Professional Documents
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6 IPM Motor Design
6 IPM Motor Design
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-1
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Tangential V-type
Radial Multi-barrier
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-2
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-3
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Torque in PM Motors
Torque of PM Motors T q
=
3p
2
[ m I q
+ (L L )I I ]
d q d q
Saliency Ratio =
L q
L d
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Magnet
Air Magnet
+ =
Surface-mounted Synchronous
Interior PM
PM Motor (SPM) Reluctance
Motor (IPM)
Motor
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-5
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
0.8
0.6
0.4
0.2
0
0 10 20 25 30 40 50 60 70 80 90
Advanced firing angle(Deg.)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-6
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
16
dT
= pmi cos( ) + ( Ld Lq )i 2 cos(2 ) = 0 14
d 12
pm i cos( ) + ( Ld Lq )i 2 (2 cos 2 ( ) 1) = 0 10
mi 1 8
cos 2 ( ) + cos( ) =0
2( Ld Lq )i 2 2 6
4
2
pm pm 1 2
cos( ) = +
4( L L )i 2
-10 -5 0 5
4( Ld Lq )i d q
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-7
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-8
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-9
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Q-axis Q-axis
jLqiq
jLdid E jLqiq
jLdid E
Max Vs Loci is iq
Vs is
iq
D-axis Max Vs Loci
Vs D-axis
id Pm id Pm
(b)
(a)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Voltage Limit b
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-11
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
m
Normalized Magnet flux linkage = b
mn
V b
Source: Soong W.L., Miller T.J.E., Field-weakening performance of brushless synchronous AC motor drives, IEE Proceedings of Electric Power
Application, 141(6), pp. 331 ~ 340, 1994.
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-12
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Source: Soong W.L., Miller T.J.E., Field-weakening performance of brushless synchronous AC motor drives, IEE Proceedings of Electric Power
Application, 141(6), pp. 331 ~ 340, 1994.
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-13
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-14
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Lq
Ld
Id, Iq
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-17
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Max available output voltage of inverter which depends on dc-link voltage Vdc
2 2
V a
= v + v V
d q am
V =o e
(L i + ) (L i )
d d pm +
2 2
q q V om
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-18
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-19
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Reference: S Morimoto, et-al, Expansion of operation limits for permanent magnet motor by current vector control considering inverter
capacity
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-21
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-22
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Design Example
Design , 300W, 18V battery operated,
22000RPM motor for power tools application
Design 1 : IPM
Design 2 : SPM
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-23
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
SOD: 49mm
Airgap: 1mm
ROD: 24.5 mm
Slot opening: 2mm
Stack length: 11mm
Copper weight: 32gr
Magnet weight: 11 gr
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
20000 350
18000 300
16000 250
RPM
IPM
14000 200
SPM
12000 150
10000 100
8000 50
6000 0
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
Torque (N.m)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-26
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
80%
75%
Efficiency %
70%
IPM
SPM
65%
60%
55%
50%
50 100 150 200 250 300 350
Out Power
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-27
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
20000 350
18000 300
16000 250
27
RPM
14000 200 30
24
12000 150
10000 100
8000 50
6000 0
0.00 0.05 0.10 0.15 0.20 0.25 0.30 0.35 0.40
Torque (N.m) 6-28
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
80%
75%
Efficiency %
70%
27
30
65% 24
60%
55%
50%
50 100 150 200 250 300 350
Out Power 6-29
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Design Example II
Reference: M. T. Abolhassani, A Novel Multiphase Fault Tolerant Permanent Magnet Motor Drive
for Fuel cell Powered Vehicles, Proceedings of IEEE Vehicles Power Propulsion Conference,
Dallas, TX, Sept. 2007.
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-30
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
performance.
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-31
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-32
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-33
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Electromagnetic Torque
1
T= K w . nl . nc .Q. B g . A g .I. cos( )
4
Kw : Winding factor
nl : Number of layers
nc : Number of turns per coil
Q : Number of slots
Bg : Peak flux density in airgap
Ag : Airgap area
I : Peak current
: Current angle
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-34
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Vdc/2 T1 D1 T3 D3 Vdc/2 T1 D1 T3
Vdc/2 T2 D2 T4 D4 Vdc/2 T2 D2 T4
f
Peak short-circuit current I sc ( pu ) =
L s ( pu )
f
N N . f
Turn-to-turn short-circuit current I sc ( pu ) = =
L s ( pu ) L s ( pu )
N2
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-35
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
A- D-
DC bus voltage (volts) 420 C+ B+
C- B-
C- B-
C+ B+
E- E-
E+ E+
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Windings Design
Description Value
Harmonics Value
winding factor
Armature phases 5
Kdp1 0.9755
Kdp3 0.7939 Turn per coil 12
Kdp5 0.5000
Armature winding branches 2
Kdp7 0.2061
Kdp9 0.0245 Wire size 13x awg17
Kdp11 0.0245
Max stator slot fill 0.68%
Kdp13 0.2061
Kdp15 0.5000 Armature winding resistance 5.55E-03
Kdp17 0.7939
Kdp19 0.9755
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-37
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
1.5
Airgap flux density
1.0
Flux density(T)
0.5
0.0
-0.5
-1.0
-1.5
-1620 -1260 -900 -540 -180 180 540 900 1260 1620
Electrical angle (Deg.)
100%
90%
Airgap flux density spectrum %
80%
70%
60%
50%
40%
30%
20%
10%
0%
1 3 5 7 9 11 13 15 17 19 21
Harmonics order
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-38
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
1.0
Air gap flux density (T)
0.5
0.0
-0.5
-1.0
-1.5
-1620 -1260 -900 -540 -180 180 540 900 1260 1620
Rotor Position in electrical degrees
100%
Airgap flux density due to windings
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
1 3 5 7 9 11 13 15 17 19 21
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-39
Harmonics order
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Cogging Torque
1.00
0.80
0.60
Cogging torque(N.m)
0.40
0.20
0.00
-0.20
-0.40
-0.60
-0.80
-1.00
0 3 6 9 12 15 18
Rotor position in electrical degree
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-40
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
400
300
200
Back emf (V)
100
0
-100
-200
-300
-400
0 180 360 540 720
Electrical Angle (Deg.)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-41
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
225
0 90 180 270 360 450 540 630 720
300
1 switch fault
200
100
0 90 180 270 360 450 540 630 720
300
1 phase fault
200
100
0 90 180 270 360 450 540 630 720
Rotor position in electrical degree
Condition Torque (N.m) Torque ripple %
Healthy 224 0.5
Failure in 1 switch 201 24
Failure in one phase 177 50
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-42
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
200
Torque (N.m )
150
100
50
0
0 2000 4000 6000 8000 10000 12000
Speed (RPM)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-43
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
100000
80000
60000
40000
20000
0
0 2000 4000 6000 8000 10000 12000
Speed (RPM)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-44
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Efficiency Curves
100%
95%
Efficiency %
90%
85%
0 2000 4000 6000 8000 10000 12000 14000
Speed (RPM)
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-45
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
4.50E-04
4.00E-04
3.50E-04
3.00E-04
2.50E-04
0 180 360 540 720
Rotor Position in electrial degree
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-46
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
100
50
0
-50
-100
-150
-200
-250
0 90 180 270 360
Rotor Position in Electrical Degree
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-47
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA
Design of Interior Permanent Magnet and Brushless DC May 10-12, 2010, Torrance, CA
Machines Taking Theory to Practice
Conclusions
A Fault tolerant 5-phase IPM motor drive (Concentrated
2% mutual inductance
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA 6-48
2010 Advanced MotorTech LLC Largo FL USA & 2010 Mehdi Abolhassani, Austin TX USA