The 2014 International Power Electronics Conference

Performance analysis of a new concentrated­

winding interior permanent magnet synchronous
machine under Field Oriented Control

D. Nguyen, R. Dutta, J. Fletcher, F. Rahman Howard Lovatt

School of Electrical Eng. and Telecommunications CSIRO, Lindfield Laboratories
University of New South Wales Material Science and Engineering
Sydney, Australia Sydney, Australia
Email: Dai.nguyen@unsw.edu.au

Abstract- This paper analyzes the performance of a new MMF which contains harmonics and sub-harmonics that
fractional-slot, concentrated-winding (FSCW) Interior do not rotate at synchronous speed. These additional
Permanent Magnet Synchronous Machines (IPMSM) under
harmonics are the main cause of increased frequency
Field Oriented Control (FOC). The FSCW IPMSM is being
developed vigorously in recent years because of its high­
related losses.
power density, high efficiency, wide field-weakening Recently, several IPM machines with fractional-slot,
capability, and high fault tolerance compared to the concentrated-windings (FSCW) have been reported in the
distributed-wound IPMSMs. The major disadvantage of literature [2-7]. These machines have very short end­
concentrated winding is often cited to be its non-sinusoidal windings, which are more compact and thus increases the
stator MMF. However, using appropriate combination of
power density of these machines beyond the OW
slots and poles, nearly sinusoidal EMF and very low cogging
torque can be achieved. Although steady-state performance
IPMSMs. The windings, being localized for each stator
such as efficiency and constant power speed range of this slot, offer better reliability, compactness and high direct­
type of PM machines have recently been published, dynamic axis inductance which assists in achieving wider field
performances have yet not been reported. The FOC scheme weakening speed range than the OW IPMSM. However,
which rely on the machine model, were applied to a apart from the non-sinusoidal MMF low winding factor
prototype a 14-pole/ 18-slot, double layer concentrated­
and higher torque ripples are also commonly cited short­
wound IPM machine. The dq model for distributed wound
IPMSM was used for the control. This paper investigates
comings of the CWo Recent studies [2, 8] have shown that
performances of the test machine in terms of torque and a winding factor close to unity and very low cogging
current ripple, transient responses for the step variations torque can be achieved in FSCW machine if an
of speed and load under maximum torque per ampere and appropriate combination of slots and poles are chosen.
field weakening control regimes. The experimental results This has opened the path for the FSCW PM machine to
on the concentrated winding IPM machine indicate that the
many applications, in particular, to automotive drives
distributed windng dq model is not sufficiently accurate to
harness the full capability of the new machine.
where high field weakening and compact size are
important. It has been noted that FSCW machines have
Keywords- Field oriented control, fractional-slot low mutual inductance between two phases.
concentrated winding, flux weakening, interior permanent Consequently, the saliency ratio of the CW IPMSM is
magnet synchronous machine. often much lower than a DW IPMSM [3]. In spite of the
low saliency ratio, FSCW machines can offer wide tlux­
I. INTRODUCTION weakening range [9]. The 14-poleI18-slot, double layer
The interior permanent magnet synchronous machine FSCW IPMSM machine of reference [3] demonstrates
(IPMSM) in which magnet poles are buried inside the field weakening range in excess of 8: I. Figure I shows
rotors has been an attractive choice for many high the rotor and stator views of this prototype machine.
performance applications due to its high power and torque The Field Oriented Control (FOC) is a high
density and efficiency. In the conventional ac machines, performance control scheme and is widely used in many
distributed winding (OW) which result in nearly drive systems when a high-resolution, ripple-free shaft
sinusoidal back EMF and MMF waveforms are desired position sensor is available. Under this scheme, the
for achieving high efficiency and low torque ripple [1]. IPMSM drives can be controlled according to the
However, there are several disadvantages such as maximum torque per ampere (MTPA), maximum torque
difficulty in winding automation, long end-winding in the per voltage (MTPV), field weakening (FW) and loss
stator and higher copper losses compared to the minimization trajectories [10-13]. One of the main short­
concentrated winding (CW). In contrast to OW, it is well­ comings of the FOC scheme, being model based, is its
known that the CW machines generate non-sinusoidal reliance on machine parameters. Several control strategies

978-1-4799-2705-0/14/$31.00 ©2014 IEEE 2679

 The 2014 International Power Electronics Conference

which can compensate for the parameter variations and

enhance the performance of the FOe are available for the Rs stator resistance
DW IPMSM [14-17]. Another major drawback of Foe is d- and q- axis inductances
the requirement of rotor position feedback, although permanent magnet flux linkage
several sensorless version of FOe have also been reported
in the recent years again mostly for DW IPMSM [16, 17]. d- and q- axis currents
Availability of this sensor, however, guarantees high d- and q- axis voltages
performance down to zero speed. OJ rotor angular velocity in electrical rad/s

It should be noted that in this paper, the three-phase

voltages, currents and flux linkages are transformed into
d-q coordinate by using the well-known Park's
transformation.

j[ 1
27r
cos(B--) 27r
cos(B+-) a
3
(3)
-sin(B- 27r) -,in(O+
3
�;) :
where B is the rotor position in electrical radian.
The torque expression for a permanent magnet
machine in the d-q coordinate is given by
Figure I Rotor and stator of the FSCW IPMSM 3
[
T= �, Apm iq+(Ld -Lq ) Uq
2 (4) J
This paper reports, for the first time, an evaluation of The phasor diagram for IPMSM at steady-state is
the steady-state and dynamic performance of a FSeW presented in the Figure
2
IPMSM under Foe scheme. The machine model used for q
Fsew IPMSM is based on the conventional rotor dq
frame. The purpose of this experimental study is, firstly,
to understand the control characteristics of the Fsew
machine compared to a DW machine, and secondly, to
investigate the appropriateness of application of the rotor
dq model of the DW machine to the Fsew machine, in
order to harness its full power-speed capability.
The paper is organized as follows:
The field oriented control principles of the IPMSM in
rotating reference frame are discussed in section II. The
experimental results and the analysis of the model based
controllers for the FSeW machine are presented in
---- �-��--------------�-- d
section III. The section IV discusses some of the issues
o
encountered in high flux weakening range while
Figure 2 Phasor diagram for IPMSM in rotating reference frame
implementing the FOe in the prototype ew IPMSM.
Section V presents concluding remarks of this study. B. Trajectories control oflPMSM
1) Maximum torque per ampere (MTPA) trajectory
II. FIELD ORIENTED CONTROL PRINCIPLES
The MTPA condition can be achieved by seeking the
A. Mathematical model of the IPMSM in rotor reference maximum output torque for particular current amplitude.
frame Based on equation (4), the relation between trajectories
In the d-q coordinate that rotate synchronously with for maximum torque per ampere and voltage and current
rotor, the flux linkage and voltage equations of the limits can be found as follow
A2pm
[][ ][ ] [ ]
IPMSM are expressed as follow
+ i2q (5)
Ad Ld 0 id Apm 4(Lq -Ld )2
= + (1)
Aq 0 Lq iq 0
2) Flux weakening (FW) control
The flux linkage of the IPMSM is delivered from
m
A s =�(Ldid+Apm )2+(Lqiq )2 = r: (6)
where, OJ
where V;,m = Vmax - RJam' Vmax is the maximum phase

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voltage of the machine. {iJApm equals to T:m . Hence, the crossover speed is
In the flux weakening region, when the voltage reaches
Vm
the rated value, the flux linkage can be reduced by {iJ cr = a (12)
adjusting negative d-axis current. The relation between d­ Apm
axis and q-axis current for flux weakening control Between the base speed and crossover speed, the
algorithm can be derived from (6) by replacing V;, with machine can be operated either at MTPA or FW
Vom so that resistive drop can be accounted for. depending on load and speed. The control mode can be
determined by comparing the flux linkage derived from
Apm ± _1 V;,m 2 _
id =- ( ) (Lqiq )2 (7)
voltage limit
Ld Ld (iJ
(13)
3) Voltage and current constraint
Considering the constraints of voltage, the terminal and from MTPA
voltage is limited as follow A,MTPA=�(Af!m+LdidMPTA)2+(Lqiq MTPA)2 (14 )
V;, = {iJ�r(L-d-id+ )2+ - -q l-'q)--::-2
- -(L
- -A-f!m- --:: � T:m (8)
The stator current is limited by the rated current of the If Affi11l'A ::::: A,m then the MTPA is selected, otherwise
machine and current limit is given as, the FW is selected.
Ia - d+ l q - am
- '\jl
�<I (9)
3) Above the crossover speed
where lam is the maximum current of the machine
Above the crossover speed, there is no common point
The Figure 3 shows the current limit, voltage limit, between the MTPA and the voltage limit ellipses, thus the
MTPA trajectory and movement of the operating point FOC is controlled by the flux weakening control only.
during flux weakening for a typical IPMSM under FOe. The maximum torque in flux weakening can be obtained
5 �--�--�----, by seeking an intersecting point of the voltage ellipses of
operating speeds and current limit circle. The maximum
4 d- and q-axis currents can be determined from using (6)
Current
�
Limit and (9) as
C
� 3 /
:;
u
(/J
-ApmLd+ A�mL� -(L� -L!)(l'�mL!+A�m __
V
_O )
{iJ
;
'x
ell 2 id = -----------
-'- -'- ---( 15)
-c-L2 -_----,- L2q---------'---
6- d

shows the flow chart of selection of control modes for

-3 -2 -1 0 1 2 3 FOe.
d-axis current [AJ
Figure 3 Calculated control trajectories in id - iq plane for the FSCW OJ < OJ"
YES

IPMSM
NO

C. Transition of control mode

1) Below the base speed Yf-<:S OJ> OJ"

The IPMSM operates under MTPA (5) until the speed NO

at which voltage reaches the maximum limit voltage. The

{.
d- and q-axis currents of the operating point at base speed,
under MTPA is given by
Apm
1d A= ------'---
4(Ld -Lq ) (\ 0)
.q _ '/ _. 2
I A- " 2om IdA
The base speed is derived from (8) as follow Figure 4 Selection of control modes
Vom
m - (11)
4) Maximum speed
b �(Apm +L) d )2+(Lqiq )2
For machine in which the characteristic current
2) The crossover speed A
Crossover speed is the speed at which the back-EMF Ich = - � is higher than the rated maximum current,
Ld

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dq-abc
INVERTER

[] [cose cos(em 2"

-""3)

�: =% -Sin�m -
.
sm( em - ""3)
2Jr

dB e,
'-------l
dt

Figure 5 The block diagram of Foe for an IPMSM with ew

800
700 reference
center of the concentric ellipses (0, I h ) stays outside of (red) --. r
600
- c

E 500
estimated
the current limit circle. In such machines, there is a finite
maximum rotor speed at which the motor torque drops to } 400 � ue)

300
zero. This maximum speed can be easily determined by 200 1----- \ \
100
0
V
OJ (16) time (sec)
am

Apm -Iam Ld 15.---�-�-�-.-��--,

max

10

III. EXPERIMENTAL RESULTS z

'i 0
2"
-5
TABLEl �
-10
Symbol Meaning Value
-150 0.5 1.5 2.5 3.5 4.5
P Number of pole pairs 7 time (sec)
p
Figure 6 Speed and torque response of the Foe drive for speed change
R s
Stator resistance 9.6 Q

Itpm Magnet flux linkage 0.4 Wb The id - iq current responses of the Foe drive for a
Ld dmaxis inductance 0.08644 H load step change is illustrated in Figure 7. The machine
Lq qmaxis induction 0.09757 H initially was run at 450 rpm under nOmload condition, then
the full load was applied to the shaft of the motor. The
v'Yffed Rated Line voltage 320 V
load torque was then abruptly removed and the machine
10 Rated current 2.55 A came back to the nOmload condition. The peak ripples in
the id - iq current response were approximately 0.5 and
A. System Configuration 0.3 ampere respectively. These ripples were also reflected
The block diagram of Foe is shown in . The control on the torque response of Figure 6.
algorithms were implemented using OS1104 controller
board. The 3m phase Mitsubishi intelligent power
modules with IGBT switches were used in the voltage
source inverter. A rotary encoder is used for speed and
rotor position feedback.
B. Dynamic Performance
Figure 6 shows the speed and torque responses for a
step speed change from 200 rpm to 700 rpm. Below the 4
W
base speed of 450 rpm, the Foe was controlled along the 3

MTPA trajectory of Figure 3. The motor is accelerated by i

1
maximum available torque. The flux weakening started i 0
d
when speed increases above base speed of 450 rpm. -1
.�6-
-2

-30 4 6 10
time (sec)

Figure 7 id - iq current responses of the FOe for load disturbances

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To demonstrate the effect from rotor position error, the

torque-speed characteristics computed with (4) using
measured id and iq current from the drive system with and
without the delay are shown in Figure 10. As can be seen
from this figure, there is an error which increases with
2 4
speed due the increased delay. At the maximum speed of
time, sec 4500 rpm, the error is about 6 Nm.
480 15 --- Without delay
�460 - - \\ ilh delay
-0 � ElO
�440
V
(J)

e
420
<!}

�
6 5
o 2 4
time, sec
6 8 r--.

Figure 8 Speed and torque response at 450 rpm with load disturbances 0
0 1000 2000 3000 4000
Figure 8 illustrates the speed and torque response Rotor speed (rpm)
under the above mentioned load disturbances. From the Figure 10 Calculated torque in an IPMSM with and without rotor
figure, it can be observed that the speed dropped position error
approximately 5% when the step load was applied to the
shaft of the motor. The speed and torque regulation times The rotor position error also affects to the d-axis and q­
are 0.8 and 0.2 sec respectively. axis current reference values because of which without
the delay compensation, the machine is not able to follow
IV. PERFORMANCE ISSUES IN HIGH FLUX WEAKENING the trajectories mentioned in section II in deep flux
RANGE weakening. By using a simple closed-loop speed­
feedback compensation using (17), the rotor position error
A. Effect ofRotor position error at extremely high speed due to delays from the system was compensated. The
Due to the limitation of the equipment, the system Figure I I shows the measured power vs speed of the
operates at the PWM switching frequency of 10kHz. machine with and without rotor position compensation.
Thus, the input signals including rotor position from
encoder is updated by using DSpacel104 controller board 900
�'i'litJl(Jul(Jo�iUOlI
c::mllensaJ;lon
for every lOOIlS. This reading delay corresponds to some BOO
rotor position error. The rotor position error in term of �With position
CJrTllensation
700
electrical rotor position is small and can be ignored at low 600
"
speed. However, at high speed in flux weakening region, ':::'500
this delay will be significant and needs to be i;
:;: �OO
o
compensated. The delay in rotor position can be easily "-
300
found as follow 200
(17) 100

Figure 9 shows the back EMF waveform and rotor O �------

500 1000 1500 2000 2500 3000
position read from encoder at 4,500 rpm under no-load Speed (rpm)
test. At this speed, the delay of lOOlls corresponds to the
rotor position error of 25.7 electrical degree. Figure 11 Power Speed characteristic with and without rotor position
compensation

B. Effect from Concentrated Winding

c
0 The FOe scheme is based on the mathematical model
2
LL
:;;
� of the machine which assumes sinusoidal MMF.
W
"'" However, the Fsew produces MMF which is rich in
� '"
.g harmonics and sub-harmonics. [t is useful to compare the
'&l
[jj flux linkage density in the air-gap by using the finite
element analysis method. The Figure 12 shows magnetic
o Q5 1� 2 2� 3 flux distribution of a ew IPMSM.
time (msec)
Figure 9 The back EMF and rotor position with no-load test at 4,500rpm

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0.5,------�---,
0.4
0.3
0.2
0.1

-0.1
-0.2
-0.3
-0.4
-0:6.'0- :- --------:0.:'5
5---------:-
Figure 12 Flux distribution of concentrated winding 14-pole/18-s1ot flux alpha, Wb
IPMSM (a)
Figure 13 shows the flux density distribution due to the
0.5,------�---___,
stator current only for a concentrated winding and
0.4
distributed winding.
0.3
06 0.2
� 0.1
04
� 0
.c

� -0.1
-0.2
-0.3
-0.4
-04 -0:6.L
5----------
�
-: ---- 0.5
t---\-+-----+-P'---\c-f--'-I-_+_
-0.6 Figure 14 Estimated flux linkage in the rotating (dq) reference frame
20 40 60 80 100 120 140 160 180
�-----

Rotor position
and stationary (aP) reference frame at (a) 10 rpm, (b) 700rpm.
-Concentrated winding -Distti.buted winding

Figure 14 (a) shows that the estimated flux In the

Figure 13 Air gap flux density (T) distribution due to stator current only
Since the concentrated winding produces MMF which
is rich in harmonics and sub-harmonics, the conventional
mathematical model of the IPM machine with OW is not
accurate for the IPM machine with ew. The inaccuracy
increases under flux-weakening condition. It is well
known that harmonics in the flux-linkage increases under
flux-weakening condition for the IPMSM with OW. Same
is also true for the IPMSM with ew because of which
mathematical model of the machine deteriorates further
under flux-weakening. Although the Foe were applied
successfully to the prototype IPMSM with ew, a
noticeable steady-state error was observed between the
measured and estimated flux-linkage of the machine,
especially in the flux-weakening region. Figure 14(a)
illustrates the estimated flux linkage of the machine by
using the rotating (dq) reference frame and
stationary (afJ) reference frame at 10 rpm which is well
below the base speed. Figure 14(b) presents the same flux
linkages at 700 rpm which is at 1.4 time base speed.
stationary reference frame (afJ) follows very closely to
the estimated flux of the rotating reference frame (dq)
when the speed was 10 rpm. However, the same fluxes
measured at 700rpm presents a different picture. In this
case, the estimated flux of the (dq) reference frame is no
longer same as the estimated flux of (afJ) reference
frame as it can be seen in Figure 14(b). This observation
of estimated flux indicates that mathematical model of the
Fsew IPMSM deteriorates as the speed increases.
Theoretically, the stationary reference frame can be
found from the relationship between actual rotor position
from sensor and the back EMF of the machine which
assumes sinusoidal flux density in the air-gap. However
the stationary reference frame of the ew IPM motors can
be shifted by harmonic and sub-harmonic components in
the air gap flux density of concentrated winding as can be
seen in Figure 13. In order to improve the performance of
the concentrated winding IPMSM, the phase shift
between fundamental components between concentrated
winding and distributed winding was studied by using
finite element analysis. For this specific ew IPMSM, the
phase difference between ew and DW was found to be
28 electrical degrees.
Figure 15 shows the power-speed characteristics of the
ew IPMSM with phase shift angles to the reference
frame under Foe.

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Interior Permanent Magnet (IPM) Machine With Very Wide

1000
900
800
700
� 600
:;; 500
'"
&: 400 �Original without phase
shift
300
�With conoentrated
200 wi nding compe nsation
100
0 28,pp. 181-190,2013.
0 1000 2000 3000 4000 5000
Speed (rpm)
Figure 15 Comparison of the power-speed characteristics of the CW
IPMSM at different stationary reference frame
As can be seen from this figure, by adding 28 degree
of phase shift from the original axis, the maximum wide
constant power speed range 9: 1 can be achieved, around
twice power speed range compared to the unmodified
axis. [t is also noted that theoretically the maximum speed
of the 14-poleI18-slot concentrated winding IPMSM is
calculated only around 4,500 rpm according to , compared
to the experimental maximum speed of 4,900 rpm
achieved as shown in
Figure 15. The experimental results confirmed the
effectiveness of the proposed adjustment method
according to the investigation of difference between
concentrated and distributed windings of IPMSM.
V. CONCLUSION
This paper analyzed the operation of the field oriented
control of a new fractional-slot, non-overlapping,
concentrated winding [PMSM. Because the implemented
FOC is based on the mathematical model of the IPMSM
with distributed winding, it was found to be inadequate
for the fractiona[-slot, concentrated winding in accessing
its full power-speed range. The experimental result
indicates that mathematical model starts to deteriorate in
the field-weakening region resulting in a steady-state
error between calculated flux linkage from rotating
reference frame and flux linkage from stationary
reference frame. The comparison between the flux density
of the CW and DW obtained from the finite element
model is studied to investigate the sources of this error
which causes deterioration of the mathematical model. A
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suitable position adjustment of the stationary reference 507-510,2004.

[15]
frame which includes characteristics of the concentrated
winding was found by repeated experimentation which
confirmed the effectiveness of the proposed adjustment.
[16]
Further research is being carried out to determine the
reasons for the adjustment and to fmd its soundness in
terms of mathematical representation of the dynamics of
[17]
the CW [PMSM.
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