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We present a model suitable for use in a vector control algorithm for synchronous reluctance machines with solid conducting ro-
tors. The model takes the rotor flux dynamics into consideration. It is similar to an induction machine model, yet includes a magnetic
saliency of the rotor. Here, we discuss techniques for parameter extraction and suggest a modification of the model to incorporate the
nonlinear magnetic phenomena. We also investigate the influence of nonlinear magnetics on the model-based controller. Our model
yields improved performance for a fast-changing torque command compared to the conventional model when utilized in a current reg-
ulator. Experimental results on a 120 kW, 55 000 rpm machine in a flywheel energy storage system validate the performance of the
proposed model.
Index Terms—Flux dynamics, nonlinear modeling, remanent magnetization, solid rotor, synchronous reluctance motor.
NOMENCLATURE I. INTRODUCTION
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4640 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 12, DECEMBER 2008
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PARK et al.: MODELING AND CONTROL OF SOLID-ROTOR SYNCHRONOUS RELUCTANCE MACHINES 4641
TABLE I case, the stator voltage of the machine will be due solely
SYNCHRONOUS RELUCTANCE MACHINE PARAMETERS to the flux generated by rotor currents
(17)
(13)
(14) (18)
(16)
(19)
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4642 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 12, DECEMBER 2008
the skin effect and proximity effect will cause the effective
rotor resistance to increase with frequency. The rotor resistance
in a flywheel energy storage system. Because of the nature of will also be a function of the rotor temperature, which in turn
a flywheel energy storage system (i.e., slowly changing rotor will depend heavily upon the magnitude of the rotor currents.
speed), it is straightforward to model the machine dynamics ac- However, it is impractical to incorporate all of these phenomena
curately, and hence a model-based controller can be effective. A into a single model, especially for the purposes of control.
model-based controller can be an attractive approach also for a For the model-based feedforward controller proposed in
synchronous reluctance machine, where the voltage is a strong Section II-D, it is critical to estimate flux linkage precisely
function of current. for accurate command voltage synthesis. The modeling of the
A simple, yet sufficiently accurate stator voltage command nonlinear magnetic behavior becomes more important when
for a desired stator current can be obtained by neglecting an observer or an open-loop controller is adopted. Assuming
derivative terms in (14) linear magnetics for all operating conditions will deteriorate
control performance, especially in the high- or low-end of the
current range, due to flux saturation or remanent magnetization,
(24) respectively. A conceptual graph in Fig. 3 shows the nonlinear
relationship between current and flux linkage with magnetic
saturation and remanent magnetization.
The estimated flux-linkage vector is determined from the
In earlier works regarding the synchronous reluctance ma-
desired stator current vector by numerically integrating the fol-
chine [6], [8], an ideal model, which did not take the nonlinear
lowing differential equations:
magnetics into account, was considered. More recent studies
have focused on the issues of magnetic saturation [3]–[5]. As
can be seen in Fig. 3, magnetic saturation decrease the flux
(25) linkage/current ratio considerably and consequently affects the
performance of the machine.
When a linear relationship between current and flux linkage
A schematic of this controller is shown in Fig. 2. is supposed and iron loss and other second-order effects are dis-
regarded, the steady-state flux-linkage expression is given as
follows:
III. MODEL IMPROVEMENT CONSIDERING
NONLINEAR MAGNETICS
(26)
A. Modeling of Nonlinear Components
However, when nonlinear magnetics are considered, the flux-
The model of the synchronous reluctance machine in the
linkage expressions are functions of both direct- and quadrature-
previous section is based on linear magnetic behavior, assuming
axis stator currents
that the flux linkages in the machine are linearly proportional
to the currents. However, practical machines do not behave
linearly, and their nonlinear phenomena cannot be disregarded
when dealing with the control of real machines. There are
several nonlinear phenomena that make the linear modeling
difficult, such as saturation, hysteresis, stator iron loss, or (27)
cross-coupling. The rotor resistance is nonlinear as well, since (28)
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PARK et al.: MODELING AND CONTROL OF SOLID-ROTOR SYNCHRONOUS RELUCTANCE MACHINES 4643
Practically, the cross-coupling effect can be neglected in the straightforward to measure from the machine terminals, the in-
normal load range. Thus, the stator flux linkage/current relation- accurate flux-linkage estimation due to the nonlinear magnetics
ship in the controller can therefore be modeled with current-de- will become a major source of the current tracking error.
pendent inductances
C. Incorporating Nonlinear Magnetics Into
the Model-Based Controller
(29) From the simplified voltage (30), flux linkages can be ex-
pressed as follows. They can be experimentally obtained by ap-
plying a series of voltages on one axis while zero voltage is ap-
B. Effect of Nonlinear Magnetics on Current Regulation plied to the other
(35)
(38)
As can be seen in (35), the current tracking error is proportional
to the inductance deviation. Considering the stator resistance is (39)
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4644 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 12, DECEMBER 2008
(40) where
(41)
(45)
(42)
The nonlinear flux-linkage equations can be obtained
The flux-linkage estimator can therefore be given as from the experimentally measured flux linkages, which can be
seen in Figs. 6 and 7. The nonlinear flux-linkage estimator (43)
and (44) can then be utilized for voltage command synthesis
(24), instead of linear flux-linkage estimator (25). The equiva-
(43) lent circuit is shown in Fig. 8.
Although the rotor leakage inductance is neglected to sim-
(44) plify the expression, this should result in little error, since the
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PARK et al.: MODELING AND CONTROL OF SOLID-ROTOR SYNCHRONOUS RELUCTANCE MACHINES 4645
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4646 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 12, DECEMBER 2008
TABLE II
PIECEWISE FLUX-LINKAGE EQUATIONS
Fig. 12. Experiment: Direct and quadrature axis current regulation. Model in-
cludes the rotor flux dynamics. 400 A peak current command at 35 000 rpm.
Experiment is at minimum-current operating point of machine. i ; i (a) com-
mand and (b) actual (from top). Fig. 13. Experiment: 0–300 A ramp commands in rotor reference frame at
35 000 rpm. Linear-model-based controller. Upper: direct-axis, lower: quadra-
ture-axis. (a) Command current ~i and (b) actual current i .
V. CONCLUSION
A model for synchronous reluctance machines with solid
conducting rotors has been proposed. It has been shown that
the machine can be modeled more accurately if the rotor
flux-linkage dynamics associated with the solid conducting
rotor are included. Provided the model parameters agree well
with the actual system, good performance can be achieved.
Fig. 14. Experiment: 0–300 A ramp commands in rotor reference frame
A modification of the solid-rotor synchronous reluctance ma- at 35 000 rpm. Nonlinear-model-based controller. Upper: direct-axis, lower:
chine model to incorporate the nonlinear magnetic phenomena quadrature-axis. (a) Command current ~i and (b) actual current i .
has also been suggested. It has been validated that the con-
troller based on the proposed modified model can remove the
current tracking error caused by the remanent magnetization. REFERENCES
The suggested approach can apparently be applicable to com-
[1] H. Hofmann and S. R. Sanders, “High speed synchronous reluctance
pensate magnetic saturation with extended nonlinear equations with minimized rotor losses,” IEEE Trans. Ind. Appl., vol. 36, no. 2,
including the saturated range. pp. 531–539, Mar.–Apr. 2000.
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PARK et al.: MODELING AND CONTROL OF SOLID-ROTOR SYNCHRONOUS RELUCTANCE MACHINES 4647
[2] J. Park, C. Kalev, and H. Hofmann, “Analysis and reduction of time [17] D. W. Novotny and T. A. Lipo, Vector Control and Dynamics of AC
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published January 08, 2009. Corresponding author: J.-D. Park (e-mail: jaedo.
[4] L. Xu, X. Xu, T. A. Lipo, and D. W. Novotny, “Vector control of a syn-
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[5] L. Xu and J. Yao, “A compensated vector control scheme of a syn- Jae-Do Park received the B.S. and M.S. degrees in electrical engineering from
chronous reluctance motor including saturation and iron losses,” IEEE the Hanyang University, Seoul, Korea, in 1992 and 1994, respectively, and the
Trans. Ind. Appl., vol. 28, no. 6, pp. 533–540, Nov.–Dec. 1992. Ph.D. degree from the Pennsylvania State University, University Park, in 2007.
[6] R. E. Betz et al., “Control of synchronous reluctance machines,” IEEE From 1994 to 2001, he was a research engineer with LG Industrial Systems,
Trans. Ind. Appl., vol. 29, no. 6, pp. 1110–1122, Nov.–Dec. 1993. Anyang, Korea. Since 2004, he has been with Pentadyne Power Corporation,
[7] J. Melcher, Continuum Electomechanics. Cambridge, MA: MIT Chatsworth, CA, where he is currently a Controls Software Engineer. His cur-
Press, 1981. rent interests include flywheel energy storage systems, power converters, and ac
[8] T. J. E. Miller, A. Hutton, C. Cossar, and D. A. Staton, “Design of a machine drives.
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[9] J. Park, H. Hofmann, and C. Khalizedeh, “Feedforward control of
high-speed solid-rotor synchronous reluctance machines with rotor
dynamics model,” in Proc. 39th Annu. IEEE IAS Meeting, Oct. 3–7, Claude Kalev earned his undergraduate degree in electronic engineering from
2004, vol. 1, pp. 292–298. the California Polytechnic State University, San Luis Obispo.
[10] H. Darrelmann, “Comparison of high power short time flywheel He joined Pentadyne Power Corporation in June of 2002 as Vice President,
storage systems,” in Proc. INTELEC’99, Jun. 1999. Electrical Engineering. He was a co-founder of Pentadyne when the company
[11] D. Lin, P. Zhou, Z. Badics, W. N. Fu, Q. M. Chen, and Z. J. Cendes, was incorporated in 1998. His interests are high-speed rotating machinery, mag-
“A new nonlinear anisotropic model for soft magnetic materials,” IEEE netic bearing system development, high vacuum systems, and molecular drag
Trans. Magn., vol. 42, no. 4, pp. 963–966, Apr. 2006. pump design.
[12] I. Scian, D. G. Dorrell, and P. J. Holik, “Assessment of losses in a Mr. Kalev is a member of Tau Beta Pi and Golden Key Honor Society.
brushless doubly-fed reluctance machine,” IEEE Trans. Magn., vol. 42,
no. 10, pp. 3425–3427, Oct. 2006.
[13] H. Hofmann, S. R. Sanders, and A. El-Antably, “Stator-flux-oriented
vector control of synchronous reluctance machines with maximized ef- Heath Hofmann received the B.S. degree in electrical engineering from the
ficiency,” IEEE Trans. Ind. Appl., vol. 51, no. 5, pp. 1066–1072, Oct. University of Texas at Austin in 1992. He received the M.S. in 1997 and Ph.D.
2004. in 1998, both in electrical engineering and computer science from the University
[14] A. Chiba and T. Fukao, “A closed-loop operation of super high-speed of California at Berkeley.
reluctance motor for quick torque response,” IEEE Trans. Ind. Appl., He is an Associate Professor at Pennsylvania State University, University
vol. 28, no. 3, pp. 600–606, May–Jun. 1992. Park. His research area is power electronics, specializing in the design and con-
[15] C. T. Chen, Linear System Theory and Design. New York: CBS Col- trol of electromechanical systems. Specific interests are energy harvesting (i.e.,
lege, 1984. the generation of electricity from one’s environment), flywheel energy storage
[16] R. S. Colby, A. K. Simlot, and M. A. Hallouda, “Simplified model systems, and electric drives for electric and hybrid electric vehicles.
and corrective measures for induction motor instability caused by pwm Dr. Hofmann was awarded a Prize Paper Award (First Prize) by the Electric
inverter blanking time,” in Proc. 21st Annu. IEEE PESC, 1990, pp. Machines Committee at an IEEE Industry Applications Society Annual Meeting
678–683. in 1998.
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