2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

FEA-Based Mathematical Modeling and Simulation

for IPMSM Drive with Consideration of Saturation
and Cross-Coupling Influence
Bowen Chen Jianhua Wu* Qingguo Sun
College of Electrical Engineering College of Electrical Engineering College of Electrical Engineering
Zhejiang University Zhejiang University Zhejiang University
Hangzhou, China Hangzhou, China Hangzhou, China
bowen_c@163.com hzjhwu@163.com lwsunqg@163.com
Hang Wu Le Zhang
College of Electrical Engineering Department of Motor Research
Zhejiang University Zhejiang Founder Motor Co., Ltd.
Hangzhou, China Lishui, China
wuhang_zju@163.com le.zhang@fdm.com.cn

Abstract—This paper proposes a high-precision
mathematical modeling scheme for interior permanent magnet
synchronous motors (IPMSMs), which gives full consideration
to the saturation and cross-coupling influence based on the
finite element analysis (FEA). Firstly, the IPMSM model is
built in ANSYS/Maxwell to acquire the variable stator
inductance and flux linkage parameters under various kinds of
working conditions. Secondly, the obtained d-axis inductance,
q-axis inductance, and rotor flux linkage are further
calculated, processed, and pre-stored in three two-dimensional
(2-D) look- up-tables (LUTs). Thirdly, the IPMSM model is
built in MATLAB/Simulink based on three established tables.
Finally, by looking up the three tables according to the real-
time d-axis and q-axis currents, the IPMSM system can be
simulated under different working conditions for various
control methods. With the developed high-precision FEA-
based mathematical modeling scheme, the simulation results
will be more accurate and the simulation process will be more
efficient with significant time savings and better dynamic
performance. To validate the effectiveness of the proposed
modeling scheme, a Space Vector Pulse Width Modulation
(SVPWM) control system with maximum torque per ampere
(MTPA) and flux-weakening (FW) control as well as feed-
forward decoupling control is built based on a 15kW IPMSM
prototype.
Keywords— Interior permanent magnet synchronous motor
(IPMSM), finite-element analysis (FEA), feed-forward
decoupling, maximum torque per ampere (MTPA), flux-
weakening (FW)
I. INTRODUCTION
In recent decades, interior permanent magnet
synchronous motors (IPMSMs) have been widely researched
and applied in industrial applications due to high efficiency,
high torque density, low noise, robustness and wide speed
range [1]-[3].
The operating condition of IPMSM is divided into the
constant torque region and the constant power region. Within
the base speed range, back EMF can be compensated
effectually by dc bus voltage. Thus, MTPA control can be
adopted to acquire maximum torque with lowest copper loss
[4]-[6]. When operating beyond the base speed, the back
EMF is too high to compensate for the inverter. Therefore,
FW control is applied to weaken the d-axis magnetic field of
the rotor to achieve wider speed range [7]-[9].
During the operation of IPMSMs, The magnetomotive
force (MMF) of the d-axis and q-axis affect each other's
magnetic circuit, which saturate the magnetic circuit and
reduce the magnetic conductivity [10]. In the meanwhile, the
MMF of the q-axis forces the magnetic flux of the permanent
magnet on d-axis to redistribute, which enables the working
point of the permanent magnet to move along the non-
demagnetization curve just like a coupling effect [11]. The
former effect is saturation, and the latter one is cross
coupling. Both of them lead to the variation of d-axis
inductance, q-axis inductance and rotor flux linkage. As a
consequence, mathematical modeling method based on FEA
simulation results is proposed and widely applied [12]-[14],
with which improved MTPA and FW control can be adopted
[15]-[17].
In order to study and improve dynamic performance of
IPMSMs, the simulation is always carried out in
mathematical method such as MATLAB/Simulink and finite
element method (FEM) such as ANSYS/Maxwell. On one
hand, the finite element analysis (FEA) is more accurate but
time-consuming. On the other hand, the Simulink model is
time-saving but less accurate considering that the IPMSM
parameters, including Ld, Lq, and ψa, will change accordingly
due to the influence of saturation and cross-coupling under
different working conditions. Hence, a scheme of modeling
high-precision IPMSM in MATLAB/Simulink is proposed.
This is implemented based on the changing parameters of the
IPMSM under various working conditions pre-calculated
from FEA simulation results. The conventional IPMSM
model in MATLAB/Simulink with constant Ld, Lq, and ψa is
applied as comparison. An SVPWM control system is built
in MATLAB/Simulink to drive the IPMSM by combining
feed-forward decoupling control with MTPA and FW
control.
II. IPMSM DRIVE SYSTEM BUILDING
A. IPMSM Modeling
An IPMSM consists of stator, rotor, windings, permanent
magnets and shaft as is shown in Fig. 1. D-q reference frame
is always adopted to calculate the current and voltage of
IPMSMs for computing simplifying. The direction of the
rotor magnetic field is taken as the d-axis, which is on the
center line of the rotor’s magnetic pole. Accordingly, the
direction perpendicular to the rotor's magnetic field is taken

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 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

as the q-axis, which is on the vertical bisector between two

adjacent magnetic poles. V-shaped is applied to cripple
demagnetization in FW operating region. In addition, the
reluctance torque caused by the inequality of d-axis
inductance and q-axis inductance is beneficial to speed
expansion in FW operating region.
According to the vector diagram of the IPMSM, the
current and inductance equations can be expressed as
follows :
ψ o cos α −ψ a
Ld = (1)
id
ψ o sin α
Lq = (2)
iq Fig. 3. Diagram of the IPMSM drive system.

id = − I a sin γ (3) The equation of electromagnetic torque is given by

iq =I a cos γ
where id, iq, and Ia are the d-axis current, q-axis current, and
armature current; Ld, Lq are the d-axis inductance and q-axis
inductance; ψa, ψo are the rotor flux linkage and flux linkage
compounded by rotor and stator windings; γ, α are the FW
angle and the phase difference between the rotor flux linkage
and the flux linkage compounded by rotor and stator
windings.
The equations of stator voltage of an IPMSM can be
expressed as follows:
d nonlinearly under different working conditions. As for
ud =Rid + Ld id − ωe Lq iq
dt
d flux linkage are constant which is a trade-off for the
uq =Riq + Lq iq + ωe ( Ld id + ψ a )
dt
where ud, uq are the d-axis voltage and q-axis voltage.
(4) 3
Te =pn iq ( Ld − Lq ) + ψ a  (7)
2 
where pn is the pole-pairs number. In (7), the term on the left
of the plus sign is reluctance torque, the term on the right of
the plus sign is excitation torque. Because Ld is lower than Lq,
id is commonly negative to make use of the reluctance torque.
As a consequence, the irreversible demagnetization caused
by the armature reaction flux generated by the negative id
needs to be paid attention to [18].
It is theoretically proved that the d-axis inductance, q-
axis inductance, and rotor flux linkage of the IPMSM vary
(5) conventional IPMSM mathematically modeling method, the
values of the d-axis inductance, q-axis inductance, and rotor
(6) nonlinearity of these parameters. Therefore, the characteristic
parameters of the IPMSM such as output torque, stator
winding current and back-EMF under most working
conditions cannot be precise enough. To solve this problem,
FEM can be applied to calculate this parameters at different
working points. As a result, three LUTs of Ld, Lq and ψa can
be obtained from the FEM simulation results, with which a
dynamic IPMSM mathematical model is able to be precisely
built.

B. IPMSM Drive System

As is shown in Fig. 3, the IPMSM drive system consists
of an IPMSM with an encoder, a speed PI regulator, a
current PI regulator, an SVPWM, a DC bus circuit, an
inverter and several coordinates transform modules. MTPA
is adopted in the speed PI regulator for the better torque
output and lower core-loss. The principle of MTPA can be
Fig. 1. Structure of the IPMSM.
expressed as follows:
∂ (Te / I a )
=0 (8)
∂id
∂ (Te / I a )
=0 (9)
∂iq
According to equations (3) ~ (9), id in MTPA method can
be calculated as (10). When operating in FW region, MTPV
is commonly used which can be expressed as (11). The
corresponding iq of MTPA and MTPV can be calculated
uniformly by (12).
Fig. 2. Vector diagram of the IPMSM.

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 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

I a,1 … I a,i … I a,m

γ 1 L d,11, L q,11, ψ a,11 … L d,i1, L q,i1, ψ a,i1 L d,m1, L q,m1, ψ a,m1
… … … … … …
γ j L d,1j, L q,1j, ψ a,1j L d,ij, L q,ij, ψ a,ij L d,mj, L q,mj, ψ a,mj
… … … … … …
γ n L d,1n, L q,1n, ψ a,1n … L d,in, L q,in, ψ a,in … L d,mn, L q,mn , ψ a,mn

Fig. 4. Proposed design method of the mathematical IPMSM model.

TABLE 1. Motor parameters.

 U2 
Parameters Value −ψ a Ld + ψ a2 L2d − ( L2d − L2q ) ψ a2 + L2q I a2 − a lim 
Stator outer diameter 160mm  ωe2 
id , FW = (11)
Stator inner diameter 108mm L2d − L2q
Rotor outer diameter 106.8mm
Rotor inner diameter 45mm iq = I a2 − id2 (12)
Pole pairs number 4
Core length 140mm where Ualim is the maximum available output voltage.
Stator slots number 48 In the current PI regulator, feed-forward decoupling
Rated power 15kW
Maximum power 28kW
control is adopted, then the reference voltage of d-axis and q-
Maximum torque 110N·m axis can be expressed as follows:
Rated speed 2250rpm
 K 
Maximum speed 7500rpm
ud* =  K pd + id  ( id* − id ) − ωe Lq iq (13)
 s 
 K iq  *
uq* =  K pq +  ( iq − iq ) + ωe ( Ld id + ψ a ) (14)
 s 
Speed (rpm)

where Kpd, Kpq are the proportional gain of the PI controller;

Kid, Kiq are the integral gain of the PI controller. Usually The
accuracy of the feed-forward decoupling control depends on
the accuracy of motor parameters including Ld, Lq, and ψa.
The inaccuracy of the motor parameters can lead to
Torque (N·m)

incomplete decoupling of cross-coupled electromotive forces

which may result in false reference voltage in d-axis and q-
axis. Thus, the proposed mathematical model of IPMSM
with precise parameters is able to obtain accurate static
Time (s) performance and dynamic performance with feed-forward
decoupling control.
(a)
Combining the principles discussed above, the proposed
method of building IPMSM mathematical model with its
6000
drive system is shown in Fig. 4. The FEA simulations at the
4000 major working points of the entire operation region are
2000
carried out in ANSYS/Maxwell and the results are arranged
into LUTs of Ld, Lq, and ψa, with which FEA-based
0 mathematical modeling method of IPMSM with drive system
including MTPA, FW ,and feed-forward decoupling control
100 is built in MATLAB/Simulink.
50

0
0 0.02 0.04 0.06 0.08 0.1 0.12 III. SIMULATION RESULTS
Time (s)

(b) A. Priciseness verification

To demonstrate the effectiveness by using the proposed
Fig. 5. Dynamic responses contrast of two IPMSM models. (a) The IPMSM modeling method, the SVPWM control system is
conventional IPMSM model. (b) The proposed IPMSM model. built in the Simulink, where a 15kW IPMSM prototype is
adopted. The main parameters of the motor are shown in
−ψ a + ψ a2 + 8 ( Ld − Lq ) I a2
2
Table 1.
id , MTPA = (10)
4 ( Ld − Lq )

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 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

To verify the preciseness of the proposed modeling Fig. 6. Dynamic responses of the proposed IPMSM model with MTPA and
method, speed PI regulator with discrete FW angle is applied MTPV control. (a) Speed and output torque. (b) Three-phase current. (c)
Current in d-q reference frame. (d) FW angle.
to observe numerical differences, which can be expressed as
− I a sin 45 0 ≤ N * ≤ 3000
  *
− I a sin 54 3000 < N ≤ 4000
Speed (rpm)

− I sin 58 4000 < N ≤ 5000

 *
id =  a  *
, iq = I a2 − id2 (15)
 − I a sin 64 5000 < N ≤ 6000
− I a sin 68 6000 < N * ≤ 7000
  *
− I a sin 72 7000 < N ≤ 7500
Torque (N·m)

where N* is the given speed.

Fig. 5 (a) and fig.5 (b) show the dynamic responses
difference in the SVPWM control system by contrast the
conventional IPMSM model using constant motor
parameters with the proposed IPMSM model using dynamic
(a) motor parameters.
As is shown in Fig.5, the motor speed firstly accelerates
from 0 to 6000 r/min, and then the load changes from 0 to 40
N·m. It is observed from the simulation results that motor
speed and output torque waveforms are more accurate by
Three-phase current (A)

adopting the proposed IPMSM modeling method than using

constant motor parameters. In addition, the dynamic
performance of the proposed IPMSM model is better than
the conventional IPMSM model using the identical PI
parameters. It should be noted that when operating at the
same FW section, the output torque of the conventional
model is constant while the output torque of the proposed
model is varying due to the dynamic motor parameters.

B. Dynamic Simulation using MTPA and MTPV control

(b)
In order to achieve better static and dynamic
characteristics in the entire speed range, the speed PI
regulator with the MTPA and MTPV control based on
Current in d-q reference frame (A)

equations (10)-(12) is applied.

Fig. 6 shows the dynamic responses of the IPMSM
model with MTPA and MTPV control as well as feed-
forward decoupling control, in which the waveforms of
speed, output torque, three-phase current, d-axis current, q-
axis current, armature current, and FW angle are included.
The motor speed firstly accelerates from 0 to 6000 r/min at
no load operation. Then the load changes from 0 to 40 N·m
before target speed is reached to observe the accelerating
ability at on-load condition. As is shown in Fig. 6 (a), the
speed rises smoothly and the output torque reaches
(c) maximum torque in a short time, then the output torque
varies with the dynamic id, iq given by MTPA and MTPV as
well as the nonlinear motor parameters. Fig. 6 (b) shows
three-phase current calculated by nonlinear motor parameters
which has good sinusoidality and dynamic performance. As
is shown in Fig. 6 (c) and Fig. 6 (d), at the switching point,
FW angle (deg)

the current in d-q reference frame and the FW angle change

roughly with a distortion. The reason is that the formulas of
MTPA and MTPV derive from the premise of constant
motor parameters. Hence, the current reference of d-axis and
q-axis calculated by the nonlinear IPMSM model are not
very accurate. Due to the initial settings of Ld, Lq, and ψa
which are essential to the dynamic simulation, the FW angle
does not start from 0 degrees.

(d)

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 2019 22nd International Conference on Electrical Machines and Systems (ICEMS)

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