Aplicaţia 5

MODELAREA ŞI SIMULAREA
MOTORULUI SINCRON
A. PERMANENT MAGNET SYNCHRONOUS MACHINE
The SM can’t start by itself. If the rotor has a start squirrel cage the motor start in asynchronous mode
having the excitation short-circuited on a resistor. If the speed is near to synchronous the start device fed
the excitation with DC voltage and the motor catch its synchronous operation. The PMSM has salient
poles, that generalized the sunk poles motor. The absence of the squirrel cage damping circuit encreases
the answer velocity of the drive motor. On the (d;q) axis of the rotor we have not the equivalent damping
circuit. The PMSM voltage equations on the (d;q) axis are:

dd d dq d
v d  Rd id   q ; v q  Rq i q   d
dt dt dt dt
(11)
The PMSM flux equations are

d  Ld id   'Eh ; q  L q i q ;  ' Eh   ' P (12)

’P= the PM excitation flux reported to the armature.

The electromagnetic torque is:

 
Tem  p d i q  q i d  p ' P i q (13)

If the currents are chosen as state variables, the fluxes from (1) are substituted with (2). In order to be
solved, the system must be in explicit form (14).

 did 1

 dt L  Rd id  Lqiq  vd
 
 d
 diq 1

dt

L

 Rqiq  Ld id    'P   vq  (14)
 q
 d p
  
p 'P iq  Tw 
 dt J
If the PMSM has sunk poles the parameters takes the particular values: R d = Rq = Rs; Ld = Lq = Ls; Ldh = Lh. All
the rotor parameters and variables are reported to the stator.
Many PMSG are fed by a six pulses voltage converter which is supplied from the network through a diode
bridge.
The present modell takes into consideration the movement equations in the PMSM modell and the
operating principle of the voltage converter associated with the current controller. The equations (15) give
PMSM modell and represents a nonlinear system. The state variable are: id, iq, .
 d
X  A X  BU
dt (15)
Y  C X  DU

Corresponding to the equations (15) the matrixes are given in (16). In Simulink Block Library among the
linear blocks there is the state - space which allows to describe a linear time-invariing system by its
matrices.

Rs
 0 0 0
Ls
id
Rs ' P
X  iq ; A 0   0

Ls Ls
2
P ' P
0 0 0
J
(16)
vd vd
1
0 0 1 0 0 vqvq
Ls
1 i d z1
B  0 1 0 0 0 ;U  
Ls i q z2
p id iq z3
0 0 0 0 0 
J Tw Tw
In order to assume a nonlinear system like a linear system is necessary to introduce the following
supplementary variables on the places of variables products: z1=id; z2=iq; z3=id iq. (Fig.18)
The block circuit of the drive system (fig. 19) consists of: rectifier, voltage inverter, current controler, rotor
position transducer and PMSM. The Simulink Toolbox allows to draw the block circuit of the Drive System
(fig. 20).

Figure 18. The block-circuiot of multiinport, multioutport (MIMO) liniarized system.

The six pulses voltage inverter consists of 6 power switches which operate in respecting the following
rules:
-the devices connected at the same DC cap can not operate simultaneous. The situation can be
represented with 3 logical functions (a1, a2, a3). Each function has the value 1 when the above device is
close and the below device is open. The opposite situation when the function has the value 0 corresponds to
the contrary: the above device is open and the below device is close.
 Figure 19. The block circuit of the PMSM drive system.

Figure 20. The Simulink circuit of the state space equations (15)
The voltages at the PMSM caps are given in Table 1 in function of the DC electromotive voltage. There
are 8 conduction states of the voltage converter.[5]
The transformation of the stator currents of the three (1,2,3) machine phases to the two ( α;β) stationary
machine phases is given by :

i1
i
 C123 i 2 (17)
i
i3
1 1 3
1   i 0
2 2 2 2 i1
C123  
3 3 3 i 1 1 i2
0  
2 2 2 2
(18)

Translating into rotor (d;q) coordonates it is:

i id cos   sin 
 Cdq  ; Cdq   (19)
i iq sin  cos 
Because the prescribed values are in (d;q) coordinates which practically not exists the controllers actuate
over the real currents. In order to control the electromagnetic torque of the PMSM the easyer method is to
choose:
id pres = 0. [4]
The result is:
 i pres  i q pres sin 
 (20)
i  pres i q pres cos 

The inverter circuit generates the voltages of the converter in function of (a 1, a2, a3) corresponding to the
table 1. The Park coordinates transformation allows to calculate the voltages in the rotor coordinates
system. The state space modell of inverter is drown in fig. 21 and the drive system is given in fig. 22.

Table 1. The phase voltages of the converter

a1 a2 a3 V1 V2 V3
0 0 0 0 0 0
0 0 1 -E/3 -E/3 2E/3
0 1 0 -E/3 2E/3 -E/3
0 1 1 -2E/3 E/3 E/3
1 0 0 2E/3 -E/3 -E/3
1 0 1 E/3 -2E/3 E/3
1 1 0 E/3 E/3 -2E/3
1 1 1 0 0 0

Figure 21. The Simulink circuit of the six steps inverter.

Figure 22 The Simulink circuit of the PMSM variable speed drive system
 Figure 23 The Simulink circuit of the MSMP fed by PWM inverter with cascade control.

The block work machine torque (fig.20) allows to define the mechanical characteristic of the load. The
scope block selects the graphical variations to be plote.
The PMSM can start in open loop (fig.19) because speed and current are prescribed separately or in
closed-loop (fig.23) when speed and current are control in cascade. The PWM inverter is built entirely with
standard Simulink blocks (fig. 14). The load torque applied to the machine's shaft is set to its nominal value
and has a step down variation at 0.03s. Two control loops are used: the inner loop regulates the motor's
stator currents and the outer loop controls the motor's speed.

Figure 24 PMSM mechanical characteristic fed by PWM voltage inverter

Figure 25 PMSM torque variation by fed by PWM voltage inverter

The noise introduced by the PWM inverter is also observed in the electromagnetic torque waveform (fig. 25).
However, the motor's inertia prevents this noise from appearing in the motor's speed waveform (fig. 26).
The mechanical characteristic (fig. 24) show a great torque over 30 Nm initially which falls down after
few oscillations to its value for steady state operation, were it stabilizes. (fig.25). The stator currents are
quite "noisy," which is to be expected when using PWM inverters. The rotor speed increases fast to its
synchronous value after a few oscillations and preserves its value (fig.26).
 Figure 26 PMSM speed variation by fed by PWM voltage inverter

Figure 27 PMSM stator currents in rotor reference frame

Figure 28 PMSM stator currents fed by PWM voltage inverter

The currents (fig. 28) are initially high, like the torque in order to develop the kinetic energy to
accelerate the rotor. After a delay the currents stabilize to their nominal value. In rotor coordinates the
currents respect the same variation imposing a zero medium value of longitudinal current (id). (fig. 27).

III. CONCLUSION
The modelling and simulation allows to develop a virtual laboratory in order to study the
behaviour of the electric drives in transitory regimes using dynamic simulation results. The IM motor can
start without converter but PMSM must start with electronic converter. Yhe simulation results can be
analized on the mechanical characteristics and on the torque, speed and currents oscillograms. This
characteristics and time variations demonstrate the risks of the direct starting. In case of the rheostat
starting the correct design containing the resistance values and the time delays can be validated.
Feeding the motor via electronic converter the harmonics content can be analysed and reduced. If an
ordinary PID controller must be adjusted, the influence of its coefficients modification on the control
quality can be identified.