Permanent magnet, synch, no [ a «MOUS mach rformance characteristic 4. Chines gone - daa single (or) polyphase aq S"*htonoug rtnerally have the same operating pove which operation , UrCe of AG Suppl nes while running at synchronous jit ® Hon at Synchronous Plying the armature windings, a power woke place. Speed is unstable, reversible power flow APM machine can have & confi, wt ventional synchronous machine with eee almost identical to that of the retin ‘sence of sliprings and a field winding. Armature windings are generally do ; . bli yound. Individual coils are connec! of le layer (two coil sides per slot) and lap S are c together to form phasor groups. Phasor groups areconnected together 1 Series/parallel combinations to form star, delta, two phase (or) single phase windings. Stator winding Permanent magnet Figure 4.1 AC windings are generally short pitched to reduce harmonic voltage fenerated in the windings. i i .d from each other in the end-turn Coil dd phases must be insulated from « ‘tions and dherequired ‘tislectrie strength ofthe insulation will depend upon the voltage "ting of the machine.In a PM machine, the airgap serves an important role Length of Sa largely determines the operating point of the PM in the no load operating condition of the machine. Also, longer the airgap lesser the machine windage losses. Rotor PMz form the poles equivalent to the wound-field poles of conventional synchronous machines. Permanent magnet poles are inherently “salient Many permanent magnet synchronous machines may be cylindrical or “smooth rotor” physically, but electrically the PM is still equivalent toa salient pole structure. Some of PMSM rotors have permanent magnets directly facing the airgap. It is shown in figure 4.2 Rotor yoke is the magnetic portion of the rotor to provide a return path for PMs and also to provide structural support. The yoke is often a part of the pole structure. Damper winding is the typical cage arrangement of conducting bars, similar to induction motor rotor bars and other types of synchronous machines. Damper bars are mainly employed in machines used for power applications. ‘The main purpose is to damp oscillations about synchronous speed, but damper bars are also used to start synchronous motors in many applications. ‘The design and assembly of damper bars in PM machines are similar to the other types of synchronous machines. Rotor Configurations Non-magnetic bolt Damping ring Stee! rotor hubs Solid steel pole shoe Magnetic winding Permanent magnet blockxm) lod. “ccording to their rotor configuration synchronous machines arg classifi Asa starting point in 4 rotor conventional salient-pole tyne i PM “/Nchronous motor, we can atart with "irom field poles or a radial sect Mthine rotor and merely replace the peut 4.2 shows the salient pole rotor using Ate separ permanent mayneta. ere are four general . nes me Seneral t¥PeS Of rotor in PM synchronous machinon, , Peripheral The permanent magnet a: Beers cheeses serie a on the rotor periphery and PM flux in radial 2 Interior PMs are located in the interior of i ; r own in figure 4.3, the rotor and flux is generally radial. It is Non-magnetic material _> Magnet - Rotor cage bar (circular) _~ Non-magnetic steel shaft Rotor-iron lamination Sator-iron lamination \ Claw-Pole or Lundell 2, sz (SoS. Figure 4.4zed axially. Long, soft-iron extension, he discs like ‘Claws’ or lundel fh dise which alternate with eac) Figure 4.4 shows the claw-poie PMs are generally disc-shaped and magnet emanate axially from the periphery of t! poles. There is a set of equally-spaced claws on eae! other forming alternate north and seuth poles. configuration. 4. Transverse . etween soft-iron In this type, PMs are generally placed between 50} t circumferential. Figure 4.5 shows the transverse type rotor. Here, dapat in the soft-iron poles indicate damper bars. Magnetically, this configwrasio, on similar tog reluctance machine rotor, since the permeability of the PMs ts very tow, almost the same as that of a non-magnetic material. Therefore, reluctance torque-as well as torque resulting from the PM flux is developed. poles and the PM flux ig Magnets Aluminium wedge Figure 4.5 TH 4.3.1 Emf Equation of PMSM Learning Objective (LO 3) “ Students will be able to deduce emf equation of PMSM. PMBL SNW motor is construction wise same as that of PMBL square wave motor. The armature winding and shape of the permanent magnet are so designed that the flux density distribution in the airgap is “Sinusoidal” i.e, magnetic field setup by the permanent magnet in the airgap is sinusoidal.a i Incase of open circuit, there ig resent in thi 20 cure 7 agnet PI e rotor, Hence, flux jj dy = $x Number nt in stator coil and flux in airgap is due to of coil is of ; N Conductors in stator in any angle d0 dy = ox se, 2 sin 6 de for p=1 N, (or) dy = + sin pe de Figure 4.6 Figure 4.6 shows the equivalent open circuit model of PMSM. Tocalculate flux linkage, consider coil formed by elementary group of conductors Within angle dé at an angle of @ with stator horizontal axis. Assume return conductors of this coil are located within angle dé at an angle of - 0. e 6 = JB(0)n, ¢do - B@ = Bcos(pe-a) B@) = Bcos(9-a) forp=1 ; B — Peak value of flux density in airgap produced by magnet acting alone @ ~ Angle in electrical radians ae . SS oN Substitute B(8) in exception for é [B cos (poeta) £49 _(wisinelectrical radians} + Br, ¢ {foos (po-(ot+a))do a [eeleecteesll rn Figure 4.7 b= Pat [sin (p0-(at + ))-sin (-P0-(at+))] = Bit [sin (po-(ot +a))+sin (p0+(ot+a))] [+ sin(-0) = sin 0] Pp ts PAE [2 sin pcos (t+ )] { sin(A + B) + sin (AB) = 2sin A cos B) B(2n)é P BDe P [sin p@ cos (wt +a)] [sin p@ cos (wt + a)] @oan en nial when * and t= 9 > soe +m (| Now, w= ON; Using (1) BDe N, > [sin PO cos (at +a) | x =p Bin po do BDA N, ne ? pO cos («ot + a.) —* a do BDIN, .. = ——+sin’ p0 cos (wt +a) do ve (2) 2p Total flux linkage of winding is obtained by integrating contributions of all dementary coils with ‘p’ number of poles. ie, nl) Va= P J dv é wl) ra ‘BANS sin? po ens (ot +a) 0 Beene cos (ot +a) i sin? pd d0 0 */P 1_ cos 2 BDIN: cos (at +a) fe 20? ao i DEN, 1 9 _ si i Bl F no (ota) 30 sin 2p0« >ifn. a = exe (ot -a)«2{E sin 20 5 ] 7 tra) |_% —sin 2nx = cos (wt +a) | 5 ap = BPM con(atea)]Z] — [esin n= 0) 2p BDEN, 4p BDty . % 4 cos (wt +a) x cos (wt +a) BDé Wm = om Nyx Fons (wt +a) [- bm = | Instantaneous value of phase emf 9m No BE sin (ot+a) The rms value of emf is Enax Erma = a gt [-D=25] E,,, = BBN ze 22 4 where, N, =< Ky Nj,- Number of effective sine distributed turns per phase. OB in 4 wa Ke Ny = 2oBye y Ja Nw = BO )ex ant va KLNy, [- © Ont] _ BDr« ont Bee [ou OY Pp Qn Kenta fs pea] La Induced emf has both quadrature and direct axis component Ep, = Ey+jE, Eph = 4.44 by, Noy Ky where, K, - Winding factor = K,K, “ K,(or)K, — Distribution (or) breath factor K,(or)K, — Pitch factor . mp sin qe — 3 / m sin 5 here, m — Slots per pole per phase 180° B — Slot angle = “Slots/pole a), K,= cos (3) / where, @ ~ Angle of short pitch4.3.2 Torque Equation of Permanent Magnet Synchronous Moto, Learning Objective (LO 4) > Students will be able to derive the expression for torque of PMSM motor. Consider two pole machine. Stator conductors are sine distributed as sine distributed conductor around stator bore. " N, .. In angle d0, number of conductors 2 sin p6 dé Ampere conductors = x sin pO ¢id6 Flux direction is more in ‘d’ axis which is displaced by a positive angle a. B®) = Bcos(pe-a) where, B —- Peak airgap flux density produced by magnet BO) = B® sinpo cos(po—a) 40 Another force is being exerted on opposite element Total force exerted over stator conductor is 2 F. Since stator is stationary, an equal and opposite force acts on rotor and total electromagnetic torque on rotor is integration of an elementary contribution over pole airgap periphery [over ‘p’ number of pole pairs] Rf T —p | 2Fr, de 6 r/ -p2ry fs £1 Xe sin po cos(po~a) d8 o2" Ne =F 8in 840 conductors pI b (gary o-* with pure (b) Tums/pole for (c) Tums/pole for Permanent- — two-pole winding four-pole winding ) deal sinewave brushless motor sine-distributed phase winding and magnet rotor with sine-distributed flux Figure 4.9 ws. NS. F= -2y JB ¢i “+ sino cos(0-a) do (p= Lone pole) é -2n 8 iS Jsino cos(0-a) a0 H [x A cosB = sin (A+B) sant =B) 2 sin(0+ 0-1) +sin(0-0+8) ag =. Ne ~2n Birt | ® = ~ 2,8 i Ne [sin(20-a) + sina do 4 0cos(2n-a) 2 gos(-a) - V. + . as line Steam ith . aaa 90°, 90° < a < 180°, the source side converter cts . ly controlled recti 5 eves Sotoring operation. rectifier and the load side converter giv On the other hand, for firing angle range lies between 90° < a, < 180° and rsa; $ 90", the source side converter works as an inverter and the load side converter acts as a line commutated fully controlled rectifier. Here, machine works under regenerative braking mode since power flows from motor to AC source. Speed of the synchronous motor can be controlled by varying the firing angles of source side converter and the torque of the synchronous motor depends on [Vas - Vatl- The care must be given in choosing firing below 180° during inverter operation in order to avoid commutation overlap. B, = 180°-a, where, B, — Commutation lead angle Neglecting commutation overlap, input line voltage leads the line current of the converter by an angle a,. In this case, input current of converter and synchronous motor has an opposite phase. Therefore, input current of synchronous motor leads its terminal wltage by an angle ,. Thus, operating at leading power factor. Generally, Bis of very small value and so the rating of inverter gets lowered for high power factor operation. 8, = Constant value; for load side converter acts as line commutated inverter By By using constant margin angle control, power factor can be improved hich in turns reduce power rating of load side converter when operated as line “Ommutated inverter. 180° (or) a, = 0°; for load side converter acts as rectifier During reverse bias of thyristor during commutation, due to commutation lap, “wrrent flow through thyristor reaches 2eTo-(ie) y= Bou And, Y = Why (For proper turn - off process of thyristor) where, w — Frequency of motor voltage in rad/s ty - Turn off time of thyristor Applications * High power and very high power drives * High speed drives like blowers, conveyers, steel! mills, flywheel energy storage, compressors, extructers, induced and forced draft fans, fans, main line traction large ship propulsion, aircraft test facilities etc., * Starting of large synchronous machines in gas turbine and pumped storage plants. Advantages i) It does not require commutation circuits ii) Frequency of operation can be higher iii) It can operate power levels beyond the capability of forced commutation. Load side converter performs some what similar function as commutator in a DC machine. The load side converter and synchronous motor combination functions similar to a DC machine. First, it is fed from a DC supply and secondly like a de machine the stator and rotor fields remain stationary with respect to each other at all speeds. Consequently, the drive consisting of load side converter and PMSM is known as “Commutator less de motor”. ‘At low speeds, motor induced emf will be insufficient to commutate the thyristors of load side converter. Therefore, at start and for speeds below 10% of base speed, the commutation of load side converter thyristors is done by forcing the current through conducting thyristors to zero. This is realised by making source side converter to work as inverter each time load side converter thyristors are to be turned off. Since the frequency of operation of the load side converter is very low compared to the source frequency, such an operation can be realised. The operation of the inverter is termed as “Pulsed mode”. Note: Commutation load angle “B, =180° - 0,” If commutation overlap is ignored, the input AC current of the converter will lag behind input AC voltage by angle ‘a. Since motor input current has an opposite phase to converter input current, the motor current will lead its terminal voltage by an angle ‘fr ‘Therefore motor operates at a leading Pf.7 Phase of terminal voltage — fir limiter @,(actual speed) Figure 4.16 Figure 4.16 shows the closed loop speed control of LCI fed synchronous motor ~ 1 with a limiter, like trol loop and inner current control with a limiter, li] Saat eee sensor generates reference pulses of the same tee aoe ne termine duced voltages. The phase delay circuit shifts the reference machine-1 ; nee vse suitably to obtain control at a constant commutation lead angle ‘Bi’ ‘i i ing (or) . ed error, ‘fj,’ is set to provide motoring Depending on the sign of 6 be sensed either from the terminal voltage sensor ‘raking operation. Speed ean inerease in reference speed, produces a postive r) from a separate tacho meter. a toring operation. The speed controller and current limiter wet ie an sai fe oterence” at the maximum permissible value. e link current(EN, nm ace .e desired speed, the current lim d and at the DC-link current whieh The machine accelerates fast when close to th de-saturates and the drive settles at the desired spec’ balances motor and load torques. Similarly, reduction in reference speed, sets 'f,’ for regenerative braking operation (i.e 180° speed error changes sign, 'B,’ value is set for motoring the desired speed. Advantages of this Drive produces negative speed error, Ty, ) and the motor deaccelerates, Wh, operation and the drive settles at i) High efficiency. ii) Four quadrant operation with regenerative braking is possible. iii) High power ratings (up to 100 MW) and run at high speeds (6000 rpm). 4.6.2 Vector Control Learning Objective (LO 9) + Students will be able to describe the operation of vector control of PMSM for variable speed operation. Electro magnetic torque is developed due to the interaction of the current carrying conductor and magnetic field. Figure 4.17) shows flux axis which is in quadrature with the armature mmf axis, Each and every armature conductor experiences a force which contributes to the torque. i Field axis Figure 4.17 The torque contributed by armature conductors have the same direction. It is observed that for the steady state and dynamic performance such 8 arrangement are better.Case (Figure 4.17 (ii) oo ‘Angle between the axis ofthe flux and th In this case, some condueto, e armature develop in the opposite direction, “'°P torque in one direction, while the sesobserved that both the stoaq y. For a BLPM SNW motor tg h Y a and dynamic performance of such a motor vy ssential that the armature mmf an ®t steady state and dynamic performance, a operating conditions, Sand the axis of the PM are to be in quadrature is mmf axis is different from 90°. Tshy+ I, where, 1, - Direct axis current T,- Quadrature axis current Desired operating point of current is such Tis along the ‘q’ axis Controlling the BLPM : SNW motor taking into consideration above nentioned aspects is known ag “Vector control. of BLPM SNW” motor. lector Control that i, =0 The vector control decouples the riding the air-gap flux and the other introl of flux and torque, and the con two components of stator current: One ‘Producing the torque, It ‘provides independent trol characteristic is linearized. iperating Principle of Vector Control Figure 4.18 shows the simple block diagram of vector controlled induction motor. r BLPM “ Inverter SNW Motor Figure 4.18 There are two current inputs fed to the vector control. One is its, and other ity. ity — direct - axis component of stator current. a i* quadrature - axis component of stator current. iy i . With vector control, ously rotating reference frame. : sig Tose caren = aynchvon i aad, ig 8 analogous to armature current I, of DC *atoy,Figure 4.19 where, G, — Absolute peak value of the sinusoidal space flux linkage vector. ig, - Field component. ig — Torque component. Figure 4.19 shows the space - vector diagram for vector control. ita, is oriented (or aligned) in the direction of motor flux §, -i',eis perpendicular to , under all operating conditions. The space vectors rotate synchronously at frequency @,. ‘Thus, the vector control must ensure the correct orientation of space vectors and generate the control input signals. Figure 4.20 shows the vector control implementation principle with machine de - q* model. Machine cos 0, sin 0, Inverse transformation Transformation Figure 4.20 ‘The inverter generates currents i,, i, and i, in response to the corresponding command currents i,", i," and i,’ from the controller. The machine terminals currents, igs ip and i, are converted to igs? and igg* components by three-phase to two-phase transformation. These two components are converted to synchronously rotating frame (int ge and igg) components by the unit vector components cos 0, and sin 0, before applying them to the machine. The machine is represented by internal conversions into the de — q® model.ntroller makes two The co igen” Stages of transforma ntrol currents ia," and . et a ae that, the unit vec it A 4.20. tion as shown in oe 7 “orrespond to the machine Sralieemeet of igs tor (cos O,and Sin 0.) ensures correct al tor Y, and, j 4 ith the flux veo fe 08 nt wi yr | igs Curr; ve that, the transformation Not do not incorporate any dy; ly iaet jing the inverter And inverse transformation including dq. Tamics. neous expect for any del. ta san tic Diagram nt is perpendicular to it. and ig, is erefore, the response ie imes. '¥8 due to computational and samp! re 4.21 shows the block diagram of Vector control of BLPM Figu SNW motor. NW motor trol of a BLPM S! diagram of vector con! Lo k dia Figure 4.21: Bloc