6114
7, JULY 2018
Development of a Prime Mover Emulator Using a
Permanent-Magnet Synchronous Motor Drive
Po-Yen Chen, Kai-Wei Hu, Member, IEEE, Yi-Guang Lin, and Chang-Ming Liaw
Abstract—This paper presents the development of a surface-
mounted permanent-magnet synchronous motor (SPMSM) drive
for constructing the prime mover emulators. It draws power from
the mains via a single-phase boost type switch mode rectifier (SMR)
with good line drawn power quality and well-regulated dc-link volt-
age. The SPMSM drive control scheme can be arranged to drive
the tested generator in a conventional speed control mode or a
specific wind turbine torque–speed control mode. For performing
the prime mover loading test, an interior permanent-magnet syn-
chronous generator (IPMSG) followed by a three-phase Vienna
SMR is established. It receives the mechanical driven power from
the prime mover and establishes a 400 V dc-link for a dc mi-
crogrid. Various wind turbine torque–speed characteristic curves
under different wind speeds can be faithfully emulated by the de-
veloped prime mover. And the maximum power point tracking
function for the IPMSG followed by Vienna SMR is achieved using
the perturb and observation method. The established whole prime
mover emulator driven IPMSG system is evaluated experimentally
under autonomous and microgrid interconnected operation.
Index Terms—Current control, maximum power point tracking
(MPPT), permanent-magnet synchronous motor (PMSM), prime
mover, speed control, switch mode rectifier (SMR), torque control,
wind turbine.
I. INTRODUCTION
IND generator is one of the most commonly used re-
W newable sources [1] in microgrids [2], [3]. The survey
for the comparative characteristics of various wind generators
and their interface power converters can be referred in the litera-
ture [4]. Compared to other generators, wind permanent-magnet
synchronous generator (PMSG) possesses many merits, such as
high power density, compact and light, high efficiency, etc.,
particularly the interior PMSG (IPMSG) [4]–[7].
For establishing a high-performance PMSG, a suited three-
phase ac/dc converter with proper vector control should be
equipped to avoid the great extent of derate [2]. To yield better
armature sine-wave current waveform, the switch mode recti-
fier (SMR) is normally used as the ac/dc followed converter
of a wind PMSG. The reviews of some existing single-phase
Manuscript received November 19, 2016; revised March 6, 2017 and July
11, 2017; accepted August 14, 2017. Date of publication August 29, 2017; date
of current version March 5, 2018. Recommended for publication by Associate
Editor B. G. Fernandes. (Corresponding author: Chang-Ming Liaw.)
The authors are with the Department of Electrical Engineering, National
Tsing Hua University, Hsinchu 30013, Taiwan, R.O.C. (e-mai: heygothisway@
hotmail.com; kaiweihu@hotmail.com.tw; yi.guangqq@gmail.com; cmliaw@
ee.nthu.edu.tw).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPEL.2017.2747221
0885-8993 © 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO.
, Member, IEEE
and three-phase SMRs have been given in [8]–[10]. Taking
compromised considerations in power device number, opera-
tion quadrant, and SMR pulse width modulation (PWM) control
flexibility, the three-phase three-switch Vienna SMR is regarded
as the best choice [2], [10]–[12]. In addition, the brushless dc
PMSG operation mode with suited commutation instant setting
and tuning should be made to obtain high efficiency gener-
ation [2]. In [11], the mathematical analysis for the feasible
operating region of the PMSG/Vienna configuration is pre-
sented. Then, a maximum-efficiency control strategy is pro-
posed. In this paper, an IPMSG followed by a Vienna SMR is
established and used as the load of the developed emulated wind
turbine.
For facilitating the research work conducting in the labora-
tory, a wind turbine emulator (WTE) is needed to faithfully
replicate the actual wind turbine static and dynamic behaviors.
Till now, some WTEs using different motors are being developed
[13]–[18]. The dc motor is employed in [13] while the inverter-
fed induction motors are most commonly used in the WTEs
developed in [14]–[17]. The emulated wind turbine power-
speed curves are evaluated in [13]–[15]. To preserve the high
torque density, a PMSM-based WTE test-rig has been developed
in [18]. However, the proper PMSM vector control to yield the
efficient and faithful emulated turbine power-speed character-
istics is not presented. In the developed prime-mover emulator
based on surface-mounted permanent-magnet synchronous mo-
tor (SPMSM) and its IPMSG test load, the vector controls for
the two machines are all properly treated. And a single-phase
SMR is employed to power the developed WTE from the mains.
Well-regulated dc-link voltage and good line drawn power qual-
ity can be obtained simultaneously. In the maximum power point
tracking (MPPT) control to extract maximum wind energy and
convert to electric energy by the generator [19]–[21], the per-
turbation and observation (P&O) method is applied here.
Compared with other electric motors [5], [20], PMSMs have
higher power density, efficiency, and torque generating capa-
bility. PMSM can be roughly categorized into SPMSM and
IPMSM. The IPMSM may have slightly higher torque generat-
ing capability owing to the existence of reluctance torque com-
ponent. However, its inherent cogging torque renders it more
difficult to start and also possesses larger torque ripple. Hence,
the SPMSM is adopted as the actuator of the developed wind
turbine simulator, and the IPMSG is used as its test load. How-
ever, the developed control approaches are unified for both types
of permanent-magnet synchronous machines. The key technolo-
gies to enhance the performance of a PMSM drive include
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE
current control [21]–[23], speed control [24]–[26], commuta-
tion shift [21], voltage boosting [27], etc.
A turbine emulator based on the SMR-fed SPMSM drive is
established in this paper. And the IPMSG with followed Vienna
SMR is coupled to the shaft of the turbine emulator to serve as
its test load. The three power stages, including SMR, SPMSM
drive, and IPMSG, are all properly designed and controlled. The
emulator can be controlled as a typical prime mover and specif-
ically a wind turbine with good drawn power quality from the
mains. Good operating performances of the established system
are verified by measured results.
The rest of this paper is organized as follows. Section II
presents some basics of PMSM/PMSG and the system config-
uration of the developed turbine emulator established using the
PMSM drive. In Section III, the details about the established
SPMSM-driven prime mover emulator are presented, including
the modeling of wind turbine output characteristics, the single-
phase boost SMR for powering the emulator from the mains,
and the SPMSM drive. Section IV introduces the load IPMSG
followed Vienna SMR, which converts the wind energy gener-
ated from the turbine emulator to dc source for powering the dc
microgrid. The capability of the developed IPMSG with Vienna
SMR is first tested under an autonomous mode with resistive
load. Then, it is applied to perform the microgrid interconnected
operation for powering its local loads. In Section V, the estab-
lished SMR-fed SPMSM driven prime mover emulator is used to
drive the IPMSG with followed Vienna SMR, and its operation
characteristics are evaluated experimentally. Finally, Section VI
presents the conclusions of this paper.
II. SYSTEM CONFIGURATION AND BASICS OF PMSM
A. Governing Equations
Through proper derivations, the phase (phase-a) winding volt-
age equation and the developed torque of a PMSM drive can be
expressed as [5]
d
vas = Rs ias + Lq ias + eas (1)
dt
eas = ωr λm cos θr ≡ Êas cos θr (2)
3P   
Te = λm iq s + (Ld − Lq )ids iq s
4 SMR dc-link power Pd is made. And the maximization of the
 
3P Lq − Ld ˆ2
= λm Iˆas cos β + Ias sin 2β
4 2
d III. SPMSM-DRIVEN PRIME MOVER EMULATOR
= TL + Bωr + J ωr (3)
dt
3 3
Lq = Lls + (LA + LB ), Ld = Lls + (LA − LB ) (4)
2 2
Pe = T e ω r (5)
where vas is the winding terminal voltage, θr the rotor position,
ωr the rotor speed, TL the load torque, J the total moment
of inertia, B the total frictional coefficient, Rs the winding
resistance, λm the amplitude of flux linkage established by rotor
permanent magnets, eas the back electromotive force (EMF),
6115
Iˆas the winding current peak, β the shift angle between a-phase
current peak and q-axis of rotor reference frame, iq s and ids
the q-axis and d-axis currents, Lq and Ld the q-axis and d-axis
inductances, Lls the leakage inductance, Pe the electromagnetic
developed power, and LA and LB the constants relating to motor
parameters [5].
1) SPMSM: Ld = Lq , hence
3P  3P  ˆ
Te = λm iq s = λ Ias cos β. (6)
4 4 m
PMSG: Equations (1) and (3) are also applicable for a
PMSG by changing the signs relating to stator currents
and replacing the load torque TL by the negative input
torque (−TI ).
B. System Configuration
Fig. 1(a) shows the developed turbine emulator formed by a
single-phase SMR-fed SPMSM drive. The IPMSG with fol-
lowed Vienna SMR is coupled to the shaft of the turbine
emulator to serve as its test load.
The proposed turbine emulator SPMSM drive control scheme
is shown in Fig. 1(b). It can be operated under speed-control
mode for typical prime movers or torque-control mode for wind
turbine. The SPMSM drive well-regulated dc-link voltage is
established by the SMR from the mains with good drawn power
quality. In the speed-control mode, the switch in Fig. 1(b) is
placed at position A. The torque current component command
i∗q s is yielded from the outer speed loop. As to the torque-
control mode used in a wind turbine, the switch is at position B.
The command i∗q s is obtained by regulating the tracking error
between the observed torque Te [from (6)] and its command
Te∗ , which is yielded from the modeled torque–speed curve. To
represent the driving behavior of a wind turbine, the torque–
speed and power–speed curves of a wind turbine are modeled
mathematically. Then, they are applied to control the established
emulator.
As to the control scheme of the load IPMSG followed
Vienna SMR shown in Fig. 1(c), it can be controlled under
voltage mode (switch at position C) or MPPT mode (switch at
position D). For achieving MPPT control, the direct maximiza-
tion of the developed power Pe is needed. However, for the
ease of realization practically, the maximization of the observed
developed power Pe can be yielded equivalently.
A. Modeling of Wind Turbine Output Characteristics
The wind turbine developed torque and power can be ex-
pressed by [3], [13]
ρAvw 3 Cp
Te = , Pe = T e ω r (7)
2ωr
where ρ = air density, A = swept area of rotor = πR2 , R = ra-
dius of turbine blade (m), vw = wind speed (m/s), ωr = turbine
shaft speed or rotor speed, and Cp = power coefficient. Since
rotor speed is proportional to wind speed, the wind torque and
6116 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO. 7, JULY 2018

Fig. 1. Developed turbine emulator driven IPMSG system: (a) power circuit; (b) control scheme of the prime mover emulator SPMSM drive; (c) control scheme
of the Vienna SMR; and (d) photos of the established power circuits, and the constructed SPMSM-IPMSG set.

power are, respectively, a quadratic and a cubic equation of rotor From (8) and (9), one can find the coefficients a and b as
speed. Generally, the torque–speed equation is represented as
a = −Km ax , b = −2aωmt . (11)
 2
b b2 According the typical wind speed range and the rated speed of
Te = aωr 2 + bωr = a ωr + − . (8) the employed SPMSM (2000 r/min), the relationship between
2a 4a
ωmt and vw is set as
From (8), one can find the maximum torque Tm ax = b2 /4a = vw =
ωmt
− 2, ωmt ≥ 200. (12)
a(ωmt )2 , which occurs at ωr = ωmt = b/2a. And the maximum 100
torque curve is normally expressed as The torque curves based on (8)–(12) for four values of vw
are shown in Fig. 2(a). The explicit expressions are listed as
Tm ax = Km ax (ωmt )2 . (9) follows:
Te = −0.00000245ωr 2 + 0.0049ωr , vw = 8 m/s
In the developed emulator, the constant Km ax is set using
the rated speed and torque of the employed SPMSM, which are Te = −0.00000245ωr 2 + 0.00539ωr , vw = 9 m/s
2000 r/min and 9.8 Nm. Accordingly
Te = −0.00000245ωr 2 + 0.00588ωr , vw = 10 m/s
Km ax = 9.8/20002 = 2.45 × 10−6 Nm/(r/min)2 . (10) Te = −0.00000245ωr 2 + 0.00637ωr , vw = 11 m/s.
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE 6117

B. Single-Phase Boost SMR

1) Power Circuit: The key features of the developed SMR
are
1) AC input voltage: Vac = 220 V/60 Hz.
2) Output: Vdc = 400 V, Pdc = 2000 W.
3) PWM mode: continuous-current mode.
4) Power devices: IGBT GW35NC60WD (ST) and the fast
diode DSEP 60-12A (IXYS) are chosen to be the main
switch S and the diode D. As to the diode bridge rectifier,
the MKBPC3510W (HY).
5) Energy storage inductor: L = 1.36 mH, ESR = 6.78 Ω at
30 kHz. The inductor maximum current ripple at ωt =
0.5π can be derived as ΔiL = 1.7 A.
6) Output capacitor: Cdc = 2200 μF/450 V, the dc-link
voltage ripple is Δvdc = 6.03 V = 1.5% of Vdc = 400 V.
2) Current Control Scheme: The hysteresis current-
controlled PWM (H-CCPWM) scheme is adopted with
sine-band
h = hm ax sin ωt, hm ax = h̄m ax + Δh (15)
where Δh is a random variable and h̄m ax = 1 A.
3) Voltage Control Scheme: The equivalent voltage-loop
control block of the developed boost SMR is shown in Fig. 3(a).
The SMR dynamic model is represented by a first-order process,
and the PI feedback controller is adopted
KI v
Gcv (s) = KP v + . (16)
s

The desired voltage response due to a step load power change

is sketched in Fig. 3(b), where (t1 = tf , Δvd1 = 0.5Δvdm ),
(t2 = tm , Δvd2 = Δvdm ), (t3 = tre , Δvd3 = 0.1Δvdm ), with
tf = fall time, Δvdm = maximum voltage dip, tm = the time at
which maximum dip occurs, and tre = restore time.
a) Dynamic model estimation: To find the parameters of
Gcv (s), the SMR is stably operated under the conditions: 1)
Fig. 2. Designed characteristic curves of wind turbine emulator: (a) T e − ω r ; ∗
and (b) P e − ω r . voltage command vdc = 400 V; 2) Gcv (s) = 1 + 10/s is arbi-
trarily chosen; 3) the resistive load is changed from RL = 300 Ω
(Pdc = 533 W) to RL = 150 Ω (Pdc = 1066 W) for producing
The power-speed equation can be derived from Te a step load power change of ΔPdc = 533 W. From the simulated
      and measured voltage responses shown in Fig. 3(c), three typ-
2π 2π 3 2π
Pe = T e ωr = a ωr + b ωr 2 . (13) ical response points (−13.5 V, 29.2 ms), (−26.9 V, 108.2 ms),
60 60 60
and (−2.7 V, 538.2 ms) are chosen to derive the dynamic model
The optimal power Popt and the corresponding torque Topt for parameters
a given wind speed vw can be found as
Kpl = 2.042 × 10−4 , a = 5.8012, b = 5397.1. (17)
Popt = Kopt,p (ωopt )3 , Topt = Kopt,t (ωopt )2 (14)
b) Quantitative controller design: Conversely, the volt-
where Kopt,p = 1.275 × 10−7 , Kopt,t = Kopt,p (60/2πωr ) = age regulation control specifications are defined as (Δvdm =
1.218 × 10−6 , and ωopt = 1.336 ωmt . The designed power 10 V, tre = 0.2 s) for a step load power change of ΔPdc =
curves are shown in Fig. 2(b). 533 W. The controller can be derived as
Starting process
KI v 49.1
Since the generated torque is zero at standstill as shown in Gcv (s) = KP v + = 3.4 + . (18)
Fig. 2(a), the developed SPMSM drive is unable to start when it s s
is operated under a torque-control mode. Therefore, it is started Measured results
from the speed-control mode and then changed to the torque- The simulated measured voltage response due to a step load
control mode. When the control mode is set at the toque-control power change of ΔPdc = 533 W (Pdc = 533 W → 1066 W) by
mode, the torque current command i∗q s is changed from A to B the designed controller of (18) is plotted in Fig. 3(d). It is very
as shown in Fig. 1(b). close to the specified characteristics.
6118 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO. 7, JULY 2018

Fig. 3. Voltage PI feedback controller of the developed SMR: (a) control block; (b) desired step load power regulation response; (c) simulated and measured
∗ = 400 V, R = 300 Ω) by the arbitrarily set PI controller for model estimation; and (d) simulated and measured step response by the
step response at (v dc L
quantitatively designed PI controller.

C. SPMSM Drive Measured results

1) Power Circuit:
a) SPMSM: the employed SPMSM is rated as 8-pole,
2000 r/min, 2 kW, 9.8 Nm. The estimated data: λm =
0.1355 Wb, Rs = 0.4 Ω, Ls = 1.027 mH.
b) Position sensing scheme: incremental encoder with
(A,B,Z) signals and resolution of 2500 pluses/rev.
c) Inverter: It is constructed using three two-pack IGBT
modules CM100DY-12H (Mitsubishi, VCES = 600 V,
IC = 100 A (dc), IC = 200 A (pulsed).
In making the preliminary test, the Vienna SMR shown in
Fig. 1(a) is replaced by a three-phase diode rectifier with a
∗
resistive load resistance RL . Let (Vac = 220 V/60 Hz, vdc =
∗ 
400 V, RL = 22 Ω), the measured steady-state (iL , iL ) and
(vac , iac ), (vdc , ias ) of the SMR-fed SPMSM drive under ωr∗ =
2000 r/min are shown in Fig. 4(a) and (b). The correspond-
ing data are PF = 0.993, THDi = 11.44%, η ≡ Pdc /Pac =
∗
762.4/825.8 = 92.3%. Under (vdc = 400 V, ωr∗ = 1000 r/min,
RL = 150 Ω), the measured (ωr , ωr ), (i∗q s ,iq s ), and vdc due to
∗

a step speed command and a step load resistance change are

2) Current Control Scheme:
a) Ramp-comparison current controlled PWM (RC- shown in Fig. 5(a) and (b), respectively. The results indicate that
CCPWM) scheme: The switching frequency is cho- good speed tracking responses and load regulation responses are
obtained the established SMR-fed SPMSM drive.
sen as fs = 15 kHz and the PI feedback controller is
adopted. In designing the PI feedback current con- c) Observed torque controller: According to the response
speed being achievable of the established SPMSM drive, the PI
troller, the upper limit of P-gain is first determined
using large signal stability criterion as KP i ≤ K̄P i = torque feedback controller is chosen as
1.925. Then, accordingly KP i = 1.85 is set, and the
KI T 83.3
integral gain is chosen via trial-and-error to yield GcT (s) = KP T + =3+ . (21)
s s
KI i 555
Gci (s) = KP i + = 1.85 + . (19)
s s Measured results
b) Speed feedback controller: it is set as: The measured torque and speed responses under (RL =
85.71 Ω) due to a torque step change Te∗ = 1 Nm → 2 Nm are
KI ω 78.75 shown in Fig. 6(a) and (b). The results indicate that the quick
Gcω (s) = KP ω + = 1.5 + . (20)
s s torque tracking response is obtained.
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE 6119

Fig. 4. Measured steady-state results of the established varied sine-band

boost SMR-fed SPMSM drive operated under (V ac = 220 V/60 Hz, ω r∗ =
∗ =400 V): (a) (i∗ , i ); and (b) (v , i , v , i ).
2000 r/min, R L = 22 Ω, v dc L L ac ac dc a s

IV. LOAD IPMSG FOLLOWED BY VIENNA SMR WITH

MPPT CONTROL
A. IPMSG
1) IPMSG: The employed three-phase IPMSG is rated as
6-pole, 3000 r/min, 1 kW, 3.23 Nm. The estimated
Fig. 5. Measured (ω r∗ , ω r ), (i∗q s ,iq s ), and v dc of the boost SMR-fed
data: peak of flux linkage λm = 0.1242 Wb, Rs = 0.8 Ω, SPMSM drive under (V ac = 220 V/60 Hz, ω r∗ = 2000 r/min, R L = 150 Ω,
Lq = 6.865 mH, Ld = 4.076 mH, Ls ≡ (Ld + Lq )/2 = ∗ =400 V) due to (a) a step change of 200 r/min; and (b) a step change of
v dc
5.471 mH . R L =150–85.71 Ω.
2) Position sensor: Incremental encoder with (A,B,Z) signals
and the resolution of 2048 pluses/rev.
3) Voltage and current sensing factors: Kv = 0.00222 V/V,
Ki = 0.04 V/textA.

B. Three-Phase Vienna SMR

1) Power Circuit: It should be noted that 1) the energy stor-
age inductors of the Vienna SMR are the embedded armature
windings with Ls = 5.471 mH, which cannot be altered; and
2) the ac input voltages are the back EMFs of the employed
IPMSG, which are varied in frequency and voltage with the
changing wind speed. The phase back EMF of the used IPMSG
is Eas = 27.594 Vrms /kr/min. The key features of the Vienna
SMR are
1) DC output: Vd = 400 V, Pd = 800 W.
2) Filtering capacitors: Cd1 = Cd2 = 2200 μF/450 V Fig. 6. Measured results of the designed torque controller under (R L =
(Cd = 1100 μF). 85.71 Ω) due to a step torque change T e∗ = 1 Nm → 2 Nm: (a) torque response;
3) PWM switching frequency: fs = 30 kHz. and (b) speed response.
6120
Fig. 7. Measured results of the developed IPMSG with followed Vienna SMR
driven at various speeds under R L = 200 and 300 Ω: (a) output voltage v d ;
and (b) output voltage P d .
4) Power devices: the rectifier module VUN 25-05E
(500 V,ID 25 = 35 A (25 ◦ C), ID 85 = 25 A (85 ◦ C),
IDM = 95 A(pulsed)) by IXYS.
5) Loads: the resistive load with RL being placed across
the SMR output is first used to test the capability of the
developed whole emulator. Then, it is applied to power an
available example dc microgrid.
Resistive load
Owing to the inherently fixed IPMSG winding inductance, the
well-regulated 400 V dc-link voltage can only be established un-
der sufficiently high driving speed, and the lowest speed needed
to establish the 400 V dc-link voltage is increased with the in-
creased loading. The preliminary tests for the developed IPMSG
system are first made by using resistive loads with a load resistor.
The measured results with followed Vienna SMR driven at var-
ious speeds under RL = 200 and 300 Ω are shown in Fig. 7(a)
and (b).
Microgrid powering application
An available example dc microgrid is shown in Fig. 8(a). It
mainly consists of a wind switched reluctance generator (SRG),
a hybrid energy storage system including an SRM-driven fly-
wheel and a battery bank, and a single-phase three-wire (1P3W)
bidirectional load inverter. The inverter providing 220 V/110 V
ac sources can be operated in autonomous microgrid-to-home
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO. 7, JULY 2018
(M2H) mode and grid-connected microgrid-to-grid (M2G)/grid-
to-microgrid (G2M) modes.
In order to verify the effectiveness of the developed emulator,
it can be connected to the example dc microgrid for powering
its local loads via the 1P3W load inverter (M2H). By letting
the switch SW in Fig. 8(a) be changed from position 1 to 2,
the original microgrid wind SRG is replaced by the developed
WTE-driven IPMSG. The test loads are arranged as
ZA = incandescent lamp of 110 V/100 W.
ZB = incandescent lamp of 110 V/250 W.
ZA B = incandescent lamp of 220 V/60 W.
The measured output voltages vA B (220 V), vA N (110 V), and
vN B (110 V) and their commands are plotted in Fig. 8(b). From
the results, one can observe the good output voltage waveforms
provided by the microgrid using the established WTE.
2) Current Control Scheme: The P-gain limit of feed-
back controller in the ramp-comparison CCPWM scheme is
also determined based on large-signal stability criterion us-
ing the known system data (vd = 400 V, ki = 0.04 V/A, Lb =
5.471 mH, eas = 0) to be K̄P i = 10.258. Accordingly, the con-
troller is set as
KI i 3600
Gci (s) = KP i + = 10 + . (22)
s s
3) Voltage Control Scheme: The voltage loop of Vienna
SMR is modeled as the unified control block depicted in
Fig. 3(a). The design procedure presented in Section III-B3 is
applied here at (ωr =2000 r/min, vd∗ = 400 V, RL = 300 Ω).
The voltage regulation control specifications are given as
(Δvdm = 10 V, tre = 0.4 s) for a step load power change of
ΔPd = 320 W. The designed feedback controller is
KI v 38.1
Gcv (s) = KP v + = 5.6 + . (23)
s s
The simulated and measured output voltage responses of
the designed Gcv (s) due to a step load power change of
ΔPd = 320 W(Pd = 533.3 W → 853.3 W) with vd∗ = 400 V
are shown in Fig. 9(a) and (b). From which, the correctness
of the designed controller and the closeness between the simu-
lated and measured results can be observed.
Measured results
The measured vd and (HA , ian ) of the IPMSG with Vienna
SMR under (vd∗ = 400 V, ωr = 1500 r/min, RL = 300 Ω) are
shown in Fig. 10. The measured (ωr ,vd ,ian ) under (vd∗ = 400 V,
RL = 300 Ω) due to the speed changes of ωr∗ = 2000 r/min
→ 1800 r/min →2000 r/min are shown in Fig. 11. The corre-
sponding line current quality and system efficiency are THDi =
9.31%, η ≡ Pd /Pac = 528.6/551.5 = 95.84%. And the mea-
sured results at (vd∗ = 400 V, ωr∗ = 2000 r/min) due to a step
load resistance change from 300 to 187.5 Ω are shown in Fig. 12.
Good static and dynamic operating performances of the IPMSG
are seen from Figs. 10 to 12.
C. MPPT Control Scheme
1) MPPT Control Algorithm: For the ease of implemen-
tation, the P&O control scheme with variable step size
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE 6121

Fig. 8. Microgrid powering application of the developed turbine emulator: (a) example dc microgrid powered by the established turbine emulator; and
(b) measured 1P3W inverter output voltages v A B , v A N , and v N B and their commands.

using the SMR current command Iˆi as control variable ac-
cording to the changes of SMR output power Pd and ro-
tor speed ωr is developed. Fig. 13 depicts the proposed
intuitive MPPT control algorithm. The MPPT algorithm is
judged one time per second, and it can be classified into five
cases:
Case 1: If generated power is increased and rotor speed is
decreased, then dIˆi > 0;
Case 2: If generated power is decreased and rotor speed is
decreased, then dIˆi < 0;
Case 3: If generated power is decreased and rotor speed is
increased, then dIˆi < 0;
6122
Fig. 9. Voltage responses of the Vienna SMR by the designed controller at
(v d∗ = 400 V, ω r =2000 r/min) due to a step load power change of ΔP d =
320 W (P d = 533.3 W → 853.3 W): (a) simulated result; and (b) experimental
result.
Fig. 10. Measured (v d ,(H A ,ian )) of the developed IPMSG with Vienna SMR
at (v d∗ = 400 V, R L = 300 Ω,ω r = 1500 r/min).
Fig. 11. Measured (ω r∗ ω r ), v d , and ian of the IPMSG with followed Vienna
SMR under (v d∗ = 400 V, R L = 300 Ω) due to speed changes of ω r∗ = 2000 →
1800 → 2000 r/min.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO. 7, JULY 2018
Fig. 12. Measured v d , ω r , and ian of the IPMSG with Vienna SMR under
(v d∗ = 400 V, ω r∗ = 2000 r/min) due to a load change of 300 Ω → 187.5 Ω
(P d = 533 W → 853 W, ΔP d = 320 W).
Fig. 13. Proposed MPPT control algorithm.
Case 4: If generated power is decreased and rotor speed is
increased, then dIˆi > 0; and
Case 5: If generated power is unchanged, then dIˆi = 0.
DC-Link Output Power Sensing: The sensed Vienna SMR
DC-link output power Pd is used for making the MPPT control.
It is obtained as Pd = vd id with the sensing factors being set
as Kv d = 0.00222 V/V, Kid = 0.2 V/A.
V. EVALUATION OF A DEVELOPED WIND TURBINE
EMULATOR SYSTEM
The developed SMR-fed SPMSM driven prime mover emu-
lator is used to drive the IPMSG with followed Vienna SMR,
and its operation characteristics are evaluated experimentally.
The prime mover emulator follows the designed wind torque
curve to present a faithful wind turbine driving behavior for the
driven IPMSG. The current command Iˆi shown in Fig. 1(c) is
connected to position D to perform the MPPT function instead
of voltage boosting function at position C.
A. Steady-State Characteristics
The developed prime mover emulator is operated under
the torque–speed mode and the IPMSG with Vienna SMR
is operated under the MPPT control mode, the measured
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE
Fig. 14. Measured results of the prime mover emulator driven IPMSG sys-
tem under (v w = 8 m/s, R L = 200 Ω): (a) (ω r , P d , T e ) of SPMSM drive;
(b) (v d , id , ian ) of Vienna SMR; (c) (ω r , v dc , iL ) of single-phase boost SMR;
and (d) (v ac ,iac ) of single-phase boost SMR.
(ωr , Pd , Te ), (vd , id , ian ), and (ωr , vdc , iL ) under (vw = 8 m/s
and RL = 200 Ω) are shown in Fig. 14(a)–(c). The steady-state
waveforms (vac , iac ) of single-phase boost SMR are also plotted
in Fig. 14(d). Under a higher wind speed (vw = 11 m/s,RL =
200 Ω), the measured results are plotted in Fig. 15(a)–(d).
Figs. 14(a) and 15(a) show that the powers generated by the
emulator under MPPT control can stably converge eventually
6123
Fig. 15. Measured results of the prime mover emulator driven IPMSG sys-
tem under (v w = 11 m/s, R L = 200 Ω): (a) (ω r , P d , T e ) of SPMSM drive;
(b) (v d , id , ian ) of Vienna SMR; (c) (ω r , v dc , iL ) of single-phase boost SMR;
and (d) (v ac ,iac ) of single-phase boost SMR.
around the maximum power points, and so will the rotor speeds
and the generated torques. The measured converged powers and
rotor speeds are close to the designed results. Hence, the driv-
ing behavior of the developed prime mover emulator is faith-
fully presented. The measured (vd , id , ian ) shown in Figs. 14(b)
and 15(b) give the further information of the developed Vienna
6124
Fig. 16. Measured results of the prime mover emulator driven IPMSG under
wind speeds of v w = 8 m/s → 9 m/s → 10 m/s → 11 m/s and conversely:
(a) (v w ,ian ); and (b) (ω r ,T e ,P d ).
SMR. The measured (ωr , vdc , iL ) shown in Figs. 14(c) and 15(c)
and (vac , iac ) shown in Figs. 14(d) and 15(d) verify that the de-
veloped single-phase boost SMR as the front-end of SPMSM
driven WTE also possesses good dc-voltage regulation ability
and ac line-drawn power quality characteristics under varying
operating conditions.
B. Dynamic Characteristics
To verify the dynamic characteristics of the developed
WTE-driven IPMSG under MPPT control mode, the measured
(vw ,ian ) and (ωr , Pd , Te ) under the preset speed change pattern
of vw = 8 m/s → 9 m/s → 10 m/s → 11 m/s and conversely
are shown in Fig. 16(a) and (b). From the results, satisfactory
regulation ability of the developed emulator system is observed.
C. Emulated Prime Mover Characteristics
The measured torque curves and corresponding power curves
of the developed prime mover emulator are shown in Figs. 17
and 18. The faithful WTE driving behavior can be confirmed
from the results.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 33, NO. 7, JULY 2018
Fig. 17. Measured torque curves of the developed prime mover emulator
driven under v w = 8, 9, 10, and 11 m/s.
Fig. 18. Measured power curves of the developed prime mover emulator
driven under v w = 8, 9, 10, and 11 m/s.
VI. CONCLUSION
This paper has presented the development of an SPMSM drive
to construct the prime mover emulators. A single-phase boost
SMR is used as its ac/dc front-end to draw power from the mains.
Thanks to the properly designed sine-band H-CCPWM scheme,
under well-regulated dc-link voltage, good line drawn power
quality is obtained during emulator operation. Both conventional
speed control mode and wind turbine torque–speed control mode
can be operated by the developed emulator. A test load with
IPMSG followed by a three-phase Vienna SMR has also been
established. It is driven by the prime mover and establishes
the dc microgrid 400 V dc-link. Various wind turbine torque–
speed characteristic curves under different wind speeds can be
faithfully generated by the developed prime mover. And the
MPPT for extracting the wind generating power can be achieved
by the IPMSG followed by Vienna SMR using the P&O control
approach. Effectiveness of the developed whole prime mover
emulator has been verified experimentally.
CHEN et al.: DEVELOPMENT OF A PRIME MOVER EMULATOR USING A PERMANENT-MAGNET SYNCHRONOUS MOTOR DRIVE
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Po-Yen Chen was born in Kaohsiung, Taiwan,
R.O.C., on October 15, 1988. He received the B.S.
and M.S. degrees in electrical engineering from the
National Tsing Hua University, Hsinchu, Taiwan,
R.O.C., in 2012 and 2014, respectively.
His research interests include electric machine
control, motor drives, and power electronics.
Kai-Wei Hu (S’13–M’16) was born in Kaohsiung,
Taiwan, R.O.C., on December 10, 1988. He received
the B.S. and Ph.D. degrees in electrical engineering
from the National Tsing Hua University, Hsinchu,
Taiwan, R.O.C., in 2011 and 2015, respectively.
From 2011 to 2015, he was a Teaching and Re-
search Assistant in the Department of Electrical Engi-
neering, National Tsing Hua University. His research
interests include power electronics, self-sensing, mo-
tor drives, electric machine control, and motor design.
Yi-Guang Lin was born in Miaoli, Taiwan, R.O.C.,
on June 1, 1993. He received the B.S. degree from
the National Taiwan University of Science and Tech-
nology, Taipei, Taiwan, R.O.C., in 2015, and the
M.S. degree from the National Tsing Hua University,
Hsinchu, Taiwan, R.O.C., in 2017, both in electrical
engineering.
His research interests include power electronics,
motor drives, and electric machine control.
Chang-Ming Liaw (S’88–M’89) was born in
Taichung, Taiwan, R.O.C., on June 19, 1951. He re-
ceived the B.S. degree in electronic engineering from
the Evening Department, Tamkang College of Arts
and Sciences, Taipei, Taiwan, R.O.C., in 1979, and
the M.S. and Ph.D. degrees in electrical engineering
from the National Tsing Hua University, Hsinchu,
Taiwan, R.O.C., in 1981 and 1988, respectively.
In 1988, he as an Associate Professor joined the
faculty of the Department of Electrical Engineering,
National Tsing Hua University, where he has been a
Professor since 1993. His research interests include power electronics, motor
drives, and electric machine control.
Dr. Liaw is a life member of the Chinese Institute of Electrical Engineering,
an Editor for the International Journal of Electrical Engineering, R.O.C., and
an editorial board member of Hindawi Advances in Power Electronics.