International Conference on Emerging Trends in Electrical, Electronics and Sustainable Energy Systems (ICETEESES–16)
Comparison between Conventional
and Loss d-q Model of PMSM
Chandan Dutta1 and S.M. Tripathi2
Abstract—This paper presents the dynamic d-q ‘loss
model’ of PMSM wherein the core saturation has been taken
into account. Modeling equations of conventional and ‘loss
model’ have been presented. Field oriented control strategy
with conventional zero d-axis current control has been used
to control the PMSM so as to compare the conventional and
‘loss model’ of PMSM through detailed computer
simulations. The results of these simulations show that
dynamic performance of the drive is affected by the inclusion
of core loss resistance.
Keywords: Iron Loss, Loss Model, Permanent Magnet
Synchronous Motor (PMSM)1
NOMENCLATURE
id , iq Direct and quadrature-axis current components.
icd , icq Direct and quadrature-axis iron loss current
components.
iod , ioq Directand quadrature-axis magnetizing
current component
vd , vq Direct and quadrature-axis stator voltage
components.
Ld , Lq Direct and quadrature-axis stator inductances.
Rs, Rc Stator and core loss resistance.
λaf Permanent magnet rotor flux.
p Motor pole pairs.
ω e Angular electrical frequency.
ω m Rotor mechanical angular speed.
Te Electromagnetic torque.
Tm Load torque.
J Rotor inertia
F Viscous friction coefficient.
θr Instantaneous angular position of rotor.
Wcu Stator winding copper power loss.
W fe Stator iron power loss.
W Total electrical loss.
1M.Tech
Scholar, Department of Electrical Engg.,
Kamla Nehru Institute of Technology, Sultanpur (U.P.), India
2Assistant Professor, Department of Electrical Engg.,
Kamla Nehru Institute of Technology, Sultanpur (U.P.), India
E-mail: 1chandanknit91@gmail.com, 2mani_excel@gmail.com
I. INTRODUCTION
Permanent magnet synchronous motors (PMSMs) are
abundantly used in many industrial applications as they
possess many advantages over other types of machines
such as high efficiency, high torque to volume ratio, high
torque to inertia ratio, high power factor, high air gap flux
density, simplicity, ruggedness and lower maintenance
cost. PMSMs are convenient as there are no slip rings and
no need of extra DC supply. PMSMs are widely used in
low and medium power applications. They are used in
robotics, computer peripherals, adjustable speed drives
(ASDs) and hybrid electric vehicles [1]. Permanent
magnet motors in comparison to induction motors has
high efficiency in steady state, no losses due to slip, no
magnetizing current needed for constant air gap flux in
addition to above given advantages [2]. As the rotor is free
from losses, mainly power losses occur on stator
windings. In determining the maximum efficiency point
key issue is the ratio of copper and iron losses.
Conventional id =0 control strategy is used in which
the back-EMF is in phase with armature current vector is
applied in order to obtain maximum torque per ampere.
PMSM drive performance has been improved with the
advancements in permanent magnet materials which have
high coercivity and residual magnetism [3]–[6].
The motor losses comprises of mechanical losses, iron
losses and copper losses. The mechanical losses are
dependent on speed and are not controllable. The
controllable losses are iron and copper losses [7].
In this paper a new modified dynamic ‘loss model’
which takes into account iron losses is presented.
Expression for total controllable losses is derived by using
this model. For controlling PMSM field oriented control
with conventional i d = 0 control is used to compare
between conventional and ‘loss model’ through detailed
computer simulations. Results show that there is change in
the dynamic performance of the drive with the inclusion of
iron loss resistance in PMSM.
II. SYSTEM DESCRIPTION
The proposed field oriented control with zero d-axis
current control strategy is shown in Fig. 1. The realization
of this drive is done using PI and hysteresis controllers in
the feedback loops. PI controller regulates the feedback
speed loop and hysteresis controller regulates the feedback
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 Comparison between Conventional and Loss d-q Model of PMSM ‹ 257

current loop. Comparison between the reference speed and dω m

actual rotor speed is done by outer speed PI controller and J = Te − Tm − Fω m
dt (3)
the speed error is processed to obtain reference q-axis
current. The reference d-axis current is put to zero. The (
Te = 1.5 P[ λ af i q + Ld − L q i d i q ] ) (4)
reference currents generated after applying reverse Park’s
transformation is passed to a hysteresis current controller For a surface mounted PMSM Ld=Lq and hence
which regulates the error between the reference current torque equation becomes:
and actual current and accordingly control signals are Te = 1.5 Pλ af i q
generated which is passed to a VSI feeding the PMSM. (5)
The FOC control structure with conventional PMSM is
analyzed and the same is analyzed with ‘loss model’ of B. Loss d-q Model
PMSM. The modeling if iron losses are done by inserting a
i a*
single resistance R c into the conventional equivalent
i q*
w *r
PI Vector
Hysteresis circuit of synchronous machines [8], [9]. By the
i b* Current
Controller Rotation
Controller VSI
consideration of two axis Park’s theory and introducing
wr id* = 0 i c*
ic R c aforementioned the dynamic d-q model can be redrawn
ia
ib
Hall -effect
as shown in Fig. 3. The equations in the steady state
Current sensor
governing the dynamic model of PMSM taking into
account of iron loss are:
d/dt
Rs id Ld
PMSM i od

i cd
Rc
ωe Lqioq
LPF Encoder
vd

Fig. 1: Block Diagram of FOC Controlled PMSM Drive

III. MATHEMATICAL MODEL OF PMSM R s iq Lq i oq ωe Ld iod

i cq
A. Conventional d-q Model
vq R c ω e λ af
Conventional d-q model of PMSM is shown in Fig. 2.
Core saturation is not taken into account. By considering
two axis Park’s theory the state equations governing the Fig. 3: Loss Model of PMSM
conventional d-q model are:
d 1 ⎛ v +i R ⎞
Rs Ld i od = ⎜ R c d od c − i od R c + ω e Lq i oq ⎟
id
dt ⎜
Ld ⎝ R s + Rc ⎟
⎠ (6)
1 ⎛⎜ v q + ioq Rc
vd
ωe Lqiq
d
dt
i oq =
Lq ⎜⎝
Rc
R s + Rc
− i oq Rc − ω e λ af + i od L d ( )⎞⎟⎟
⎠ (7)
ω e Lq i oq
i cd = −
Rs
Lq iq ωe Ld id Rc (8)
ω
vq ω e λ af
i cq
Rc
(
= e λ af + i od L d )
(9)
i d = i od + i cd (10)
Fig. 2: Conventional Model of PMSM i q = i oq + i cq
(11)
R Lq dω m
d 1 J = Te − Tm − Fω m
id = v d − s id + ω e iq dt
dt Ld Ld Ld (12)

R L λ af ω e
(1)
(
Te = 1.5 P[λ af i oq + L d − L q i od i oq ]
(13)
)
d 1
iq = v q − s i q − d ω e id − The controllable losses that is copper loss and iron
dt Lq Lq Lq Lq
(2) loss can be represented as:

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258 ‹ International Conference on Emerging Trends in Electrical, Electronics and Sustainable Energy Systems (ICETEESES–16)

Wcu =
3
2
(
Rs id 2 + iq 2 ) (14)
Figure 10 shows the phase current characteristics of
conventional d-q model. Here it can be seen that phase
current are sinusoidal. Fig. 11. shows the phase current
3 ⎪⎛
⎧ ω e L q i oq ⎞
2
⎛ (
ω λ + i od L d
⎟ + ⎜ ioq + e af
) ⎞⎟ 2⎫
⎪ characteristics of loss d-q model. It is seen from the figure
W cu = R s ⎨⎜⎜ iod − ⎟ ⎜ ⎟ ⎬
2 ⎪⎝ Rc ⎠ ⎝ Rc ⎠ ⎪⎭ that in the loss d-q model distortions are present and now
⎩ (15) the phase currents are not purely sinusoidal. FFT analysis
The iron losses can be represented as: is performed and THD of stator phase current of both
3 2
(
W fe = R c i cd + i cq
2
2
) conventional model and loss model is calculated. THD of
stator current of conventional model is 0.77% and that of
(16)
loss model is 2.55%.
(
3 ⎧⎪ ω e L q i oq ) (ω e λ af + ω e iod Ld )
2 2 ⎫⎪ A performance comparison between conventional and
W fe = ⎨ + ⎬
2⎪ Rc Rc ‘loss d-q model’ is provided in the simulations. Simulation
⎩ ⎪⎭
(17) results demonstrated that with the inclusion of iron loss
The total electrical losses are: resistance the dynamic characteristics of PMSM are
( ) ( ) (
W i od , ioq, ω e = Wcu i od , ioq , ω e + W fe iod , i oq , ω e ) (18)
changed. There are more distortions present in torque and
stator current. Also more time is taken by the ‘loss-model’
W is a function of iod , ioq and ω e . The term ioq can drive to reach the steady state rated speed. These
be expressed in terms of Te , λaf . In steady state where the simulations are for surface mounted PMSM (SPMSM) but
similar analysis can be obtained for interior PMSM
speed and torque are constant the total electrical losses can (IPMSM). Mathematical modeling of conventional and
be expressed in terms of i od . ‘loss model’ have been done and simulations are
Te performed and analyzed for PMSM but the same analysis
i oq = can be performed on other type of machines such as
1.5 Pλ af induction motors, dc motors and synchronous reluctance
(19)
W (i od , Te , ω e ) = Wcu (i od , Te , ω e ) + W fe (i od , Te , ω e ) motors also.
(20) 1800
The mechanical losses are uncontrollable, but by
current vector control electrical losses can be controlled. 1600

The total controllable electrical loss is dependent on the 1400

current i od . 1200
Speed[rpm]

1000
IV. RESULTS AND DISCUSSIONS
800

Initially the motor is at standstill. A step command of

rated value (1750 rpm) from standstill is provided. Speed 600

PI regulator sets the speed of the rotor at reference value 400

(settling time) in 0.65sec with the rise time of 0.57sec 200

after enduring permissible overshoot at rated load torque

(12Nm) for the conventional model as depicted by speed 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time[sec]
time characteristics in Fig. 4. Fig. 5. shows the rotor
electromagnetic torque characteristics of conventional Fig. 4: Time-domain Waveform of the PMSM Mechanical Speed with
PMSM. It can be seen that there is a dip in rotor Reference Speed Equal to the Rated Speed for Conventional Model
electromagnetic torque at 0.57sec and finally the torque 20

attains steady-state value at 0.65sec. It is observed from 18

Fig. 6. that the steady-state maximum value of stator 16

current is 6.7A for the conventional model. Fig.7. shows 14

the speed time characteristics of ‘loss model’ of PMSM.

Torque[Nm]

12

Now the speed PI regulator sets the speed of the rotor at

reference value in 0.78sec with rise time of 0.72sec after
10

enduring permissible overshoot at rated load torque 8

(12Nm). The corresponding torque characteristic is shown 6

in Fig. 8. It is now seen the ripples in torque in the ‘loss 4

model' is more in comparison of conventional model. As 2

in the previous case there is also a dip in the rotor 0

electromagnetic torque at 0.72sec and finally the torque 0 0.1 0.2 0.3 0.4 0.5
Time[sec]
0.6 0.7 0.8 0.9 1

attains steady-state value at 0.78sec.The steady-state

Fig. 5: Time-domain Waveform of PMSM Electromagnetic Rotor
maximum value of stator current is now 7.09A as depicted Torque with Mechanical Torque Equal to the Rated Torque
in Fig. 9. for Conventional Model

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 Comparison between Conventional and Loss d-q Model of PMSM ‹ 259

8 8

6
6
PMSM Phase Current[A]

PMSM Phase Current[A]

4

2
2

0
-2

-2
-4

-4
-6

-8 -6

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

-8
Time[sec]
0.84 0.842 0.844 0.846 0.848 0.85 0.852 0.854 0.856 0.858 0.86
Fig. 6: Time-domain Waveform of PMSM Phase Currents with Time
Application of Rated Torque with Rated Speed for Conventional Model
Fig. 10: Time-domain Waveform of PMSM Phase Currents
with Application of Rated Torque with Rated Speed for Conventional
1800

1600 Model from 0.84 to 0.86sec

1400
8

1200
6
Speed[rpm]

1000

PMSM Phase Current[A]

4
800

2
600

0
400

-2
200

-4
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time[sec]
-6

Fig. 7: Time-domain Waveform of the PMSM Mechanical Speed with -8

Reference Speed Equal to the Rated Speed for Loss Model 0.84 0.842 0.844 0.846 0.848 0.85 0.852 0.854 0.856 0.858 0.86

20
Time

18 Fig. 11: Time-domain Waveform of PMSM Phase Currents

16
with Application of Rated Torque with Rated Speed for
Loss Model from 0.84 to 0.86sec
14

V. CONCLUSION
Torque[Nm]

12

10

8
In this paper a d-q ‘loss model’ of PMSM is presented
6 and analyzed. Here iron loss has been taken into account.
4 Modeling equations of both ‘loss model’ and conventional
2 model has been studied. Field oriented control strategy
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 with conventional zero d-axis current control is used to
Time[sec]
analyze and compare conventional model and ‘loss model’
Fig. 8: Time-domain Waveform of PMSM Electromagnetic Rotor of PMSM. Simulation results show that characteristics of
Torque with Mechanical Torque Equal to the Rated Torque
for Loss Model
motor such as rotor speed, torque and stator current
changes with the inclusion of core loss resistance.
8

6 APPENDIX
PMSM Phase Current[A]

4
Parameters of PMSM used are as follows. Power
2
P=2.2kW; Torque T=12Nm; Voltage V=316V; Current
0
I=5.3A; Number of pole pairs p=5; Rs=1.72 Ω ; Rc=700 Ω
-2
; λ af =0.244Wb; Ld=20.5mH; Lq=20.5mH; J=0.007Kg.m2.
-4

-6
ACKNOWLEDGMENT
-8
The work is supported by WBTEQIP-II of
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time[sec] KNIT, Sultanpur by providing seed money grant
Fig. 9: Time-domain Waveform of PMSM Phase Currents with for P.G. Project under 'Research Promotion Scheme'
Application of Rated Torque with Rated Speed for Loss Model (No. 369/WBTEQIP/2015).

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260 ‹ International Conference on Emerging Trends in Electrical, Electronics and Sustainable Energy Systems (ICETEESES–16)
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