Matlab/Simulink-Based Simulation of Line-start

PMSM Used in Pump Jacks

Daohan Wang1, Xiuhe Wang1, Hongyan Chen2, Ran Zhang1
1
School of Electrical Engineering. Shandong University, Jinan, China, 250061
2
Shandong Architecture Institute, Jinan, China, 250101

Abstract-Since permanent magnet synchronous motors(PMSM)
have the advantages of high efficiency and high power factor in
comparison with induction motors, much energy would be saved if
PMSMs are adopted in pump jacks in oil fields. The load torque of
the motor used in pump jacks is much more complex . In one
period, the motor works at motor and generator mode alternately,
the speed and the stator current of the motor varied. All of these
have great effects on the performance of PMSM. As a result of the
complex structure of the rotor, the starting process of the PMSM is
more complicated. Based on Matlab/Simulink , the model for
line-start PMSM with load torque in pump jacks is established, the
simulation is studied, and some conclusions are drawn.
I. INTRODUCTION
study the starting and steady performances of the motor with
load torque of pump units. Based on Matlab/Simulink and the
park equation of line-start PMSM, the model for line-start
PMSM is established, the simulation is studied under constant
torque; based on Matlab/Simulink, the model for the load torque
in pump jacks is established, and added to the model for PMSM.
The simulation of line-start PMSM with load torque in pump
jacks is carried out, in which the transient and steady
performance of the motor are analyzed, and some conclusions
are drawn.
II. ESTABLISHING THE MODEL FOR PMSM BASED ON
MATLAB/SIMULINK

Nowadays, the driving motors for pump jacks in oil fields are Simulink is a graphical interface that provides as
three-phase induction motors. The requirements for motors are straightforward way to use matlab's functionality for simulation
high starting torque, high efficiency, and high power factor. In of dynamic systems. However, it provides only the model for
order to obtain high starting torque, large capacity induction adjustable speed PMSM, not the model for line-start PMSM. So
motors are used. Under normal operation, the load is usually the corresponding model must be founded.
20-30% of rated power, which results in low efficiency and A. The park equation of line-start PMSM
power factor, thus wasting of electric power. To overcome this The voltage equation of PMSM are shown in[1]:
problem, high efficiency and high starting torque PMSM has ­ d ψ
° u d = r1 i d + d
− ω r ψ q
been developed and used to replace induction motor used in dt
°
pump jacks in China. ° d ψ
u q = r1 i q + q
+ ω r ψ d
As we know, the load torque of the motors used in pump jacks ° dt
®
is much more complex. ° d ψ
u = 0 = r2 i2 + 2 d
The load torque fluctuates during the up and down stroke, and ° 2 d d d
dt
changes periodically. In one period, it works at motor and ° d ψ 2 q
generator mode alternately. The load torque of motors used in ° u 2 q = 0 = r2 q i2 q +
¯ dt
pump jacks can be described as Fig.1.As it shows in the figure, (1)
the time the motor works at motor mode is longer than that at
generator mode. ud ǃ u2d are the d-axis voltage of stator and rotor, uq ǃ
u2q are the q-axis voltage of stator and rotor; ω r is the electrical
angle speed.
The magnetic flux equation of PMSM are shown in[2]:
­ ψ d = L d i d + L ad i 2 d + ψ f
°
° ψ q = L q i q + L aq i 2 q
®
Fig. 1. Load torque of motor in pump jack ° ψ 2 d = L 2 d i 2 d + L ad i d + ψ f
°ψ
The complex load torque of pump jacks has great effects on ¯ 2 q = L 2 q i 2 q + L aq i q
the performance of the PMSM, such as the speed, the stator (2)
current and the starting process. In this paper, a 380V 5.5kW The differential equation describing the shaft speed is shown
6-pole permanent synchronous motor is taken as an example to
in[3]:
dω r (3)
This work was supported by Shandong Natural Science Fund J = p (Tem − TL )
and grant Y2004F09 dt

1179
1-4244-0737-0/07/$20.00 2007
c IEEE
Where j is the rotation inertia of the machine and the load, p is
the number of pole pairs. Notice that effects from magnetic
saturation and friction have been neglected for simplicity.
B. Simulation model for line-start PMSM
Based on the park equation and mechanic movement equation
the model for line-start PMSM can be established. Some
relevant modules are as follows:
1 +
ud
3
ψq Fig.3. Model for load torque in pump jacks
x + 1/s 1 III. SIMULATION STUDY OF THE
4 ψd PERFORMANCE OF PMSM WITH LOAD TORQUE OF PUMP JACKS
Wr
2 K− − Based on the model of the PMSM and the load torque of
id pump jacks above, the simulation study can be done .In this
paper, the parameters of a 380V 5.5kW 6-pole permanent
(a) ψ d submodule
synchronous motor is taken as an example to study. The torque
and speed curve is shown as Fig.4.
1 +
Tem K− 1/s P 1
2 − ωr
TL
1/s 1
θr
K− 3
n
(b)movement equation submodule

1 K− 1/s 1
i2q ψ2q
(c) ψ 2q submodule
Fig.4.Torque and speed curve
signals μ2 A. Steady Output Torque
The steady output electrical magnetic torque is shown as
iA
A A i2A Fig.5. As Fig.5 shows, in a period, the output electrical magnetic
torque is positive and negative alternatively. When the output
n
B B torque is positive, the PMSM works in motor mode, when the
Tem
iB output is negative, the PMSM works in generator mode.
C C
iC

(d) model for line-start PMSM

Fig.2. Model for line-start PMSM
C. Modeling of the load torque of pump jacks
As is shown in Fig.1,the load torque of pump jacks is varying
with the time .according to the law of cosines. Considering that
the line when the torque is zero deviates from the midline ,the
load torque of pump jacks can be expressed as [4]:
TL = T ∗ sin(k ∗ ωr ∗ t ) + Ty (4) Fig.5. Steady output torque
where T is the rated load torque of the PMSM, K is the ratio of B. Steady Armature Phase Current
the reducer, Ty is the deviation from the midline. The model of The steady armature phase current is shown as Fig.6. Because
load torque in pump jacks is as follows: of the load torque variation, the armature phase current is
changing greatly. In generator mode , the armature current is
maximum when the absolute value of the output torque is
maximum. The peak value of the armature current when the

1180 2007 Second IEEE Conference on Industrial Electronics and Applications

PMSM works in motor mode is approximately three times as
that when the PMSM works in generator mode.
Fig.6.Steady armature current
C. Steady Speed
The steady peed is shown as Fig.7. There is speed variation
when the PMSM is steady because of the load variation. But the
variation is small because of the inertia of the rotor. and the
pump jacks.
Fig.7. Steady speed
IV. CONCLUSIONS
In this paper ,the mathematical model for the load of pump
jacks is given ,based on matlab/simulink the simulation model
for the PMSM with load torque of pump jacks is established and
the performance of the PMSM are studied. The conclusions are
drawn as follows:
1. The motor used in pump jacks works at generator mode and
motor mode alternately and the time the motor works at motor
mode is longer than that at generator mode.
2. The armature phase current is changing greatly with the load
torque, The peak value of the armature current when the
PMSM works in motor mode is approximately three times as
that when the PMSM works in generator mode.
3. Because of the load variation ,there is speed variation when
the PMSM is steady. The speed variation is small because of
the rotor and the pump jacks.
2007 Second IEEE Conference on Industrial Electronics and Applications
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