ASM990 Study Report

Feng Zhou, Prof. Taehyung Kim

Introduction
Due to the complicity of mutual inductance between phase windings and rotor
magnetics, approach of building SPMSM Simulink model is mostly based on phase
voltage equation including resistance and inductance matrixes. The subject is more
complicated if interturn short windings are involved. From this semester’s research, an
ideal approach is to develop the abc reference frame voltage equation then derive it into
the equation including interturn short. The focus of this report is on the equation
derivation. The final result will be used on the future model build.

Health SPMSM in the abc Reference Frame

Derivation of the inter-turn fault SPMSM equation starts from investigating the
healthy SPMSM model. Following the assumption that machine iron has infinite
permeability, as well as there is no magnetic saturation. As many books and papers has
previously mentioned, the stator voltage equation is (1), whereas the first term includes
winding resistance, while the second term includes flux linkage.
𝑑𝑑
[𝑽𝑽𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 ] = [𝐑𝐑 𝒔𝒔𝒔𝒔 ] · [𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 ] + [𝝀𝝀 ] (1)
𝑑𝑑𝑡𝑡 𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂
�𝝀𝝀𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � = [𝐋𝐋𝒔𝒔𝒔𝒔 ] · �𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � + �𝝀𝝀𝑷𝑷𝑷𝑷,𝒂𝒂𝒂𝒂𝒂𝒂 � (2)
Where:
[𝑽𝑽𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 ]𝑇𝑇 = [𝑉𝑉𝑎𝑎 𝑉𝑉𝑏𝑏 𝑉𝑉𝑐𝑐 ] (3)
[𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 ]𝑇𝑇 = [𝑖𝑖𝑎𝑎 𝑖𝑖𝑏𝑏 𝑖𝑖𝑐𝑐 ] (4)
𝑅𝑅𝑠𝑠 0 0 (5)
[𝐑𝐑 𝒔𝒔𝒔𝒔 ] = � 0 𝑅𝑅𝑠𝑠 0�
0 0 𝑅𝑅𝑠𝑠

𝐿𝐿 𝑀𝑀 𝑀𝑀 (6)
[𝐋𝐋𝒔𝒔𝒔𝒔 ] = �𝑀𝑀 𝐿𝐿 𝑀𝑀 �
𝑀𝑀 𝑀𝑀 𝐿𝐿

The resistance matrix Rsh represents the winding resistance for each phase assuming
the machine is perfect balance state, when each phase has identical resistance. The
stator inductance matrix Lsh represents the self and mutual inductance from abc winding
considering the flux linkage between all 3 phase windings. Self-inductance L must
include the leakage and magnetizing inductance, while the leakage inductance is
commonly ignored in mutual inductance M between phases. L and M can be identified
as arbitrary machine parameters or, it can be calculated based on integrating the air gap
MMF over sinusoidally distributed winding.
𝝀𝝀s.abc in (2) represents the flux linkage generated by the rotor permanent magnet in the
abc reference frame as supposing sinusoidal back EMF, 𝝀𝝀s.abc becomes:
𝑇𝑇
�𝝀𝝀𝑷𝑷𝑷𝑷,𝒂𝒂𝒂𝒂𝒂𝒂 � = 𝜆𝜆𝑃𝑃𝑃𝑃 · [cos 𝜃𝜃 cos(𝜃𝜃 − 2𝜋𝜋/3) cos(𝜃𝜃 + 2𝜋𝜋/3)] (7)
Hereby, the final stator voltage equation for a healthy SPMSM becomes:
𝑑𝑑 𝑑𝑑
�𝑽𝑽𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � = [𝐑𝐑 𝒔𝒔𝒔𝒔 ] · �𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � + [𝐋𝐋𝒔𝒔𝒔𝒔 ] · �𝒊𝒊 � + [𝝀𝝀𝑷𝑷𝑷𝑷,𝒂𝒂𝒂𝒂𝒂𝒂 ] (8)
𝑑𝑑𝑡𝑡 𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 𝑑𝑑𝑡𝑡

SPMSM with stator interturn fault in the abc reference frame

Fig.1 (a,b) Shorted phase winding and its equivalent circuit diagram

To be noted that an inter-turn fault is an insulation failure between two winding

in the same phase of the stator as Fig.1a shows. μ represents proportion that the a phase
winding is shorted as it is to be μ=Nsh/Ns. Resistance Rf is the resistance of the shorted
path. Given that (8) to be rewritten as (9). The subscript “f” denote that it is an inter-
turn shorted winding.
𝑑𝑑 𝑑𝑑
�𝑽𝑽𝒔𝒔𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 � = �𝐑𝐑 𝒔𝒔𝒇𝒇 � · �𝒊𝒊𝒔𝒔𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 � + �𝐋𝐋𝒔𝒔𝒇𝒇 � · �𝒊𝒊 � + [𝝀𝝀𝑷𝑷𝑷𝑷𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 ] (9)
𝑑𝑑𝑡𝑡 𝒔𝒔𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 𝑑𝑑𝑡𝑡
As it can be seen from Fig.1, the short path created additional resistance and inductance
element. Therefore, pervious developed resistance and inductance matrix Rsh and Lsh
need to be expanded in order to sufficiently describe the shorted path.
With:
[𝑽𝑽𝒔𝒔𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 ]𝑇𝑇 = [𝑉𝑉𝑎𝑎 𝑉𝑉𝑏𝑏 𝑉𝑉𝑐𝑐 0] (10)
[𝒊𝒊𝒔𝒔𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 ]𝑇𝑇 = [𝑖𝑖𝑎𝑎 𝑖𝑖𝑏𝑏 𝑖𝑖𝑐𝑐 𝑖𝑖𝑓𝑓 ] (11)
According to the equivalent circuit Fig.1b equivalent circuit diagram, equations can be
derived. The resistance and inductance matrix then becomes (12) and (13) due to the
additional phase current is divided into the shorted path.
𝑅𝑅𝑠𝑠 0 0 −𝜇𝜇𝑅𝑅𝑠𝑠
0 𝑅𝑅𝑠𝑠 0 0
�𝐑𝐑 𝒔𝒔𝒇𝒇 � = � 0 0 𝑅𝑅𝑠𝑠 0 � (12)
𝜇𝜇𝑅𝑅𝑠𝑠 0 0 −𝜇𝜇𝑅𝑅𝑠𝑠 − 𝑅𝑅𝑓𝑓

𝐿𝐿 𝑀𝑀 𝑀𝑀 −𝜇𝜇𝐿𝐿
𝑀𝑀 𝐿𝐿 𝑀𝑀 −𝜇𝜇𝑀𝑀
�𝐋𝐋𝒔𝒔𝒇𝒇 � = � 𝑀𝑀 𝑀𝑀 𝐿𝐿 −𝜇𝜇𝑀𝑀
� (13)
2
𝜇𝜇𝐿𝐿 𝜇𝜇𝑀𝑀 𝜇𝜇𝑀𝑀 −𝜇𝜇 𝐿𝐿

With:
𝑇𝑇
�𝝀𝝀𝑷𝑷𝑷𝑷𝒇𝒇,𝒂𝒂𝒂𝒂𝒂𝒂 � = 𝜆𝜆𝑃𝑃𝑃𝑃 · [cos 𝜃𝜃 cos(𝜃𝜃 − 2𝜋𝜋/3) cos(𝜃𝜃 + 2𝜋𝜋/3) 𝜇𝜇 cos 𝜃𝜃] (14)
Expanding the first three row of (9) consisting matrixes, the stator phase voltage
under interturn fault can be derive into:
𝑑𝑑 𝑑𝑑 𝑑𝑑𝑖𝑖𝑓𝑓
�𝑽𝑽𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � = [𝐑𝐑 𝒔𝒔𝒉𝒉 ] · �𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � + [𝐋𝐋𝒔𝒔𝒉𝒉 ] · �𝒊𝒊𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 � + �𝝀𝝀𝑷𝑷𝑷𝑷,𝒂𝒂𝒂𝒂𝒂𝒂 � − 𝜇𝜇�𝐑𝐑 𝒔𝒔𝒇𝒇 � · [𝐀𝐀]𝒊𝒊𝒇𝒇 − 𝜇𝜇�𝐋𝐋𝒇𝒇 � (15)
𝑑𝑑𝑡𝑡 𝑑𝑑𝑡𝑡 𝑑𝑑𝑡𝑡
Where:
𝑇𝑇
[𝐀𝐀]𝑇𝑇 = [1 0 0] and �𝑳𝑳𝒇𝒇 � = [𝐿𝐿 𝑀𝑀 𝑀𝑀]

The forth row in (9) represents the short path which can be derive into (16) which
represent the voltage across the shorted path.
𝑇𝑇 𝑑𝑑 𝑑𝑑𝑖𝑖𝑓𝑓 𝑑𝑑
𝑉𝑉𝑓𝑓 = 𝑖𝑖𝑓𝑓 𝑅𝑅𝑓𝑓 = 𝜇𝜇𝑅𝑅𝑠𝑠 �𝑖𝑖𝑎𝑎 − 𝑖𝑖𝑓𝑓 � + 𝜇𝜇�𝑳𝑳𝒇𝒇 � · �𝒊𝒊 � − 𝜇𝜇2 𝐿𝐿 + 𝜇𝜇 (𝜆𝜆𝑃𝑃𝑃𝑃 cos 𝜃𝜃) (16)
𝑑𝑑𝑡𝑡 𝒔𝒔,𝒂𝒂𝒂𝒂𝒂𝒂 𝑑𝑑𝑡𝑡 𝑑𝑑𝑡𝑡

Conclusion
To investigate the effect of inter turn short, machine equation needs to be developed in
the abc reference frame first, then to be transformed into dq0 frame. The Simulink
model can be built based on either abc frame equations or dq0 frame equation. Equation
in this report only consider the rotor permanent magnet generates perfect sinusoidal
back emf in which only the fundamental harmonic is considered. However, due to the
winding imbalance, spatial harmonic will be generated which will be further developed
into the equation beyond this report.

Reference
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PMSMs operating under nonstationary conditions by applying order tracking filtering.
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drives with switching frequency reduction. IEEE Transactions on Power Electronics.
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Modeling of surface-mounted permanent magnet synchronous motors with stator
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