ar a y > > UNIT - 5 PERMANENT MAGNET : SYNCHRONOUS MOTOR 2 conventional Synchronous Motor, the rotor carries the field winding which is excited by a DC supply to produce the magnetic flux needed for the operation of the motor. The slip ° ring and brushes are necessary to excite the field winding by transferring current from a stationary terminal to the rotating rotor. Now, the electromagnets and the field magnets are : replaced by permanent magnets. The required ficld flux in the airgap is produced by the set of permanent magnets. This eliminates the need of slip ring and brushes assembly. Those motor using permanent magnets to produce the required flux without brushes are called permanent magnet synchronous moter. 5.1 CONSTRUCTION © The construction is very similar to conventional synchronous motor but it differ only in the rotor consteuction as shown in the figure 5.1 «Important parts of the motor are stator and Rotor. The stator consists of outer frame which encloses the whole machine and protects it from the environmental hazards. ~ © The outer frame is usually made of cast iron (or) steel + Inside the stator frame, stator core is fixed which consist of thin laminations to reduce 2 eddy current loss and made up of soft magnetic steel material mixed with silicon to . reduce the Hysteresis losses. © The stator core has slots in it which are also laminated. The slots are used to house the > poly phase stator winding called armature winding made of copper material. +The thickness of the lamination depends on the frequency of the armature voltage, cost of the machine and core loss component of the machine. * Usually for large machine, “lap type Double layer” winding will be provided but for ws a“ oe eo J > J > y ay a0 52 Permanent Magnet Synchronous Motor smaller machines solenoid (or) random winding is used ‘The rotor construction can be two types, cylindrical pole type and salient pole type. Usually cylindrical type of rotor is used to maintain the air gap uniform flux distribution. ‘The permanent magnet made of rare earth magnetic material such as ferrite, cobalt are nsed The rotor also consists of damper winding which is used to damp the oscillation near the synchronous speed and also used to start the motor. The rotor also carries the shaft and bearing systems, The various types of rotor construction used are i, Peripheral: The magnets are located on the periphery of the rotor and the flux is radial ji, Interior: Interior of the rotor carries the permanent magnets and the flux is distributed radially. : iii, Claw-pole (or) Lundell: The permanent magnets in this structure are dise shaped The Mux is axial Transverse: The permanent magnets are in between the soft iron poles and the flux is circumferential. Stator Outer frame Stator slots N » Stator winding Cylindrical rotor Permanent MagnetWw Special Electrical Machines 53 5.1.1 Working Principle: «The operation of the Permanent Magnet synchronous motor is very similar to the conventional synchronous motor. «This motor is also not self starting hence additional winding is placed on the rotor. Once the synchronous motor is started by applying voltage at certain frequency and then it is pulled into synchronism. © The motor speed is decided by the frequency of the supply which excites the phase windings of the stator. © Necessary torque is produced in the motor for the operation of the motor by the interaction of fluxes produced by the permanent magnet Rotor and the excited stator winding. «The torque produced is called as synchronous Torque. The hunting near the synchronous speed is possible which is eliminated by using the damper winding. © Due to the presence of the damper winding, the synchronous motor can be started from zero speed as an induction motor. © The stator phase windings can be excited with variable frequency and the amplitude to achieve wide range of operating characteristics and hence motor is highly controllable Advantages Slip rings and brushes are absent, so there is no sparking. These motors are flexible as they are highly controllable. No DC field excitation is required. So field losses are reduced, Itrequires less space as field windings are absent. They have low inertia & friction. aware These motors are reliable and have long life. Disadvantages 1. The electronic circuitry driving the motor is complex and complicated, 2. There is possibility of demagnetization due to excessive currents. 3. The flux density produced in the airgap is limited due to permanent Magnet,ira] Special Electrical Machines 5.2.2.4. Transverse type rotor ce The permanent magnet in the rotor ‘Aluminium wedge iron poles indicate damp bars. The Fig.5.5 shows the tnigsverse type rotor configuration. As the pexmeability | of the permanent magnet is v low, Fig, 5.5. Transverse type rotor | i | | magnetically, this configuratio similar to a reluctance machine 1 Hence, there exist both the reluctan torque as well as torque resulting from the flux of permanent magnet. ‘5.3. PRINCIPLE OF OPERATION ‘The permanent magnet synchronous motor is a rotating electric machine in which the stator is a classic three phase stator and employing permanent magnets in rotor. In this motor, the slip rings and field windings are absent. The motor is driven by'sine wave voltage coupled with the given rotor position. The stator flux together with the | rotor fluc which is generated by a rotor magnet defines the torque and thus speed of the motor. The principle of operation ‘of permanent magnet synchronous motor can be understood by studying the following block diagram of Fig.5.6. aco) i : we | supply g_] Reeve lavener ; - | From rolor position sensor Fig, 56. Block diagram explaining the operation of permanent magnet synchronous motorPermanent Magnet Synchronous Motor 37 For a common 3-phase PM synchronous motor, a standard 3-phase power stage is used. So, the permanent magnet synchronous motor is fed directly from a three phase supply. When the armature winding draws a current, the current distribution avithin the stator armature winding depends upon the rotor position and the turning on process of the devices in the control circuit. The’ sinewave voltage output is to be applied to the 3-phase winding system in ‘Such a way that angle between the stator flux and the rotor flux is kept close to 90° to get the maximum generated torgue. To meet this criterion, the motor requires electronic control for proper operation. The armature supply frequency (armature is in stator, permanent magnet at the rotor) is changed in proportion to the rotor speed changes so that the stator field always moves at the same speed as the rotor. The rotor position sensor is required for accurate tracking of the speed in order to prevent the motor from pulling out of step and to avoid instability due to the change in torque or frequency. Sensors used with the brushless a.c. motor are expensive compared to those required with brushless d.c. motot. Because of features like excellent dynamic performance and low torque ripple, the PMSM drive is widely used in high performance servo drives in spite of its high cost, For starting the large synchronous motor, the machine is operated in self | controtled mode. 5.4. EMF EQUATION OF BLPM SINEWAVE MOTOR Now, let us determine the expression for [— the open-circuit phase emf due to the magnet. This emf equation of the permanent i “sina docontcts | magnet synchronous motor can be derived by considering the emf induced in the elementary group of conductors. In the forthcoming derivation, the armature winding and shape of the permanent magnet are’ so designated that the flux density distribution of the airgap is sinusoidal. The Fig.5.7 depicts an ideal sinewave brushless motor with pure sine-distributed phase winding and permanent magnet rotor Fig, 5.7. Idea! brushless sine wave with sine-distributed flux. ‘motor with pure sine-distribuited phase . winding and permanent magnet.rofor , with sine-distributed flux,58 Special Electrical Machines ‘As showi in the Waveform of Fig.5.8, the:-magnetic field setup by the permanent maghet in the airgaps sinuSoidal. 5.4 4. A. Flux dens ity distribution . The flux density can be expressed as B=8 sin pO or Boos p 0 or B sin (p 6 + a) or Bcos (p 0 + a), where p = number of pole pairs depending upon the position of the reference axis. B= 8 sin Po Loe ll Fig. 5.8. Flax density distribution Now, consider a full pitched single turn armature coil as shown in the Fig.5.9. us rotor be revolving with a uniform angular velocity of ,, mech.rad/sec. | Coil at reference axis, ‘sition of one turn full itch coi) | At any instant Fig, 5.9. Flux density distribution of single turn armiture coil of full pitched winding Consider a'stitall strip of d0 mech. radians at a position @ from the reference.Permanent Magnet Synchronous Motor (3) Flux density at the strip, B = Bsinp 0 vA) Incremental flux in the strip d§ = B x area swept by the conductor dp = Bsinpo x Irdo = (5.2) = BI'r a0 webers v5.3) ~ length of the armature in m Where r — radius of the armatire in m db = (Bsinp0)ir dO = Birsinp®-do os (5.4) The flux enclosed by the coil after lapse of ¢ sec is, om! tap o= J B Ir sin p0 dO wes (5.5) 9 yt + alp bn [-# spo 7" Pd aye 4 oh [- 605 (pO, n) +08) Oyt | a Bu -— [2eosp ont | 2BIr DIP os p Oy! vs (5.6) d= According to the Faradays law of electromagnetic induction, emf induced in the single turn coil is given by, ds -N a sat (OT) de ~ dt d[2flr . ail pp 0SP On! a as N=]$.10 Special Electrical Machines = Bir ©, Sin POp,t py POm SNP Oy e = 2Blro,sinp ont w= (5.8) Let the armature winding be such that all turns of the phase are concentrated full pitched and located with respect to pole axis in the same manner. Let T,, be the number of tums connected in series per phase. Then the algebraic addition of the enyf of the individual turns gives the emf induced per phase as all the emfs ate equal and in phase. ph = 2B Ira, sinp oy) Ty, (5.9) = 2Blro,T,,sinp Op! = Ey,sinp O,h where p ,,= 0, A = E,, sino, t (6.10) Where @, ~ Angular frequency in elee.rad/sec. by = 2Br IT, 2 (SIN) Now, Ej, = ems value of the phase emf 0 Sy V2 = \28r 8 i Ton ®, » Ey = V2 Br1T,,q, volts oo (5.12) ow oe : 5.13 ‘here, =~ 6. ere, > (5.13) ‘We know that, 4, — sinusoidally distributed flux/pole. o= Bt! w (5.14) Qnr = By « 3p x! ve (5.15) The average value of flux}. 2 22 density for sinewave ~ x, (normal value) = 7 B + G18)Permanent Magnet Synchronous Motor Sut Dame oat 28rl a 1 (SAT) 4 ?, 6.17) P ow = Bri= >" evs (5.18) Ey, = N28 rl 0,7, volts .. (5.19) Substitute equation (5.18) in equation (5.19) + Pm) Buy = V2 Den T 5.20) = Pou)” @ | = Ger, | ; | (Pon) 21 . ' | V2 Pty = NT tet ( } | 44 f by Tpy volts 5.21) The above expression gives the rmy value of the induced emf per phase of the armature winding of an ideal BLPM sine wave motor. An ideal motor as shown in Fig.5.7 has the following features | 1. The flux density is varying sinusoidally in space \} | 2, The rotor rotates with uniform angular velocity. f (ie) ©, rad/sec or oat rad/sec. 1 ‘The atmatute winding of the machine consists of full pitched, concentrated similarly iocated coils with'number of turns. In a practical BLPM sine-wave motor at VSewset f the time of design, cate has been taken to i have sinusoidally distributed flux density and rotor rotates with: uniform angular velocity. However armature winding consists of short chotded coils properly) | Se distributed over a set of slots. which .are oo skewed as shown in Fig.5.10. Fig. 5.10. Skewed slots$12) Special Electrical Machines ‘These aspects reduce the magnitude of E,j, of an ideal winding by a factor K,,, which is known as the winding factor for the fundaméntal component of flux. Ku = Kyi Ky Koy .. (5.22) Where K,, = Slew factor . sino/2 Ky = on (5.23) K,, = (Slightly-tess than 1) and o ~ Skew angle in elec. fadians. K,, = Pitch factor or short chording factor = sin or cosS __ oil span Where ™ = Sole piteh __ which is less than i (i.¢., fraction) and (l=) feoil span Where v =p ... (5.30) Let T,y be the number of full pitched turns per phase. “Let be the current in Amps dnd 7 Ty be the total ampere turns which is assumed to be O sine distributed. The total ampere conductors [sine distributed] = 27 T,y 2 (531) oe 2iT, Sine distributed. ampere conductors/pole = aS + (5:32) Equating equation (5.30) and equation (5.32) 2k _ 277, Po 2p » iT A=, (5.33) 35. TORQUE EQUATION OF AN IDEAL BLPAI SINE WAVE MOTOR The emf equation of permanent magnet synchronous motor Is studied in the | previous section 5.4. Now, let us detive the torque equation. - i i Let the armature ampere conductor distribution of ideal BLPM sine wave motor be given by, A = AsinPo The flux density distribution set up -by the rotor permanent magnet is also sinusoidal. Also, let us assume that the axis. of armature ampere conductor distribution be displaced from the axis of the flux density distribution by an angle (& -a) as shown in Fig,5.12. \ Asin| vo +(5 -«]| 8 sin 3 +08-«) | “Now, 8 cos (PO-«) B cos (P8-«)be. so ‘or Permanent Magnet Synchronous Motor 315 a 12. Ampere conductor and flux density distribution Consider a small strip of width d0 at an angle 6 from the reference axis Flux density at the strip B = B cos (PO—a) Ampere conductors in the strip = A dO = Asin P6 do Force experienced by the | armature conductors in the strip | @2 = BLA 48 + (536) dE = Bcos(PO—a)!-A sinPO-d0 » (5.37) dF = AB JIsin P 6 cos(PO—a) dd Let ‘r’ be the radial distance of the dinuctors from the axis of the shaft. The torque experienced by the ampere conductors of the strip =F xr... (5.38) aT = ABrl sinP @cos (P@—a) dd Nan 1.5.39) omup Also, Torque experienced by the ampere conductors/pole= T/pole= { aT ono wp Hence, = T = fabri sin P 8 cos (PO — ai) dd w-- (5.40) °Special Electrical Machines ty ! > sina Nem : _. GAL) The total torque experienced by all armature conductors, = 2P x torque/pole ABrl = 2Px : x 7 sino. (5.42) t= cABrl sina N-m 8.5.43) As the armature conductors are located in stator of the BLPM SNW motor, the rotor experiences an equai and opposite torque. The torque experienced by the rotor = Torque developed by the rotor = -nABri sina = nABrl sinB where B=-4, (5.44) B is known as power angle or torque angle T = xAfirl sinvBlin an ideal motor. Now, consider the case of an armature winding which has three phases. Further the winding consists of short chorded coils and the coils of a phase group i distributed. ‘This 39 armature winding carries. balanced 39 a.c. eumrent which ate sinusoidally varying. The phase windings aie denoted as a, b, ¢ - 2 . 2 The axes of phase winding are displaced by or mechanical radians or 5" elec. radians. The current in the winding are also balanced. An armature winding is said tohet em Fa in Raceta B > pote rn Re_sistive— crepe an chaser Prot feo Ctwrenk Vetker. Reeve chops or dvarn LU be cureent Ve cher Lin of -y lies. oe = bs = frown fond flrs Mm oR = Fy ems inducer per phase ta be tay Mn eb ama. = perce ang Lin em = Para & Bbq + 9a%s) Po = BEP®A +P a ( Rast X8) Ba = B( bP, #20 ka 40)lp pores = perser Gomvatral Ho moctonted + Cu boss! FlL_UKe albten feo na daveloped = Povoer Cenventacl Es mt ~ re bore = Pe Powsar Comvestidd kn aa AR BS By Ba eosl4g_p) Pos 36) 2, Sing Fe BE} Pe sing —_ Nore Lone Bees bec, SeGoluesd dies Keo Corporate Ba ay Ba Babs we dos tom ai He lk anes Ba - Sees Lp oo met lon rr apradectes astis Ne Fat B2s Qo BA 42y, We By +2 Ro 4jD%s = a 4 (ard) Ro 4 (2h 494) Re Na Bat DARa +2 Ra 4) DAxs4) My Ars.to 5.38] ! oe \Speeial Elecirical: Machines \d of a field winding. So, field control is sacrificed for the ings and field Copper ‘Vosses:* permanent magnets inst elimination of brushes, slij Hence, when the vectoi control-of” permanent magnet synchronous motor is 4 pbplcations; we keep V/f constant and vary V, f to This vector control; technique, which is based on’ the reference-frame the same, both in hardware and so: the a.c. drive. tas 5.8. VECTOR CONTROL OF BLPM SNW MOTOR As we know, the permanent magnet synchronous [BLPM NW] motor has permanent magnets in rotor ivstead of fiéld Winding: BéHee, thé field ‘oritrot js nor possible. So, in vector control, v/f ratio is kept, constant so that both v, f are varied to get the desired speed and torque. Now, let us consider the two cases of following Fig.5.29, whose armature coriductor currents and airgap flux are shown. In the Fig 5.29 (a) the flux axis is inquadrafre with the armature mnf axis. Each and every conductor experiences 2 forceeiyitich producéd the torque. This torque contributed by various armature conductors have ihe same-direction though there is a presence of variation in magnitude. 2h :29.:(b):Non-quiaulruture position of sairgup flux.an armature mung axis: ‘irgap flux and armature mmf axisPermianéent Magner Synchronous Motor 535) Now; consider a case in'which the angle between the-axis'of-the airgap fluxiand the armature inmf axis'is 90° elect. and the!armature:conductor: current ‘distribution and airgayy flux distribution are’ as: shown-in Fig.5.29(b). 4 this case also a torque is experienced’ but the directions of the torque experienced: by the-conductors is not the same. Consequently, the resultant torque gets reduced: It'is realized that ‘both ‘the steady state and dynamic, performance. of the machine. in the ¢ase,(b) is poorer than the case (a). It is understood that the armature mmy axis'and' the axis‘of permanent magnet are ‘should “be! in quzdrature..for pertrianent’ inaghet’ synchronous’“motor. during’all ‘peratitiz conditions in order to have better steady state anid'dynamic performance. shown in Fig.5.30.' As the'spéed is Varied fiom a low value upto the corner’ frequency, the ‘desired’ operating pein of current is such that 1, 0 and the current is along the q-axis. The schematic diagram for vector control DC supply +f 7 Power electronic! switehiig circuitry 26 1030 Triggering conversion i cheat PM. totor Rotor gosition, | Sensor “Tacho generalor Fig. 5.30. Vector control of PMSM motor,un 40} Special Electrical Machines This condition can be obtained by controlling the voltage by PWM technique after adjusting the frequency to a desired value, If the frequency is more than the corner frequency. it is impossible to make 1, = 0. because of voltage constraints. During such conditions. after satisfying the voltage constraints a better operating point for current can be obtained with minimum value of ly In is possible’ to’set the values of Ty iy and 1, (gp for the tequired dynamic and steady state performance by knowing the desired values of torque, speed and the voltage to which the motor is subjected to. These reference values of J, and J,, are transformed ‘into reference values of currents such a i,.qerys ip gets de gen: These phase currents are compared with the actual. currents and the error values actuate the triggering, circuitry which is also controlled by the signals, obtained from rotor position sensor and,speed signal. To control the torque and speed independently, there is a need to control the magnitude and phase of the three currents ig, iy. i, through a fast invener. This is accomplished by the power electronic switching circuitry. 5.9. SELF - CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR Another method for controlling the speed of BLPMSNW miotor is the self-control 'n this method, the speed of perifianent-magnet synchronous motor is controlled by feeding them from-variable frequency voltage/cuirents. The rotor position sensors are employed for operation in selfcontrol mode. Alternatively, induced voltage can be used to achieve. self-control. The schematic diagram. of self-control is shown in the Fig.5.31. The i:nain advantage of the-self-control is it ensures that for all operating points the armature and rotor fields move exactly at the same speed. It is expected that the armature and rotor field move ih synchronous for all operating points. When there “is a change in rotor speed, proportionally the armature supply frequency also changes so that the armature field always moves at the same speed as, the rotor. With the'help of rotor position sensor, the accurate tracking of speed is, realized by the armature supply frequency. In the Fig.5.31, when the rotor rotates into certain predetermined angle, the firing pulses to the converter [rectifier-inverter] are varied. This firing of switches is proportional to the speed of motor. The torque angle is varied electronically, so there is an additional controllable parameter possessing greater control of the motor OnPermanent Magnet Synchronous Motor 5.41) performance by changing the firing pulses 10 the semiconductor switches of inverter circuit, i ory, i Phase thsi esd controlled qq commutaled rectifier inverter | 4 vase sues AC eo & Inductor y sw | | supply Motor # # | be Fring circuit Rotor RPS. | Omlret a Psion a i to ie ret Fig. 5.31. Self éontrol of PMSM motor It is to be noted that at higher power levels; the current fed d.c. link coriverter is employed. During, the commutation at-low speed, the dic. link current is pulsed by ‘phase shiftinig: the gate signal of-the supply side converter from rectificatioit’ to inversion and back again. Whietl’ the. curfint is Zero, the motor side converter is’switched' onto a’ hew ‘conduction peitod and'supply side converter is thei turned if! Tlie tinie required ‘fot the ‘motor’ ciittent to fall to zero-can be ‘significantly shortetied by placing a shunt thyristor in parallel with a'd.c. link inductor. If the*curtent z¢ro ‘is needed; the line side‘converter is phased back to invérsion aftd the auxiliaty thytistor is gated: The dic. ‘link inductor is then short circuited and without affecting the motor, thé ciirent' can ‘be supplied. The auxiliary thyristor is immediately blocked when the line side converter is tumed on. This method of motor current interruption reduces the effects of pulsating torqueSpecial Electrical Machines .40;, POWER GONTROLLERS:- The schematic diagram of Fig.5.32 shows the power controller for PMSM ‘drive, The rnain functions required are speed control and torque control. Ts, tg - pus | xO) C) : to! | | | ee Te "ta | | cor Her ae ae | | ‘Signals 0 power dovicgs et Fomor positon | ent — i | t = | CONTROLLER...) oO | Fig. 5.32. Power.comtroller for permanent magnet synchronous motor +; ‘The permanent: magnet-synchronous motor rotates'due to the torque produced by two, interacting, magnetic fitlds: On-one,hand, there..is.a. magnetic field) from, the ‘pesmanemtimagnets mounted, in thejroter,-On the other hand, there.is/aimagnstic. field generated by the coils of the stator. a8 Joed ben , vyFox a,common 3-phase RM. synchronous, motor, a standard. 3~phase power stage is psed. So, the permanent.magnet synchronqus motors fed, directly from,a three, phase supply, When the-armature winding; draws.a;current,.the current distribution, wi the; stator,.armature, winding, depends ypon’.the,rotor position and the amine, on process of the devices, in the;pontrol, »Girouit.: The. sinewave :voltage output is torbe applied,to-the;3—phase winding system: in away: that angle between the:stator, flux,and the rotor flux is kept close to 90° to get the maximum generated torque. To, meet.this criterion, the motor requires electronic control for proper operation.| Permanent Magnet Synchronous Motor Ga ‘Fhe armature supply frequericy (armaturé is in stator, permanehit' magnet at the rotor) is changed in proportion to the changes in rotor Speed ‘so that the stator’field alway$ moves’ at the:same’ speedsas the rotor. The rotor position sensor is.required for accurate tracking, of the speed in order to prevent the motor. from pulling out-of step andito avoid-instability-due to the-change in forque or frequency: The torque is related’ with the d-axis &-y-axis' currents. In order t6 achieve the maximum torque/current ratio the d-axis current is set*to’Zero during the’ constant torque control so that the tarque is proportional only to.the'g-axis current, ‘Therefore, this results'in the-control of g+axis currentsfor regulating the torque in rotor reference frame. The total drive system looks similar to that-o6'BLDC. motor and consists-of PMSM, power electronic devices, converter, sensors.é& controller. With sinusoidally excited stator, the rotor: desighof the PMSM ‘becomes more flexible than the BLDC motor. If the motor windings are star connected without a neutral connection , Sophace currents can flow through the inverier at any moment. ‘i ret i } The PWM current control is still 1 ‘ust Either a hysteresiscurrent controller, a i controler with Sinusoidal iriaingle 0 or an SVPWM stratégy’ is employed for this’ purpost Unlike’ the’ BLDC’ ‘motor, the 3 switches are switched ai-any time. yo fg ser to regulate the actual machine current. Eat CONVERTER VOLT-AMPERE | ReGUIREMEN. s- The volt-amperes per watt of shaft power are sinewave values and represents the total apparent power at the motor terminals "#IGE where he wol-dinpeies per watt has been defined in terms of ihe. volt-ainpere- product required in the ratings of the semiconductor devices in the converter. The example calculations are all based on a two-phase motor and it was assumedthat each phase’ wasisupplied by a full bridge circuit, requiring 2 total of eight transistors. The nominal converter voli-amperes, based, on m.s. current in each device js,the peak Voltage, times; the number of devices, is therefore 2 x8x(1/¥2) 7 8VI 13 26.100) The same overall figure would result if'a single full bridge was used to supply both windings connected in a center-tap arrangement. If a three-phase motor was used, the terminal volt-ampere requirements would be the same, but with a three-phase bridge =Special Eleetrical Machines converter, the number of devices per phase is only two instead of four. Consequently the total device volt-ampere requirement is only 6 VI. With a nominal a.c. apparent power requirement of about 1.1. VA/W, raised to perhaps 1.2 to allow for core losses-and'friction, the rough average requirement of both the hybrid and. .the surface-magnet motors. can be reckoned as about 7.2 KVARKW. based on r.m,s. current, and,about 10 KVA/KW. based on peak. curvent, assuming a three-phase motor. A:siniple estimate of the converter *rating’ can be made:in terms of the total KVA rating ‘of its: mainswitches,.per KW of the power fed to the motor. The relevant parameters can be defined as follows. With respect to the't.m.s. current in each switch, if ‘g? is the phase number, then rms “KVAKW = 29 x1sxV5 (5.101) Where Ig The ms. current in each switch and Vg ~The peak voltage across each ovviteh In the sinewave. motor, the line currents are assumed to be sinewaves ss and each switch conducts a half sinewave for 180° and is then off for 180°. The r.m.s. switch Ve . . current is, hence Yr times the r.m.s. line current, which will ‘be'assumed to be the same asthe phase” current (Note thatthe. motor is:star connected). The peak device cient is equal to the peak phate cue - The peak line: line voltage of the motor is, MaYT 0,4 = VE Vp 2, 6.102) i at bey, rn svswiteh VA = . ..- (5:103) *: Beak switch® VA = 6V4 2 (5.104) Vv The converter power output = = 355 (5.105)i] Permanent Magnet Synchronous Motor [s.45} 5.12. TORQUE - SPEED CHARACTERISTICS OF PERMANENT MAGNET SYNCHRONOUS MOTOR The phasor diagram of permanent magnet synchronous motor has been studied in the section 5.6: It was also studied that the direct:axis current sets up mmf along the axis of the permanent magnet and the quadrature axis current sets up mmf along the axis perpendicular to the permanent magnet axis. The phasor diagram and associated voltage equations are used to derive the contro] laws and predict the performance of the permanent magnet synchronous motor in closed analytical form Ala given speed, E, is fixed by the magnetic flux [where E, is the back emf] and the torque is proportional to the speed. This relationship is valid even at zero speed. The linear relationship between torque and current is an important feature. It simplifies the controller design and makes the dynamic performance more regular and predictable. When the speed and frequency increase. the-current limit. locus remains fixed but there comes a speed at which the radius of the voltage-limit locus begins to decrease If PWM control is employed in the system under consideration, the PWM duty cycle reaches the maximum at the above said speed and the PWM control is sometimes said to have saturated at this. point. When the current reaches the rated value (Ic), the operation along the quadrature axis is possible, The speed at which it happens is called the ‘comer-point’ speed. It is the tiaximum speed at which, rated torque can be developed, If the speed increases further, the radius of the voltage ~ limit locus decreases. This decreasing radius of the voltage — Simit circle. ‘drags’ the.maximum current phasor further and further ahead of the g-axis, consequently q-axis current decreases and the d-axis Clirrentincréases in tiegative or deniagnetizing direction: The above condition can be continued upto a stage (say point M) at which speed, the maximum current (I;) can still be forced into the rotor entirely in the d:axis. Nis to be noted that no torque is developed-as torque is Proportional to the q-axis current. If the speed is increaséd beyond the above said point M, there is a risk of over current because the back emf E, continues to increase while the termirial voltage remains constant, The current is then almost a pure reactive current flowing from the motor back to the supply. There is a small g-axis current and a small torque because of Josses in the motor and in the converter. The power flow is thus reversed.5.46 Special Electrical Machines This mode df operation 18 Possible “Only ifthe motor over runs* the Converter OF is driven by an external load.or prime.mover. The reactive cuirtént is limited only by the synchronous-téactance: As:the speed increases, it approaches, the short circuit: current, swhich:rhay:be many times Jargerthan. thie normal current rating-of the motor windings ‘or the. converter. ‘This.-current .may,.be: sufficient. to. demagnetize the magnets particularly: if their temperature-is high... _ ‘ ‘The ‘totquetspeed ‘chafaetétisties of ‘the permanent’ magnet’ synchronous motor is shown in the Fig.5.33 : i T Vel We constant | (pip $33) Firyue-Speeit dlidrackeristis of petnidilént Hidigilet syrichronous motor “’ ig. given maximum permissible voltage (Vc) and maximum petmi dds tum torque remains constant from a low frequency to corner irequency (fq). Any further increase in frequency decreased the maximum torque. The shaded portion in’ the! t6ige-speed “chatdcteristi¢e” reptesenis “theperinissible® region of ‘Gpetatiot ih teiiflie Speed’uharadtenistits.”” ~ isi 9 aise pest a aint p oe 8 yb 5.13. MIGROPROGESSOR BASED:CONTROLOF, PERMANENT:MAGNET:! SYNCHRONOUS MOTOR To:meet the requirements Js on control accuracies, flexibi ease of operation, the usg.of microprocessor based, control, has become. imperative..As the microprocessor based control replaces the conventional hardware control, the control algorithms can easily f a ‘The simplification of hardware, sayes control electronics cost. and improves. the or aligred or improved without changing the hardware, | aystem reliability.Permanent Magnet Synchronous Motor S47 The schematic diagram for microprocessor based permanent magnet synchronous motor conirol is shown in the Fig.5.34. The permanent magnet synchronous motor is fed from a current sotrce d.c. link converter system. The system consists of 36 inverter—d.c. link ~ 34 rectifier system in which the rectifier is fed from a three phase a.c. supply Rectifier la ne = } Pusat | Current Lt — LE Firing circuit | Ye Fiing cicut = Optical encoder | amplifier [ Analog to digital Speed signal converter ‘Microcomputer Position signel t+ 10 fea} Terminal Fig. 34. Micro processor. based control of permanent magnet synchronous motor The machine has a stator which is fitted with a conventional three-phase winding and permanent magnets on the rotor. Motor operation is made self synchronous by the addition of a rotor position sensor that controls the firing signals for the solid-state inverter. In response to these firing signals, the inverter directs current through the stator phase windings in a controlled sequence. Nowadays, the self control has been the subject of increasing attention. as it ensures that the armature and the rotor fields move in synchronism for all operating points. The characteristics of the drive depends on the dc. link current, field cwrent, and the inverter firing angle. These variables areSpecial Electrical Machines independently controlled by the microprocessor to provide the desired features for all operating conditions. ‘In permanent magnet synchronous motor, the phase current is sinusoidal function of rotor position and an absolute encoder or resolver or other high resolution sensor is necessary to obtain position information with the required resolution. In this sinusoidal brushless motor, absolute rotor position information is required to atleast a 9 or 10 bit resolution. Sinusoidal reference current waveforms are generated with this precise position information. In the absolute optical encodes, an accurately patterned disk rotates between a Jight source. giving a unique digital output signal for every shaft position. Standard encoders are available with upto 16 bit resolution & with natural binary-gray code, of binary coded decimal output formats. However. each bit in the digital word represents an independent track on the encoder disk, resulting in a complex & costly sensor. Brushless resolver operation is based on inductive coupling between stator & rotor windings. The resolver with its resolver-to-digital (R/D) con ‘crter also gives pi In the schematic diagram shown, the system employs optical encoder which composed of a coded disk attached to the motor shaft and four optical sensors. thereby providing corrélation between rotor speed and position signals. The inverter triggering pulses are synchronized to the rotor position signals with a delay angle determined by an 8 bit control input. During normal operation, the inverter SCRs are naturally commutated-by the machine voltages. The programmable counter which is used for sensing the speed is fed with train of pulses having frequen proportional to the motor speed. The microprocessor gets the system variable signals (like rotor position, speed. d.c link current etc.) and the signal from input-output terminal, then accordingly issues control signals to the rectifier and inverter so as to get the desired motor performance.