PERMANENT MAGNET SYNCHRONOUS MOTOR AND ITS DRIVES

Presented By: Prof. B.Adhavan Assistant Professor Dept. of Electrical and Electronics Engg [PG] Email: adhav14@yahoo.com Mobile No: 9994869720

Sri Ramakrishna Engineering College (An Autonomous Co-education Institution, approved by AICTE, Re Accredited by NBA, Affiliated to Anna University Coimbatore) Vattamalaipalayam, NGGO Colony (Post) Coimbatore - 641 022, TAMILNADU.

OUTLINE
CONSTRUCTION & PRINCIPLE OF OPERATION OF PMSM TYPES OF PMSM PMSM Vs BLDC TORQUETORQUE -SPEED CHARACTERISTICS APPLICATIONS CONTROL METHODS

Types of Electric Motors

CONSTRUCTION & OPERATION

Permanent Magnet Synchronous Motor (PMSM) will have the same operating and performance characteristics as synchronous machines operating at synchronous speed, a single or polyphase source of ac supplying the armature windings, Absence of slip rings and field windings.

Parts of a Motor
1. 2. 3. 4. 5.

Brushless Motor Components

6. 7. 8. 9. 10. 11.

End Bell Fastners Shaft Key & Keyways Bearing & Brushings End Ball Flanges Identification Plates Wire Warnish Commutators Brush Holders Laminations Conduit Connection Box Magnets (Ferrites)

Brush Type Motor Components

PMSM MOTOR TRANSVERSE SECTION

CONSTRUCTION
STATOR
Stator laminations Axial airgap Armature windings are double layered and lap wound. Single phase or Poly phase windings connected in star or delta.

ROTOR
Synchronous machines are classified according to their Rotor Configurations Rotor Types
Peripheral or Surface Interior Claw-pole Transverse

ROTOR ConfigurationConfiguration-Peripheral

PM flux developed is radial.

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ROTOR Configurations

PM flux developed is radial in interior PM flux developed is Circumferential in Transverse

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ROTOR Configurations
PMs are discs shaped and magnetized axially. Periphery of the discs extends like claws or lundell poles. Set of equally spaced claws on each disc alternates to north and south poles.

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PM Motor Types
Based on Wave shape of their induced emf 1) Sinusoidal (PMSM) 2) Trapezoidal (BLDC)

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Sinusoidal (PMSM)
Sinusoidal distribution of magnet flux in the air gap Sinusoidal current waveforms Sinusoidal distribution of stator conductors.

Trapezoidal (BLDC)
Rectangular distribution of magnet flux in the air gap Rectangular current waveform Concentrated stator windings.
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Theory of operation:
A` C
N Rotor field

N S B`
S

Rotor is carrying a constant magnetic field created either by permanent magnets or current fed B coils The interaction between the rotating stator flux, and the rotor C Stator field flux produces a torque which will ` cause the motor to rotate.

The rotation of the rotor in this case will be at the same exact frequency as the applied excitation to the rotor. This is synchronous operation.

60 . f Rotor speed (rad/s) : = gives (r.pm) p p f : AC supply frequency (Hz) p : motor poles pair per phase

Example: a 2 poles pair synchronous motor will run at 1500 r.pm for a 50Hz AC supply frequency
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How It Works
When electric current passes through a coil in a magnetic field, the magnetic force produces a torque which turns the motor. Force in Motor: F=ILB
F = Force B = Magnetic Field L = Length of Conductor I = Current in Conductor

Torque in Motor: T = IBA sin

A = LW L = Length of Winding W = Width of Winding

PRINCIPLE OF OPERATION
BLPM SNW motor carries a 3 phase winding connected to a dc supply through an electronic commutator. The voltage available at the input terminals of the armature winding is assumed to be sinusoidally varying 3 phase balanced voltage. Electronic commutator acts as an ideal inverter, whose freq is influenced by rotor speed. Under this condition, revolving magnetic field is set up in the air gap. Its flux density is sine distributed.
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Synchronous operation

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Synchronous operation

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Synchronous operation

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Synchronous operation

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Synchronous operation

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Synchronous operation

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Advantages of PM machines
They have high torque to inertia (lower weight). That is better dynamic performance than conventional one. High power density. High efficiency (That is no current in the rotor means no copper loss) and reliability. Avoidance of brushes and slip rings makes the machine less audible noise, Longer life, sparkless (no fire hazard) and high speed. Efficient heat dissipation.
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Disadvantages of PM machines
Loss of flexibility of field flux control Cost permanent magnets is high They have complex control. There is a possibility of demagnetization of the rotor magnet. If demagnetization occurs, there will be a reduction of torque production. There is a problem of maintenance of rotor magnet.
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BLDC Vs. PMSM

BLDC
Synchronous machine Fed with direct currents Trapezoidal BEMF

PMSM
Synchronous machine Fed with sinusoidal currents Sinusoidal BEMF

Continuous stator flux position Stator Flux position variation commutation each 60 degrees Only two phases ON at the same time Torque ripple at commutations Possible to have three phases ON at the same time No torque ripple at commutations

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TORQUE-SPEED TORQUECHARACTERISTICS

Maximum torque is developed in PMSM by varying the frequency from 0 to f0 . Further increase in frequency, the torque gets reduced and goes to 0 at a frequency fd .
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PMSM Motor Applications

Washing machines Electrical power steering Industrial drive Servo drives Electric vehicle traction drive Automotive applications Refrigerator Air conditioning Fan
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PMSM Motor Applications

High speed and high power drives for Compressors Blowers Conveyers Steel rolling mills Air craft

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PMSM DRIVE TOPOLOGY

PMAC

& feedback

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DRIVE
180Conduction mode of 3 Phase Inverter- For PMSM 120Conduction mode of 3 Phase Inverter-For BLDC

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180Conduction
For this mode of operation, each device conducts 180 degrees. The sequence of firing is: 123, 234, 345, 456, 561, 612. The gating signals are shifted from each other by 60 degrees.

Waveforms for 180 Conduction

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120 Conduction
In this mode, each transistor conducts for 120 degrees. The sequence of firing is: 61, 12, 23, 34, 45, 56, 61.

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Waveforms for 120 Conduction

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FEEDBACK SENSORS

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PMSM Motor Control

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SCALAR CONTROL- Volt/Hertz

Scalar control is based on relationships valid in steady state. Only magnitude and frequency of voltage, current, etc. are controlled. The control is an open-loop scheme and does not use any feedback loops. The idea is to keep stator flux constant at rated value so that the motor develops rated torque/ampere ratio over its entire speed range
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VECTOR CONTROL
In vector control amplitude and position of a controlled space vector is considered. Closed loop control These relationships are valid even during transients which is essential for precise torque and speed control. Types
Field Oriented Control (FOC) Direct Torque Control (DTC)
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VECTOR CONTROL

Electromagnetic torque developed due to the interaction of the current carrying conductor and magnetic field. CASE 1 Flux axis is in quadrature with the armature mmf axis. Angle between the axis of the flux and the armature mmf axis is 90.
Field axis

Armature mmf axis

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CASE 2 Angle between the axis of the flux and the armature mmf axis is different from 90. For a BLDC SNW motor to have better steady state and dynamic performance, it is essential that the armature mmf axis and the axis of the PM are to be in quadrature in all operating conditions. I = Id + Iq Id Direct axis Current Iq Quadrature axis Current Desired operating point of current is such that Id = 0. Controlling the BLPM SNW motor considering above mentioned aspects is known as vector control of BLPM SNW motor.
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Field axis

Armature mmf axis

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SENSORED CONTROL-FOC

Id ref = 0

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SENSORLESS CONTROL-FOC

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DTC-PMSM

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THANK YOU

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