PMSM MODELLING

d-q basics
Transformation of coordinates from the threephase stationary coordinate system to the d-q rotating coordinate system 1) 3-phase -> 2-phase stationary 2) 2-phase stationary -> 2-phase rotating

Symmetrical components
Fortescue demonstrated that any set of unbalanced three-phase quantities could be expressed as the sum of three symmetrical sets of balanced phasors. Three sets of independent components in a three-phase system: positive, negative and zero for both current and voltage.

 fd = K [fa cos + fb cos( 2 /3)] , (2.1) fq = K [fa sin + fb sin( 2 /3)] f0 =1/3(fa + fb + fc)

2 /3) + fc cos( + 2 /3) + fc sin( +

Blondel-Park s transform

The Park s transformation equation is of the form:

where f can be i, v, or P.

vq ! v cos U r (t )  v sin U r (t ) vd ! v sin U r (t )  v cos U r (t )

Va, Vb, Vc-> sinsusoidal balanced 3-phase voltages ->Then Vq and Vd appear as dc quantities in a synchronously rotating frame
s q s d

s q

s d

Model-PMSM
The model of PMSM without damper winding has been developed on rotor reference frame using the following assumptions: 1) Saturation is neglected. 2) The induced EMF is sinusoidal. 3) Eddy currents and hysteresis losses are negligible. 4) There are no field current dynamics.

TYPES

Based on the recoil line, we can write:

J 0 ! Prc  F  (  F0 )

where Prc, the permeance, is the slope of the line. From this equation we can write:

Jr ! Prc F0

J F ! F0  Prc

 The mmf, flux and permeance are the mathematical duals of current, voltage, and inductance, respectively.

PROOF

 Space vector form of stator voltage Flux linkage equations Inductances-self and mutual

 Synchronous inductances

The final equations:

PMSM model

 Check the signs

TORQUE IN d-q
Power in Power out P pole machine Power/mechanical speed =Torque

STEADY STATE MODEL

Remove time derivatives(current->constant) Coupling rLd,q can be represented by constant reactances, rLd,q Xd,q since speed is constant in steady state V d = RsId jXqIq V q = RsIq + jXdId + E.