1. Southern Taiwan University of Science and Technology
Permanent Magnet Synchronous Motors
Intructor: Prof. Chi-Jo Wang
Reporter: Nguyen Phan Thanh
ID Student: DA220202

2. Permanent Magnet Synchronous Motors
Contents
Introduction
Mathematical model of PMSM
Sensor Control Architechture
High performance motor control application

3. Permanent Magnet Synchronous Motors
Introduction
PM synchronous motors are widely used in industrial servo-applications due to its high-performance characteristics.
Compact
High efficiency (no excitation current)
Smooth torque
Low acoustic noise
Fast dynamic response (both torque and speed)
A synchronous motor differs from an asynchronous motor in the relationship between the mechanical speed and the electrical speed.
In a synchronous motor, the supplied voltages have the same frequency as the mechanical motor speed. In an asynchronous motor, the end mechanical speed is different from the input frequency, and the relationship between input frequency and mechanical speed varies depending on mechanical load applied to the motor.

4. Permanent Magnet Synchronous Motors
Introduction

5. Permanent Magnet Synchronous Motors
Introduction
2-axis reference frame:The stator and rotor equations are referred to a common frame of reference
Stator (stationary) reference frame : non-rotating
Synchronous reference
frame: d, q axis rotates with
the synchronous angular
velocity

6. Permanent Magnet Synchronous Motors
Introduction
The stator reference axis for the a-phase direction: maximum mmf when a positive a-phase current is supplied at its maximum level.
The rotor reference frame:
-D-axis: permanent magnet flux
-Q-axis: 90 degree ahead of d-axis
The d-q model has been used to analyze reluctance synchronous machines.

7. Permanent Magnet Synchronous Motors
Introduction
As the motor spins, there is an angle between rotor magnetic field and stator magnetic field
If these two magnetic fields are not ninety degrees from each other, there will be an offset angle between Back EMF and Current:
=>the torque production at a
given input power will not be
the maximum

8. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

9. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

10. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

11. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

12. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

13. Permanent Magnet Synchronous Motors
Introduction
With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor.
On the left we see how the motor spins with Field Oriented Control.
On the voltage diagrams we show how the output voltages have a sinusoidal shape.
On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

14. Permanent Magnet Synchronous Motors
Mathematical model of PMSM
The mathematical model of PMSM is constructed based on the rotating d-q frame fixed to the rotor, described by the following equations:
Where:
v­d, vq are the d and q axis voltages
id, iq are the d and q axis currents
Rs is the phase winding resistance
Ld, Lq are the d and q axis inductance
is the rotating speed of magnet flux
is the permanent magnet flux linkage.

15. Permanent Magnet Synchronous Motors
Mathematical model of PMSM

16. Permanent Magnet Synchronous Motors
Operation of PMSM
Command Pulse
Deviation Counter Kp Kv Ki M E
Speed detection
Current Feedback
Speed Feedback
Pulse Feedback _ +
Position Gain
Speed Gain
Current
Gain
Motor
Encoder
Closed_loop Control

17. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
PI, Fuzzy, Neural network are used to the speed loop of PMSM drive
Vector control is used to the current loop of PMSM drive to let it reach the linearity and decouple characteristics.

18. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The entire process is illustrated in this block diagram, including coordinate transformations, PI iteration, transforming back and generating PWM

19. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The Id reference controls rotor magnetizing flux
The Iq reference controls the torque output of the motor
Id and Iq are only time-invariant under steady-state load conditions

20. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The outputs of the PI controllers provide Vd and Vq, which is a voltage vector that is sent to the motor.
A new coordinate transformation angle is calculated based on the motor speed, rotor electrical time constant, Id and Iq.

21. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The Vd and Vq output values from the PI controllers are rotated back to the stationary reference frame, using the new angle.
This calculation provides quadrature voltage values vα and vβ.

22. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The vα and vβ values are transformed back to 3-phase values va, vb, vc.
The 3-phase voltage values are used to calculate new PWM duty-cycle values that generate the desired voltage vector.

23. Permanent Magnet Synchronous Motors
Sensor Control Architechture DC
Speed loop
Current loop
Power
Current controller
modifyClark-1
Speed
Controller
Park-1 + + PI
PWM1
d,q
PWM2 — —
SVPWM
PWM3
PWM4
Inverter
a,b,c
PWM5 + PI
PWM6 —
d,q
A/D
convert
a,b,c
Park
Clark
QEP
sin /cos of
Flux angle A B
PMSM Z
1-Z-1
Encoder
The transformation angle, theta, and motor speed are coming from an optical encoder mounted on the shaft of the motor.

24. Permanent Magnet Synchronous Motors
Motor Driver Controller

25. Permanent Magnet Synchronous Motors
High performance motor control application
Industrial drives, e.g., pumps, fans, blowers, mills, hoists, handling systems
Elevators and escalators, people movers, light railways and streetcars (trams), electric road vehicles, aircraft flight control surface actuation

26. Permanent Magnet Synchronous Motors Thank you for listening!