore, they cannot be linearly dependent currents which cannot be used as
used for the closed-loop control design, where independent independent state variables in the control design.
state variables are needed. For the control design Therefore, the three-phase PMSM model is transformed
purposes, the two-axis SMPM dynamic models oriented into a d-q-0 reference frame. The magnetically nonlinear
with the magnetic axis of permanent magnets are normally characteristics of flux linkages are in such a way expressed
used. as nonlinear functions of rotor position and the d-q
Magnetic saturation and even cross-saturation are reference frame currents. The complete voltage-balance
accounted for in two-axis dynamic models of PMSMs equations in d-q reference frame, ud for direct-axis and uq
presented in [1-3], while the effects of slotting are for quadrature-axis can be written as (electrical subsytem):
neglected. However, in the dynamic two-axis PMSM model ∂ψ d∗ d id ∂ψ d∗ d iq ∂ψ d∗ dθ dθ
presented in this work the saturation, cross-saturation and (1) ud =+
Rid + + −ψ q
effects of slotting are accounted for by position- and ∂ id d t ∂ iq d t ∂θ d t dt
current-dependent characteristics of flux linkages. Actually, ∂ψ q d iq ∂ψ q d id ∂ψ q dθ dθ
this work focuses on experimental methods applied for (2) uq =+
Riq + + + ψ d∗
determining aforementioned characteristics of flux linkages. ∂iq d t ∂id d t ∂θ d t dt
The complete characteristics of flux linkages are
where ψ and ψ q are the direct- and the quadrature-axis
∗
composed of two parts and determined by two independent d

sets of tests. During the first set of tests shaft of the tested flux linkages, ψ=
∗
d ψ d + ψ m , ψ d is the direct-axis flux
PMSM is rotated by speed controlled load at constant
angular speed, while the induced voltages (back emfs) are linkage due to the current excitation, ψ m is the direct-axis
measured on open motor terminals. Considering angular flux linkage due to the permanent magnets, id and iq are the
speed and measured terminal voltages, the part of flux
d-q reference frame currents, R is the stator resistance, and
linkage characteristics due to the permanent magnets at no
armature excitation is determined. The second set of tests
θ is rotor position in respect to the stator.
is performed at locked rotor, while the PMSM is supplied by For the complete dynamic model, the equation describing
the controlled voltage source inverter (VSI) [4-6]. At chosen motion (rotation) should be added. Equation describing
position, the current in one axis is closed-loop controlled in motion (mechanical subsystem) is given by:
order to keep constant value, while the voltage in the d 2θ
orthogonal axis is step-wise changing. The characteristic of
(3) = J 2 pTe (id , iq , θ ) − Tl − Tf
dt
flux linkage at given position and given value of closed-loop
where J is the rotor inertia, Tl and Tf are the load and
controlled current is determined by numerical integration
using applied voltage and responding current. If the friction torques. Te is electromagnetic torque given by:
described test is performed at different positions and
∂ψ d ∂ψ q
different values of controlled current the complete part of (4) Te = id + iq + ψ d*iq −ψ q id 
flux linkage characteristics due to the armature excitation is ∂θ ∂θ 
Description of tested PMSM The flux linkages due to the permanent magnets in the
Cross-section of used PMSM is shown in Fig. 1. Main natural coordinate frame ψ abc are obtained for the
data of used PMSM are:
measured induced voltage waveforms by numerical
• permanent magnet synchronous motor with integration considering temporary angular speed (position).
exterior rotor and surface mounted magnets The flux linkages in the dq0 coordinate frame are obtained
• magnet material – hard magnetic ferrite material form the flux linkages in the natural coordinate frame by
(Br=0.4 T, HcB=293 kA/m) applying abc →dq0 transformation. The results of the
• the stator has 36 unskewed slots with 3-phase star abovementioned work are presented in Fig. 3 and Fig. 4.
connected single-layer winding
• motor nominal values: 2p=6, U=230 V, I=2,3 A, 200
P=550 W, n=900 rpm
150

100

edq0 [V]
50

-50
0 5 10 15
θ [rad/s]
Fig. 1. Cross-section of the test PMSM motor
0.6
Determining flux linkage characteristics due to 0.5
permanent magnets 0.4

ψdq0 [Vs]
The flux-linkages due to the permanent magnets are 0.3
determined from measurement of open-circuit induced 0.2
voltage on the motor open terminals, while the test motor is 0.1
driven by speed controlled load motor at constant nominal 0
angular speed. The experimental setup used during the test -0.1
0 5 10 15
is schematically shown in Fig. 2. θ [rad/s]
Fig. 4. Voltage waveforms edq0 , and corresponding flux linkages
ψ dq0 in two-axis reference frame dq0

Determining current- and position-dependent

PC comput er

magnetically nonlinear characteristics of flux linkages

due to armature excitation
Power Anal yzer

NORMA D 6100 M
Mul t i f unct i on
121. 4
The position- and current-dependent flux linkage
GPI B
i nt er f ace i nt er f ace Measur ement characteristics were determined experimentally by a
ampl i f i er
controlled voltage-source-inverter (VSI) employing closed-
Test mot or PMSM Load mot or
loop current control in the d-q reference frame [4-6].
n
id* ud* ua* ua
PI
INVERTER

−
ub* ub
T PMSM Θ
iq* uq* uc* uc
− PI
Fr equency
conver t er

Fig. 2. Experimental setup – measurement of back-EMF Θ

150
100 id ia
50 ib −
eabc [V]

T−1 −
0
iq ic
-50
-100
Fig. 5. Experimental setup – schematic presentation.
-150
0 0.01 0.02 0.03 0.04 0.05
t [s] The experimental setup used during all experiments is
schematically shown in Fig. 5. It consists of a current-
0.6
controlled PMSM supplied by voltage source inverter.
0.4
40
0.2
ψabc [Vs]

u [V], i [A]

20
0
d

0
-0.2
-0.4 -20
d

-40
0 0.01 0.02 0.03 0.04 0.05 -0.05 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t [s] t [s]
Fig. 3. Measured induced voltage (back-EMF) waveforms eabc , and Fig. 6. Voltage ud and current id recorded during the test
corresponding flux linkages ψ abc in natural reference frame abc ( iq = 2,5 A , θ = 0° ).
 0.2
reference frame, where the d-axis is aligned with the
magnetic axis of permanent magnets. Magnetically
ψd [Vs] 0.1 nonlinear behavior of the PMSM iron core is accounted for
0 by current- and position-dependent characteristics of flux
linkages. Characteristics of flux linkages were determined
-0.1
by experimental methods. These characteristics are
-0.2 composed of two parts. The first part contains effects due to
-0.05 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t [s]
the permanent magnets at no armature excitation. The
second part of flux linkage characteristics contains effects
Fig. 7. Calculated direct axis flux linkage ψ d ( t ) . due to the armature excitation. Results shown that effects of
slotting, saturation and cross-saturation are present in the
The rotor of the PMSM was locked at the chosen position. experimentally determined characteristics of flux linkages.
An initial level of saturation was set by the current in one The exact knowledge of position and current-dependent
axis which was closed-loop controlled in order to maintain a nonlinear magnetically characteristics of flux linkages are
constant value. The voltage in the other axis was changed the basis for the accurate nonlinear dynamic PMSM model.
in a stepwise manner. In the case of controlled current iq
REFERENCES
and stepwise changing voltage ud , the d-axis voltage [1] I. Iglesias, L. Garcia-Tabares, and J. Tamarit, A d-q model for
equation is: the self-comutated synchronous machine considering the
effects of magnetic saturation, IEEE Trans. Energy Conversion,
∂ψ d∗ d id
(5) ud Rid +
= vol. 7, pp. 768-776, December 1992.
∂id d t [2] S. A. Tahan and I. Kamwa, A two-factor saturation model for
The flux linkage was determined by the numerical synchronous machines with multiple rotor circuits, IEEE Trans.
Energy conversion, vol. 10, pp. 609-616, December 1995.
integration (6) using voltage and current recorded during
the test: [3] I. Boldea and S. A. Nasar, Upon unitary treatment of magnetic
t saturation in orthogonal axis models of electrical machinery, in

∫ ( u (τ ) − Ri (τ ) ) dτ +ψ ( 0 )
Proc. Int. Conf. Electrical Machines Part I (ICEM’86), vol. 1,
(6) =ψ d∗ d d
∗
d Munich, Germany, 1986, pp. 172-175.
o
[4] B. Štumberger, G. Štumberger, D. Dolinar, A. Hamler and M.
The stepwise changing voltage ud and responding current Trlep, Evaluation of Saturation and Cross-Magnetization
Effects in Interior Permanent-Magnet Synchronous Motor, IEEE
id recorded during the test are shown in Fig. 6 for Transactions on Industry Applications, vol. 39, No. 5, pp. 1264-
iq = 2,5 A , and rotor position θ = 0° . The calculated flux 1271, September/October 2003.
[5] G. Štumberger, B. Štumberger and D. Dolinar, Identification of
linkage ψ d ( t ) is shown in Fig. 7 while corresponding Linear Synchronous Reluctance Motor Parameters, IEEE
Transactions on Industry Applications, vol. 40, No. 5, pp. 1317-
nonlinear characteristics ψ d ( id ) is shown in Fig. 8. 1324, September/October 2004.
[6] M. Hadžiselimović, G. Štumberger, B. Štumberger and I.
0.2 Zagradišnik, Determination of Magnetically Nonlinear
0.1 Characteristics of Permanent-Magnet Synchronous Motor with
Exterior Rotor, Record of ISEF 2005, September 2005.
ψd [Vs]

0
-0.1 Authors: M. Hadžiselimović, G. Štumberger, B. Štumberger,
I. Zagradišnik
-0.2 University of Maribor, Faculty of Electrical Engineering and
-5 -4 -3 -2 -1 0 1 2 3 4 5
Computer Science, Smetanova ulica 17, 2000 Maribor, Slovenia,
id [A] E-mail: miralem.h@uni-mb.si
Fig. 8. Nonlinear characteristics ψ d ( id , iq = 2,5 A, θ = 0° ) .

The whole families of ψ d id , iq , θ ( ) (

and ψ q id , iq , θ )
characteristics were determined experimentally in 116 rotor
positions (total number of experiments was 2252) by
repeating the described procedure. The position dependent
interaction between the stator slots and permanent magnets
can be clearly seen in Fig. 9.
0.1
ψ*d [Vs]

-0.1
2
0
-2
id [A] 0 50 100 150 200 250 300 350 400
θ [°]
Fig. 9. Flux linkages characteristics ψ d ( id , iq = 2,5 A, θ ) given over
two poles.

Conclusion
The magnetically nonlinear two-axis dynamic model of
PMSM is presented. The model is written in the d-q

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