Parameters and performance of a

high-field permanent-magnet
synchronous motor for variable-frequency
operation
Prof. B.J. Chalmers, B.Sc, Ph.D., D.Sc, C.Eng., F.I.E.E., S.A. Hamed, M.Sc,
and G.D. Baines, B.Sc.
Indexing terms: Motors, Synchronous motors

Abstract: The paper studies the application of conventional two-axis machine theory to the performance
analysis of modern permanent-magnet synchronous motors. A representative motor with radially-oriented
samarium-cobalt magnets in a rotor of interior type is considered as an example. Full performance data are
measured for the full 360° range of load angles at various supply frequencies. Performance computations using
constant motor parameters show significant discrepancies when compared with measurements, particularly at
low supply frequency. Detailed determinations of parameter values reveal an important variation of
quadrature-axis reactance as a function of quadrature-axis current, owing to magnetic saturation on this axis.
When this variation is included within the analysis, together with temperature variation of stator resistance,
excellent correlation is shown in all respects.

List of symbols

E — excitation EMF per phase

/ = supply frequency
/ = stator current per phase
m = number of phases
p = number of pole pairs
magnet
Pg = air-gap power
R = stator resistance per phase
Te = electromagnetic torque
V = supply voltage per phase
com = mechanical angular velocity
X = synchronous reactance per phase
(5 = load angle
</> = input phase angle cage
winding
k = per-unit frequency =f/f0
Suffices
d = direct axis 2.5
q = quadrature axis 22.5
p = power component
r = reactive component
0 = value at base frequency f0

1 Introduction
In recent years, compact and energy-efficient synchronous magnet
motors have been designed (e.g. References 1-5) using nonmagnetic
modern high-field permanent magnets in the rotor. Parti- packing
cular interest has been shown in using these motors with
variable-frequency inverters in variable-speed drives (e.g. lamination
bridge
References 4, 6, 7), taking advantage of increased effi-
ciency x power factor product to reduce VA requirements. Fig. 1 The rotor
An important category of these motors is the 'interior a Schematic rotor layout
type' [8], in which the magnets are embedded within a b Rotor cross-section
rotor core plate. Utilising the B/H properties of materials Dimensions in mm
such as samarium cobalt, each magnet per pole is then
usually of short magnetic path length and has a width having a rotor of this type is studied in this paper and Fig.
comparable to a pole pitch. The layout of a simple and \b shows its cross-section.
representative rotor of interior type [4] with radial magnet Traditionally, synchronous machines are represented by
orientation is shown schematically in Fig. la. A motor a two-axis phasor diagram as in Fig. 2, with parameters
Eo, Xd0, Xq0 and R, for analysis and prediction of steady-
Paper 3782B (PI), received 3rd December 1984 state performance. Here Eo, Xd0 and Xq0 are defined at a
The authors are with the University of Manchester Institute of Science and Tech- reference frequency/ 0 ; for operation with any other supply
nology, PO Box 88, Manchester M60 1QD, United Kingdom frequency /, defined by / = A/ o , these three parameters are
IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MA Y 1985
H7
each multiplied by X. This form of representation has com-
monly been used for permanent-magnet motors [8-10],
q-axis
d-axis
Fig. 2 Phasor diagram
although a recent review [11] has stated that these linear
models give rise to poor predictions of performance. Binns
et al. [12] have indicated that, owing to the special method
of excitation of permanent-magnet synchronous motors,
nonclassical methods are required to determine their most
important characteristics. These problems have stimulated
detailed computational approaches (e.g. References 13-15)
to obtain complete solutions of the motor field equations.
These methods yield much information relating field dis-
tribution to rotor design, but require extensive input data
and computation.
In the present paper, attention is directed towards the
possibility of making appropriate modifications to the
classic two-axis theory with the objectives of achieving
satisfactory accuracy by incorporating all major effects
while, at the same time, retaining a relatively efficient cal-
culation procedure.
The synchronous reactances of some permanent-magnet
synchronous motors, as distinct from wound-rotor syn-
chronous machines, have a close relationship with reluc-
tance motors having nonmagnetic flux barriers [16-18].
Thus, with a rotor geometry such as that shown in Fig. 1,
the low permeability (near unity) of the magnets, which lie
across the path of d-axis flux, leads to a relatively low
value of Xd0 in a permanent-magnet motor in the same
way as flux barriers produce a low value of Xq0 in a
modern reluctance motor. This produces the condition
Xd0 <^ Xq0 in the permanent-magnet motor, which is the
reverse of the situation in other synchronous machines.
The similarities between the d-axis flux distribution due to
stator currents in this type of permanent-magnet motor
and that on the q-axis in reluctance motors with flux bar-
riers has been shown [2, 8]. In the permanent-magnet
machine, this type of distorted distribution of net air-gap
flux, including flux reversal near the ends of the magnets,
118
may be observed [2] under high-current conditions such
as generating into a short-circuit.
The two-axis theory is basically a constant-parameter
analysis, but it is common to use suitably-adjusted values
of parameters making some allowance for variation of
saturation conditions. Various authors have noted the
influence of magnetic saturation upon the performance of
permanent-magnet motors, and some motor design pro-
cedures attempt to take saturation into account in the pre-
diction of parameters. Some measurements of saturable
parameters have been reported [2, 8, 10], but these have
mainly been under unrepresentative conditions, such as no
load or short circuit, when the stator current is purely
reactive. Honsinger suggested [8] that measurement of the
three parameters Eo, Xd0 and Xq0 should, if possible, be
made under actual operating conditions with the machine
loaded. An investigation of this type is reported in this
paper. In a sample commercial motor, the variations of
motor parameters are studied over the full 360° range of
load angle, with rated supply voltage. In the tested
example, variations of Eo and Xd0 are found to be small,
but the variation of Xq0, associated with saturation on the
g-axis, is shown to be significant.
The two-axis equations are then used to determine per-
formance under variable-frequency operation, including
full loci of input current phasor and variations of d- and
q-axis components of current. When the calculation pro-
cedure is modified to incorporate the variation of Xq0, this
is shown to have an important influence under the
frequently-required condition of variable-speed operation
with constant-torque load.
2 Two-axis theory
Using the phasor diagram of Fig. 2, a set of equations is
obtained describing machine performance in terms of the
load angle 3. Equating voltage components on the d and q
axes,
V sin 3 = XXq0Iq-RId (1)
V cos 3 = XXd0Id + XE0 + RIq (2)
Hence d- and q-axis current components are:
V(XXq0 cos3-R sin 3) - X2E0 X qO
(3)
R X Xd0d0 XXqq0
V{XXd0 sin 3 + R cos 3) - XE0 R
',= (4)
R -\- X XdQ X q0
Air-gap power per phase Pg is produced by interactions
between components of current and air-gap EMF which
are in phase with each other. Thus, for m phases,
Pg = m[(XE0 + XXd0 Id)Iq - (XXq0 lq)ld-\
= mlXE0Iq + XIdIq(Xd0-Xq0)-] (5)
Torque Te is given by
Te = PJ<om = Pg/Xcom0 (6)
where
wm = 2nf/p and com0 = 2nfo/p
Again from the phasor diagram, input current can be
resolved into components Ip and lr, where lp is the input
power component and Ir is the lagging reactive component
of input current. Resolving Id and Iq onto the p and r axes,
Ip = Iq cos 3 — ld sin 3 (7)
Ir = Iq sin 3 + Id cos 3 (8)
IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MAY 1985
The inverse forms of the relations between Ip, Ir and Id,
is
Iq = Ip cos 3 + Ir sin 3
Id = Ir cos 3 — Ip sin 3
We also have
/ 2 = / 2 + /r2 = /d2 + / 2
Thus Ip, Ir and Id, Iq may be found from measurements of
input current, voltage and power together with load
angle 3.
3 Experimental equipment and tests
3.1 Test machine
The machine tested was a three-phase, star-connected,
four-pole, permanent-magnet synchronous motor with
samarium cobalt magnets [4], frame size 80L. It was
designed for operation at up to 6000 rev/min in an appli-
cation with high inertia load but low torque. For the
experimental work, a fan was fitted and load and tem-
perature tests were conducted with 100 V, 50 Hz supply to
determine a rating. This exercise yielded the following
figures:
maximum torque = 2.62 Nm; rated torque = 1.75 Nm;
rated current = 2.0 A; output at 50 Hz = 275 W
3.2 Loading and performance measurements
To determine performance over the full range of load
angles, the test machine was coupled to a larger synchro-
nous machine, having the same supply frequency and
number of poles, so that the two machines had the same
synchronous speed. A phase shifter was connected in the
lines to the test machine as indicated in Fig. 3, to provide a
phase shift between the supplies to the two machines, and
enabled stable operation of the test machine to be
obtained at any value of load angle.
For measurement of output torque, separate tests were
performed using a dynamometer.
In both test arrangements, the load angle was measured
(9) using a stroboscope triggered by the motor phase voltage.
(10) All tests were conducted with a sinusoidal supply. Using a
commutator frequency changer, the supply frequency was
varied down to 7.5 Hz, at which frequency motor resist-
(11) ance became a significant parameter. The upper limit of
test frequency was 50 Hz, owing to the speed limitations of
the coupled loading machines. At this frequency, motor
resistance was small compared with its reactances. Results
are presented in Section 5 for the following three supply
conditions which were initially estimated, on the basis of a
constant-parameter prediction, to give a constant value of
maximum motoring torque:
(i) 100 V, 50 Hz (A = 1.0)
(ii) 45 V, 15 Hz (A = 0.3)
(iii) 33 V, 7.5 Hz (2 = 0.15)
3.3 Measuremen t of parameters
Initial measurements of some parameters were made by
conventional tests. The stator resistance R at ambient tem-
perature was measured by passing direct current. The exci-
tation EMF XE0 and the position of the zero load angle
were measured when driving the test machine as a gener-
ator on open circuit.
Three slightly different values of Xd0 were obtained by
50 Hz measurements with:
(a) 3 = 0
(b)5= 180°
(c) generating into a short circuit
Honsinger [8] has suggested that Xq0 may be calculated
from a test at 3 = 90°, using Xq0 = V/Ir under this condi-
tion. This equation neglects stator resistance. Manipula-
tions of eqns. 1, 2, 7 and 8 yields the more accurate forms
= (V-IpR)/Ir
(12)
or
2
= (VXd0-IrR -E0R)/IrXd0

main supply at 50Hz

for a test at 3 = 90° and A = 1.
In the study reported here, a new method of measuring
Xq0 was developed, as follows, to obtain information on
Variac* the variation of this parameter as a function of g-axis mag-
netisation. It is seen from eqn. 1 that, if the condition Id =
frequency 0 can be arranged, then, at X = 1,
changer
Xq0 = V sin 3/Iq (13)
The parameters Eo, Xd0 and R do not enter into this
Variac relationship. The test consists in measuring input current
and power at a particular supply voltage, for a range of
phase shifter load angles in the range 0-90°. From these measurements,
Ip and Ir are calculated, and hence Id and Iq are evaluated,
using eqns. 9 and 10. Curves of Id and Iq against 3 are then
V , I and P Variac** constructed and the point where Id = 0 is found. Xq0 is
measurement
then calculated at this point using eqn. 13. Repetition of
stroboscope this procedure with a range of supply voltages yields a
curve of Xq0 against Iq.
auxiliary The small values of mechanical loss torque and iron loss
test synchronous were estimated from no-load tests. In subsequent work at
machine variable frequency, it was assumed that the loss torque was
machine
constant and that the iron lo'ss was proportional to
graduated (flux x frequency)2.
disc When processing measured and calculated results, for
Fig. 3 Experimental arrangement both parameter determination and correlation, allowance
* removed for 50 Hz tests was made for iron loss as a component of input current
** removed for low-frequency tests and for loss torque.
IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MAY 1985 119
3.4 Identification method of parameter estimation
The measurements of parameters mentioned in the preced-
ing Section are not too difficult to conduct, although they
do require the facility to hold the test machine at certain
values of load angle. In practice, however, saturation of
important parameters may vary as a function of both load
angle and magnetisation. A more detailed method of
examination is then necessary. A suitable procedure is pro-
vided by the identification method of parameter estimation
[19]. This method has been proposed recently [12] for use
with permanent-magnet synchronous motors, although in
that paper stator resistance was neglected. This approx-
imation is not warranted with small motors and at low
supply frequencies.
In the present study, there are four parameters R, Eo,
Xd0 and Xq0 which may be subject to variation with the
operating condition. Note that R is the only parameter
representing losses within the machine, over and above the
value of iron loss mentioned in Section 3.3. If losses vary
other than in proportion to current squared, owing to
changes in, say, temperature or flux distribution, then these
will be represented by a change in the value of R.
For operation with a particular supply voltage and fre-
quency (say X = 1), the problem may be defined as the
determination of a value for each parameter at each of a
range of load angles in the range 0-360°. In the load tests
with phase shifter, measurements were taken at 10° inter-
vals of 8 yielding values of Id and lq at each point. Eqns. 1
and 2 are then to be used to find values of the four
unknown parameters.
If the four unknown parameters were constants, mea-
surements at two values of 8 would provide sufficient
numerical data to yield unique solutions for the par-
ameters. In the simplest terms, these two values of 8 could
be two adjacent data points, which are spaced at 10° in the
present case. This procedure would yield values of the four
parameters applicable within the particular 10° band of <5.
Since it is desired to evaluate the variations of the par-
ameters, this procedure would be repeated for all pairs of
adjacent data points (e.g. 0 and 10°; 10° and 20° etc.),
yielding 36 results for each parameter, at 10° intervals.
50
40
> 30
o a first approximation, be neglected. The implications of
LJJ
20
10
0 attributed to temperature rise during the tests.
60 120 180 240 300
60
50
30
20
10
60 120 180 240 300
8 , degrees
Fig. 4 Parameter values by identification method
120
In practice, computational difficulties arise owing to
random inaccuracies in the measured data. It is therefore
advisable first to smooth the measured input data, in order
to avoid the propagation of errors originating from this
source. The identification method [19] provides a pro-
cedure for obtaining solutions with nonideal numerical
data. This technique is essentially an organised procedure
for making progressive adjustments of estimated solutions.
Initial estimates, taken from the conventional measure-
ments described in Section 3.3, are used to initiate the
process, say at 8 = 0, and the errors between the left-hand
and right-hand sides of eqns. 1 and 2 are evaluated. The
errors are then used to make adjustments to the parameter
values, these adjustments being weighted according to the
magnitude of each team on the right-hand side. This pro-
cedure is continued at each point until tolerably small
errors are achieved. A final check on the validity of the
identification procedure was obtained when the parameter
values were substituted, point by point, into the system
equations, yielding a computed performance in very close
agreement with that measured. As pointed out by Hon-
singer [8], parameters properly derived from a particular
load test will naturally predict the correct performance at
that point.
4 Parameter values
4.1 General
Using the methods indicated in Section 3.3, the following
values were found:
R = 3.5 Q at ambient temperature
Eo = 47.3 V per phase
Xd0 = 16.2 n at 8 = 0
= 14.0 Q at 8= 180°
= 15.9 Q on short circuit
Iron loss = 12 W at 100 V, 50 Hz
Mechanical loss =10.4 W at 1500 rev/min; loss
torque = 0.066 Nm
Measured values of Xq0 are presented in Sections 4.2
and 4.3.
4.2 Identification method
Fig. 4 shows parameters obtained by the identification
method, plotted against 8. The most significant observa-
tions are:
(i) Variations of Xd0 and Eo are not great and might, to
this are examined in Section 5.
(ii) R varies from its cold value, in regions of low
current, to about double that value at high currents
(120° < 8 < 300°, see Fig. 6). This variation is mainly
360
(iii) A most significant cyclic variation of Xq0 is seen.
This variation was clarified when Xq0 was replotted
against Iq, as in Fig. 5, showing that Xq0 followed the
same curve for both positive and negative values of Iq.
This curve, which covers values of lq up to twice rated
current, represents a significant saturation effect on the
q-axis.
4.3 XQ0 by the new method
The variation of Xq0 with Iq measured by the new method
is also plotted in Fig. 5. It is seen that this agrees well with
the results of the identification method at low and high
360 current values, and the departure is not great at interme-
diate currents. Since the new method requires appreciably
fewer test measurements and far less processing of test
IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MA Y 1985
data, it is recommended as a preferred procedure for cases Table 1 indicates the dependence of computer per-
where only Xq0 is expected to be subject to a significant formance upon the maximum departures of Eo and Xd0
saturation effect.
5.0
Fig. 5 shows that, when Iq = 2 A, Xq0, as measured by
60
A.O -
50

40

30

20

10

1.0 2.0 3.0 4.0

A
Fig. 5 Variation ofXq0 with Iq
by identification method
O = positive / , 1 experimental
# = negative Iq f points
x x measured by new method
-3
straight-line approximation

the new method, is reduced to 66% of its unsaturated

value. Fig. 6 Ip, I, loci with 100 V, 50 Hz supply
computed with saturation of X 0
4.4 Relationships between reactances and machine • - computed with constant Xq0
•x measured
design
The low measured value of Xd0, at about 15 Q or 0.52 p.u.,
is typical of motors with permanent-magnet material Table 1 : Influence of variations of Eo a n d Xd0
and/or flux barrier effect on a particular axis. It follows c5 = 6O° c5 = 15°
that the effective air-gap length on this axis is large and, Original Original Eo = 48 V
XdO
consequently, that variation of the reactance on this axis parameters 41.5 V 17 Q parameters
owing to saturation will be minimal.
/.A 1.87 1.60 1.75 0.61 0.58
In contrast, the effective air-gap length on the q-axis is Te, Nm 1.70 1.41 1.57 0.12 0.13
small (see Fig. \b). Xq0 is therefore subject to the satura- PF 0.996 0.970 0.989 0.428 0.468
tion effect and this may be calculated at the design stage in
the same manner as for an induction motor, as a function
of the g-axis flux or Iq. from their average values quoted in the preceding text.
Concentrating upon the stable motoring region, the varia-
tions of parameter values are taken from the results by the
5 Machine performance and correlation identification method given in Fig. 4, wherein the
minimum Eo of 41.5 V and maximum Xd0 of 17 Q occur at
Two computer programs were prepared for the computa-
S = 60°, X = 1. Maximum Eo of 48 V occurs at <5 = 15°, at
tion of machine performance, using the analysis of Section
which point Xd0 = 1 5 0 .
2, on the basis of:
While it is clear that the performance of a synchronous
(a) constant parameters, with Xq0 = 51.2 fi
motor is dependent upon the phasor difference between
(b) with saturation of Xq0 as a function of Iq, approx-
the applied voltage and the excitation EMF, errors intro-
imated by three straight-line sections as shown in Fig. 5.
duced in the example by the assumption of constant Eo
This procedure involved simple iterative adjustment of Xq0
and Xd0 are not excessive, as demonstrated by the com-
depending upon the value of Iq.
puted current loci in Fig. 6. In particular, the agreement
Eo and Xd0 were taken as constants, with Eo = 47.3 V and between measured and computed values is excellent in the
with an averaged value of 15 fi for Xd0. normal motoring range (0 < <5 < 92°).
Previous analytical work [20] has shown that, with In contrast to the situation at full frequency, variation
constant parameters, the loci of (Ip, Ir) are limacon of of R had a very significant effect at low frequencies. Thus
Pascal with a shifted origin. The actual shape depends Fig. 7 shows computed Ip, lr loci, with saturation of Xq0,
upon frequency, excitation EMF, saliency and resistance. for various values of R at A = 0.15. Clearly, increase of
For the present example, at X = 1, this locus is shown in stator resistance has an important influence upon input
Fig. 6 wherein computations with and without saturation current, at fixed supply voltage, when frequency, EMF and
are compared with measurements. The differences between reactances are small. Some lines of constant <5 are included
the three loci are quite small, showing that, under this con- in Fig. 7. These show how a change of resistance also
dition, the model with constant parameters is quite satis- changes the performance at particular values of load angle.
factory. Iq reached a maximum of 2 A at S near to 250°. A In the practical tests at low frequency, it was found that
constant value of R = 3.5 Q was used in these computa- stator temperature increased considerably owing to
tions; an increase of R to 4.5 fi showed only slight reduced cooling at low speeds. Typically, stator resistance
changes, confirming that resistance had little influence increased from 3.5 fi to 5.5 fi during measurement of a full
upon input current at X = 1. current locus.
IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MA Y 1985 121
 Fig. 8 compares measured and computed Ip, lr loci at The increased influence of saturation of Xq0 upon per-
A = 0.15, with R taken as 5 Q. Saturation of Xq0 is seen to formance at low frequencies is further explained by Fig. 9,
which shows variations of Id and Iq with motoring torque
8 = 130
for various values of A. The computations include satura-
6.0 - tion of Xq0. Fig. 9a shows that, at the rated torque of
1.75 Nm, Id is negative and its magnitude decreases as A is
decreased. Fig. 9b shows that, at the same torque, /

R=3.5n 3.Or

2.0

1 .0

0.5 2.5 3.0

8=180° -1-0
A =0.15, V=33V

-2.0 . A = 0 . 3 , V=A5V
A =1. 0,V=100V

1 .0 -3.0

Fig. 7 Computed lp, Ir loci, with saturation Xq0, showing influence of

stator resistance at low frequency, 33 V, 7.5 Hz supply
2.5
have a very large effect upon performance at low fre-
quency. The computation including saturation agrees well 2.0
with the measurements, whereas that with constant Xq0 is
in gross error at high currents. Better agreement than that < 1.5
shown in Fig. 8 was obtained for points near the start of
the test (5 < 90°) when a lower value of R was used, corre-
sponding to a lower temperature. 1 .0

6.0 0.5

0 0.5 1.0 15 2.0 2.5 3.0

b T e ,Nm

Fig. 9 Variations of Id and Iq with motoring torque

computed with saturation of Xq0
x x measured

increases as A is decreased. This causes Xq0 to decrease

owing to saturation, as in Fig. 5. Reference to the equation
for torque (eqn. 5), noting that (Xd0 — Xq0) is negative,
leads to the deduction that Iq must then be further
increased, on account of the saturation effect, to maintain
the same torque. When A = 0.15, Iq is approximately con-
stant at 2 A in the stable motoring range.
A further illustration of the variations of Id and Iq is
given by Fig. 10, which shows Id, Iq loci computed without
saturation of Xq0 (Fig. 10a) and with saturation of Xq0
(Fig. \0b). With constant parameters, these loci are ellipses
with their centre translated and axes rotated by 0, where
tan 9 = R/l(Xd0 + Xq0) [20]. The-much wider range of /„
0 1.0 2.0 3.0 4.0 at low frequency is clear in Fig. 10a. This causes saturation
lr.A
of Xq0, leading to further increase of Iq and distortion of
Fig. 8 Ip, I, loci with 33 V, 7.5 Hz supply
the locus, as seen in Fig. 105. Such loci describe the varia-
computed with saturation of Xq0
computed with constant Xq0
tion of stator MMFs on the d- and g-axes.
x x measured Computations including saturation of Xq0 showed good
122 IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MAY 1985
agreement with measured overall performance at all fre- Table 2: Summary of measured motoring performance
quencies. Thus Fig. 11 shows results for torque-load angle A 1.0 0.3 0.15
f. Hz 50 15 7.5
line voltage 100 45 33
7"e = 1.75 N m : 6, degrees 65 53.5 41.5
efficiency 80 70 43
power factor 0.98 0.93 0.79
/, A 2.05 1.64 2.1
At Tmax: Tmat. Nm 2.5 2.55 2.7
6, degrees 92 75 62
/. A 3.3 2.6 2.2

The reduction of <5 at a given torque condition as fre-

quency is reduced is a consequence of the increasing
influence of stator resistance. It is noted that the voltage
chosen did not give precisely the same maximum torque at
each of the test frequencies. The results at maximum
torque show that the ratio maximum-torque/input-current
increases significantly as frequency is reduced, the increase
being 62% between X = 1 and X = 0.15. This may be
explained in terms of torque angle <5,-, which is the angle
between the phasor current / and the d-axis in Fig. 2. It is
= 0.15 seen that St = (90° + 3 - (j>). When X is large, 3 at
maximum torque is near 90° and <f) is small, so <5,
120 approaches 180°. Stator current is then largely demagne-
tising, only a fraction of it is torque-producing, and current
for a given torque is increased. In contrast, when X is small,
3 at maximum torque is reduced and 0 is again small,
since the stator circuit is then predominantly resistive.
Hence <5, approaches 90°, current is mainly torque-
producing and current for a given torque is reduced. Fig.
270 12 illustrates the differences between high- and low-
frequency operation at maximum torque for the voltage-
fed motor.
The high values of power factor and efficiency at rated
torque recorded in Table 2 are typical of modern
Fig. 10 Computed Id, Iq loci permanent-magnet motors.
a constant Xq0
b with saturation of Xq0 6 Conclusion

at X = 0.15. Constant Xq0 gave a reasonably correct value Detailed measurements over the full 360° range of load
of maximum torque but load angle at low torque was quite angles, and their analysis by the identification method,
in error. yielded the variation of each two-axis parameter with
Overall motoring performance measured at variable fre- operating condition. A new method for measuring the
quency is summarised in Table 2. variation of q-axis reactance Xq0 was also developed,
which is rather simpler than the identification method.
Both methods require the availability of a suitable syn-
chronous loading machine and a phase shifter. For
variable-frequency fed motors, the tests should be con-
2 .5
ducted with a sinusoidal supply, at any convenient supply
frequency (e.g. 50 Hz).
Results showed that the excitation EMF Eo and the
2 .0
direct-axis reactance Xd0 were substantially constant. This
is expected to be generally the case with high-coercivity
1 .5
(effectively low-permeability) magnets, located either on
the surface or within a rotor. Variations of stator resist-
ance R were mainly due to temperature changes. A sub-
1 .0 stantial variation of Xq0, as a function of q-axis current Iq,
was revealed. This is attributed to magnetic saturation on
the g-axis, and such a variation may be expected to occur
0 .5 generally in permanent-magnet motors having small
air-gap length on the quadrature axis. Accordingly, it is
recommended that this variation should be included in
0 machine design calculations.
10 20 30 40 50 60 70 In a manner similar to that in which a variable d-axis
B , degrees synchronous reactance is often used for excited-rotor syn-
Fig. 11 Torque/load angle characteristics with 33 V, 7.5 Hz supply
chronous machines, the use of variable Xq0, as a function
computed with saturation of Xq0
computed with constant Xq0
of Iq or q-axis MMF, was explored. Results showed excel-
x x measured lent agreement between calculations and tests, over wide
1EE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MAY 1985 123
ranges of load angle and frequency. This indicates that
conventional two-axis theory, with suitably-modified par-
Fig. 12 Conditions at maximum torque in voltage-fed motor
a high / b low /
ameters, may be applied to modern permanent-magnet
motors.
The variation of Xq0 was shown to cause significant dis-
tortions of the loci (Ip, Ir) and (Id, lq) of input current,
particularly at large values of load angle. It also modified
the torque/load-angle characteristic at low supply fre-
quencies; this effect is relevant to drives with controlled
load angle and in constant-power or high-torque, low-
speed applications.
Variation of stator resistance owing to temperature rise
had an important effect upon performance characteristics
at low supply frequencies. In practice, this would deter-
mine the required voltage and I2R loss for a given current
and torque at low speed. The increase in the ratio
maximum-torque/input-current as frequency is reduced
has been explained, in terms of torque angle.
It is concluded that, for satisfactory modelling of
permanent-magnet synchronous motors, there is a need for
more knowledge of parameters than is usually sufficient for
conventional wound-rotor synchronous machines, for
which q-axis reactance and its saturation are quite com-
monly not considered.
7 Acknowledgments
The authors are grateful to the University of Manchester
Institute of Science and Technology for facilities provided.
E. M. M. Shamoug assisted with the identification method.
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IEE PROCEEDINGS, Vol. 132, Pt. B, No. 3, MAY 1985