Professional Documents
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Annual Meeting
New Orleans, Louisiana, October 59, 1997
2Dip. Ing.delllnformazione Universita di Parma V.le delle Scienze 43100 Parma ITALY
Phone + 39 521 905821
E-mail: chiara@ee.unipr.it
Fax + 39 521 905822
3ABB Servomotors S.r.1. - Fr. Stazione di Portacomaro - 14100 Asti - ITALY
Phone + 39 141 476857
Fax + 39 141 296455
Abstract
A design approach oriented to
minimization of torque-ripple is presented, for
synchronous reluctance motors of the transverselaminated type. First, the possible types of rotors
are classified and the more suited rotor structure
is evidenced, to be matched to a given stator.
Then, the inner rotor design is described, pointingout the low-ripple measures. Last, experimental
results are given, from three different rotors: they
confirm the validity of the proposed approach.
I. INTRODUCTION
Since
adoption
of vector-controlled
drives,
synchronous reluctance motors could represent a
viable alternative to other types of a.c. motors, such
induction or P.M. synchronous ones. Consequently,
the design of synchronous reluctance motors has
experienced a renewed interest, to obtain a
performance which is comparable with that of
competitors a.c. motors.
Many recent papers deal with this subject [1+16].
Some of them refer to the axially-laminated type of
rotor, while other consider the transverse-laminated
type, which looks as the most suited to industrial
manufacturing. However, the most of these papers
are mainly concerned with obtaining high anisotropy and high torque-per-volume values: very few
papers deal specifically with torque-ripple problems.
Fig. 1 - Two-pole,
I d
287
~ ( 56), and
B(5, 6 ) into
+c(-l,[
Thn,+1cos(hns6-y)cos(hns +1)5+
r r (n-5, f i ) = zr
(5, 6)
(6)
I({, e)= lo +
(7)
(16)
h
- zhn,-l
+c(-lr[
(10)
Iq((,19)=Io+c
IhCOS
h
Id (n- 5,6)= -ld(t,
hnS6.cos hns<
e)
(11)
(12)
(13)
-x
-R
R
hq(fi) OC
-R
IlqTqrdt
(17)
+I)<]
Eqs. (16), (17) can be substituted into the last two
integrals of (14), (15), together with Id, I, expressions
(IO), (11). Of course, the result is quite complicated.
However, let us simply observe that the I&, l,zq terms
do contain spatial (5) harmonics of hns+l order.
They can derive, obviously, from the harmonic terms
of (17) multiplied by I,. In addition, harmonics of
hn&l order are produced by the first-harmonic terms
of (16), (17) multiplied by the harmonic terms of
(IO), (1I ) , respectively. This second effect, very
similar to the former one, is often predominant in
practice, from a quantitative point of view.
Since the aim of this analysis is illustration of the
effect of a nr choice on torque-ripple, we must verify
the existence in the Zr factor (14), (15) of spatial
harmonics of ( h n d l ) order, which can interact with
stator ones, thus producing torque-ripple.
To find an analytical expression of Zr(c, 6) function
is a quite complicated task, in general. Some
simplification is achieved if the flow-through flux is
separated by that circulating across the airgap (zigzag), like it has been done in the simplest case of
Figs. 1+3.
Anyway, it is evident that the rotor must react by a
staircase function like those shown in Figs. 1+3.
However, the amplitude of the various levels are, in
general, modulated by 6. This because of the joint
effect of m.m.f. harmonics and permeance function
I(5, 19). Let us then focus our attention to two
particular cases: nr = n, and nr -+
For nr = n,, the m.m.f. harmonics are nearly
averaged over one rotor pitch, while the permeance
values at each end of a segment are in phase.
However, some modulation with 6 of the staircase
rotor reaction still exists, as shown in [14]. Anyway,
due to first-order m.m.f. excitation, the Tr reaction
-zhn,+lsin(hns6-y)sin(hns
(9)
l d ( 5 , 6 ) = - c lhsin hns6.sin hn,c
-1)c+
zhn,-lsin(hns6+y)sir(hn,
W.
(I5)
-R
288
(19)
l1;
I Yrl
4
0
289
Id
sin 5
d2
As
290
sin 5
F=+==-7
I A----
d2
Fig. 8 - Complete positive rotor (n, = 14), with ribs and constant
permeance.
VI. EXPERIMENTAL
RESULTS
At the aim of verifyiing the above reported design
strategy, also based on qualitative considerations,
some experimental results are here shown. Three
different rotors have been built. They have been put
into the same stator structure. In addition, two
different windings have been provided, to point-out
the effect of belt harmonics.
The stator lamination has 36 slots. The two windings
are three-phase four-pole: thus there are 3 slots per
pole.phase (n, = 18). One winding is full-pitched,
while the other one is made by three equal sections,
shifted by one tooth-pitch. Thus, the conductor
distribution of one phase belt is 1:2:3:2:1, covering
five slots. By this second winding, called distributed
in the followings, the belt-harmonic contents has
been definitely reduced.
The three rotors are four-pole, with a different n,
number: 18, 14 , 22. Thus, the case n, = n, and the
two ones of condition (19) are covered. These rotors
are of the transverse-laminated type, with ribs
disposed on the rotor surface only. The rib width is
constant and the rib flux is not compensated by
barrier permeances. Moreover, while the nr=l4 rotor
is complete, both nr=18 and n,=22 rotors are
incomplete: the barrier permeances have been
designed accordingly. The outer stator diameter is
119 mm, while the stack length is = 60 mm. Thus,
the obtained motors are quite small and short. Their
rated torque is, approximately, 3+4 Nm without
forced cooling, as usual for servomotors. All the
rotors are skewed by one stator pitch: thus, the
obtained ripple valules are fairly small in every
situation. The showin differences must then be
attributed to the different rotor and winding designs.
The torque-ripple has been measured by a proper
test bench. The testeld motor is supplied by current
vector control and id, i, currents are set, in order to
obtain a torque which is nearly three-times the
rated one (= 9 Nm). The angle of the current vector
is close to 60. The tested motor is connected,
through a torque-meter, to the low-speed output of a
1:120 gear. The high-speed shaft of this gear is
driven by a speed-controlled brushless drive. In this
way, the speed is imposed by this drive through the
one-way gear, Thus, the tested motor sees a virtually
infinite inertia and the speed is completely
decoupled from torque-ripple of tested motor.
The obtained results are shown in Figs. 1 0 4 4 . They
show, together with the measured torque-ripple, a
phase current signal of unity amplitude, to give
evidence to the harmonic orders in the ripple signal.
T ["I
I ,
11
10
10
9
I
9
I
8
7
0.83 rpm
6
5
T ["I
6-
4R=ra=a
5
3
2
4
31
--
A , 0
e [rad].
2n
T ["I
31
21
1
0
I
I
10
292
11
[lo] Boldea I., Fu Z.X., Nasar S.A.: "Performance evaluation of axially laminated
anisotro ic ALA) rotor reluctance synlchronous motors", IEEE-IAS'Q, Houston
(USA), 8ctober 1992, vol. I, pp. 212-2W.
[l 11 Matsuo T., Lip0 T.A.: 'Rotor design optimization of synchronous reluctance
machine", IEEE Powe! En Socie Summer Meeting, July 1993.
[12] Staton D.A., Millerf.J.E., i o o d S.E.: Maxtmizing the saliency ratio of the
synchronous reluctance motor", IEE Proceedings-6, vol. 140, n. 4, July 1993, pp.
249-259.
1131 Balbo N, DAndrea R., Malesani L., Tomasin P.: "Synchronous reluctance
motors for low-cost, medium perfomancel drives", EPE93, Brighton, Sept. 1993, vol.
6 Drives II, pp. 77-81.
[14] Fratta A., Troglia G.P., Va ati A , Villata F.: 'Evaluation of Torque Ripple in
High Performance Synchronous !leluc$nce Machines", IEEE-IAS Annual Meeting
1993, Toronto (Canada), October 1993, vol. I, pp. 163-170.
[15] Vagati A.: "Synchronous Reluctance Drives", Tutorial IEEE-IAS Annual
Meetin Denver (USA), October 1994, Section 3.
(161
alesani L.: "Synchronous Reluctance Drives", Tutorial IEEE-IAS Annual
Meeting, Denver (USA), October 1994, Section 7.
[17] Vagati A.: "Synchronous Reluctance Electrical Motor having a Low TorqueRipple Design", U.S.A. patent applicatilon 08/671/653-06/28/96.
T I"[
10
a
7
6
5
4
&
n:
2n:
VII. CONCLUSIONS
A design approach specifically oriented to torqueripple minimization for synchronous reluctance
motors has been presented and confirmed by
experiment. It has been shown that a rotor of the
transverse laminated type is fully compatible with
realization of a low-torque-ripple machine.
The obtained ripple values are equivalent to or
lower than those of usually adopted brushless
(S.M.P.M.) servomotors. In addition, very good
results can be obtained, even in the case of fullpitched windings. This makes this type of machine
suitable to be wound automatically, even if highperformance are required.
On the other hand, when a !%IO% ripple is tolerated
by the application, this result can be achieved
without rotor skewing, which represents an additional
saving in motor cost, particularly in case of massproduction.
REFERENCES
111 Fratta A., Vagati A.: "+ly
laminated reluctance motor: an analytical
approach to the magnetic behaviour", ICEM'88, Pisa (Italy), 12-14 Sept. 1988, vol.
Ill., pp.1-6.
[2]
Miller T.J.E., Debebe K.: "Design of a synchronous reluctance motor",
PCIM-MOTORCON Conf. Proc., Munich (Germany), June 1989, pp. 6-8.
(31 Miller T.J.E., Cossar C., Hutton A.J.: "Design of a synchronous reluctance
motor drive", IEEE-lAS'89, San Diego (USA), Oct. 1989, pp., 122-127.
[4] Platt D.: "Reluctance motor with strong rotor anisotropy", IEENAS'90,
Seattle (Usa), 7-12 Oct. 1990, pp. 225-229.
[SI Staton D.A., MiLr T.J.E., Wood S.E.: "Optimization of the synchronous
reluctance motor geometry", IEE Electrical Machines and Drives Conf., London,
(UK), Sept. 1991, pp. 341:
[6] Marongiu I., Vagati A.: "Improved modelling of a distributed anisotropy
synchronous reluctance machine", IEEE-IAS Annual Meeting 1991, Dearborn
(USA), October 1991, pp. 359-364.
[7] Boldea I.: "Emerging electric machines with axially laminated anisotropic
rotors: a review", Electric Machines & Power Systems,1991, pp. 659-671.
[a] Lip0 T.A.. Editor (Course FacuHy: Fukao T, Lip0 T.A., Malesani L., Va ati
A.): "Svnchronous reluctance motors: a new alternative", Tutorial presented ct.
1992 at IEEE-IAS'92, Houston (Usa), October 1992.
[9] Vagati A., Franceschini G., Marongiu I., Troglia G.P.: "Design Criteria of
Hiah Performance Svnchronous Reluctance Motors", IEEE-IAS Annual Meeting,
H&ston (USA), October 1992, vol. I, pp. 66-73.
293