Permanent Magnet Synchronous Machine

Model the dynamics of three−phase permanent magnet synchronous machine with
sinusoidal or trapezoidal back electromotive force (back EMF)

Library
Machines

Description

The Permanent Magnet Synchronous Machine block operates in either generator or motor
mode. The mode of operation is dictated by the sign of the mechanical torque (positive for
motor mode, negative for generator mode). The electrical and mechanical parts of the
machine are each represented by a second−order state−space model. The sinusoidal model
assumes that the flux established by the permanent magnets in the stator is sinusoidal,
which implies that the electromotive forces are sinusoidal. For the trapezoidal machine, the
model assumes that the winding distribution and flux established by the permanent magnets
produce three trapezoidal back EMF waveforms.
The block implements the following equations.

Sinusoidal Model Electrical System

These equations are expressed in the rotor reference frame (qd frame).

where (all quantities in the rotor reference frame are referred to the stator)

Lq, L d q and d axis inductances

R Resistance of the stator windings
iq, i d q and d axis currents
vq, vd q and d axis voltages

r
Angular velocity of the rotor
 Amplitude of the flux induced by the permanent magnets of the rotor in
the stator phases
p Number of pole pairs
Te Electromagnetic torque

The Lq and Ld inductances represent the relation between the phase inductance and the
rotor position due to the saliency of the rotor. For example, the inductance measured
between phase a and b (phase c is left open) is given by:

where e
represents the electrical angle.
The next figure shows the variation of the line−line inductance in function of the electrical
angle of the rotor:

For a round rotor, there is no variation in the phase inductance. Therefore,

For a salient round rotor, the dq inductances are given by:

and
Trapezoidal Model Electrical System
These equations are expressed in the phase reference frame (abc frame). Note that the
phase inductance Ls is assumed constant and does not vary with the rotor position.

’
where the electromotive force is represented by

and

Ls Inductance of the stator windings

R Resistance of the stator windings
ia, i b, i c a, b and c phase currents
’ ’ ’
a
, b
, c
a, b and c phase electromotive forces
vab, vbc ab and bc phase to phase voltages

r
Angular velocity of the rotor
Amplitude of the flux induced by the permanent magnets of the rotor in
the stator phases
p Number of pole pairs
Te Electromagnetic torque
Mechanical System (for both models)

where

J Combined inertia of rotor and load

F Combined viscous friction of rotor and
load
Rotor angular position
Tm Shaft mechanical torque

Dialog Box and Parameters

Configuration Tab
Back EMF waveform
Allows you to select between the Sinusoidal and the Trapezoidal
electromotive force. You can use the Trapezoidal option to model a DC brushless
motor. For an example, see the Brushless DC Motor Drive block.
Mechanical input
Allows you to select either the torque applied to the shaft or the rotor speed as the
Simulink signal applied to the block’s input.
Select Torque Tm to specify a torque input, in N.m., and change labeling of the
block’s input to Tm. The machine speed is determined by the machine Inertia J and
by the difference between the applied mechanical torque Tm and the internal
electromagnetic torque Te. The sign convention for the mechanical torque is the
following: when the speed is positive, a positive torque signal indicates motor mode
and a negative signal indicates generator mode.
 Select Speed w to specify a speed input, in rad/s, and change labeling of the
block’s input to w. The machine speed is imposed and the mechanical part of the
model (Inertia J) is ignored. Using the speed as the mechanical input allows modeling
a mechanical coupling between two machines and interfacing with SimMechanics
and SimDriveline models.
The next figure indicates how to model a stiff shaft interconnection in a
motor−generator set when friction torque is ignored in machine 2. The speed output of
machine 1 (motor) is connected to the speed input of machine 2 (generator), while
machine 2 electromagnetic torque output Te is applied to the mechanical torque input
Tm of machine 1. The Kw factor takes into account speed units of both machines (pu
or rad/s) and gear box ratio w2/w1. The KT factor takes into account torque units of
both machines (pu or N.m) and machine ratings. Also, as the inertia J2 is ignored in
machine 2, J2 referred to machine 1 speed must be added to machine 1 inertia J1.

Preset Model
Provides a set of predetermined electrical and mechanical parameters for various
permanent magnet synchronous motor ratings of torque (N.m), DC bus voltage (V),
rated speed (rpm), and continuous stall torque (N.m) . This parameter is available
only for sinusoidal machine.
Select one of the preset models to load the corresponding electrical and mechanical
parameters in the entries of the dialog box. Select No if you do not want to use a
preset model, or if you want to modify some of the parameters of a preset model, as
described below.
When you select a preset model, the electrical and mechanical parameters in the
Parameters tab of the dialog box become unmodifiable (grayed out). To start from a
given preset model and then modify machine parameters, you have to do the
following:
1. Select the desired preset model to initialize the parameters.
2. Change the Preset model parameter value to No. This will not change the
machine parameters. By doing so, you just break the connection with the
 particular preset model.
3. Modify the machine parameters as you wish, then click Apply.

Parameters Tab

Stator phase resistance

The stator phase resistance Rs ( ).
Stator inductances
Sinusoidal model: The d−axis and q−axis stator inductances Ld (H) and Lq (H).
Trapezoidal model: The stator phase inductance Ls (H).

Specify a machine constant

Lets you select the machine constant that you wish to specify for block
 parameterization:
Flux linkage established by magnets
Voltage Constant
Torque Constant

Once you select a constant, you can enter its value in the appropriate parameter
field, while the other two parameters become inaccessible and are only shown for
information.
Flux linkage established by magnets
The constant flux (Wb) induced in the stator windings by the magnets.
Voltage Constant
The peak line to line voltage per 1000 rpm. This voltage represents the peak open
circuit voltage when the machine is driven as a generator at 1000 rpm.
Torque Constant
The torque per ampere constant. This constant assumes that the machine is driven
by an inverter which provides a perfect synchronization between the current and the
Back−EMF.
Sinusoidal model: A sine wave current is assumed (see
ac6_example_simplified.mdl for more detail).
Trapezoidal model: A square ware current is assumed (see
ac7_example_simplified.mdl for more detail).

Back EMF flat top area

The width of the flat top for a half period of the electromotive force ’ (degrees) (only
for trapezoidal machine).
Inertia, friction factor and pole pairs
The combined machine and load inertia coefficient J (kg.m2), combined viscous
friction coefficient F (N.m.s), and pole pairs p.
Initial conditions
Specifies the mechanical speed (rad/s), mechanical angle m
(degrees), and
instantaneous stator current (A):
[wm , m
, i a, i b]
Note that since the stator is wye−connected, the current i c is given by ic = −i a−ib.

Advanced Tab
Sample time ( 1 for inherited)
Specifies the sample time used by the block. To inherit the sample time specified in
the Powergui block, set this parameter to 1 .

Inputs and Outputs

Tm
The Simulink input is the mechanical torque, in N.m, at the machine’s shaft. This
input should normally be positive because the Permanent Magnet Synchronous
Machine block is usually used as a motor. Nevertheless, you can apply a negative
torque input if you choose to use the block in generator mode.
w
The alternative block input (depending on the value of theMechanical input
parameter) is the machine speed, in rad/s.
m
The Simulink output of the block is a vector containing 13 signals for the sinusoidal
model and 12 signals for the trapezoidal model. You can demultiplex these signals
by using the Bus Selector block provided in the Simulink library.

Signal number
Definition Units Symbol
Sinusoidal Trapezoidal
model model

Stator current is_a A ia 1 1

Stator current is_b A ib 2 2
Stator current is_c A ic 3 3
Stator current is_q A iq 4 N/A
Stator current is_d A id 5 N/A
Stator voltage Vs_q V vq 6 N/A
Stator voltage Vs_d V vd 7 N/A
Phase back EMF e_a V ea N/A 4
Phase back EMF e_b V eb N/A 5
Phase back EMF e_c V ec N/A 6
Hall effect signal h_a* logic 0−1 ha 8 7
Hall effect signal h_b* logic 0−1 hb 9 8
*
Hall effect signal h_c logic 0−1 hc 10 9
Rotor speed wm rad/s r
11 10
Rotor angle thetam rad r
12 11
Electromagnetic torque N.m Te 13 12
Te

The Hall effect signal provides a logical indication of the back EMF positioning. This signal is
very useful to control directly the power switches. There is a change of state at each zero
crossing of the phase to phase voltage. These signals must be decoded before being
applied to the switches.
Assumption
The Permanent Magnet Synchronous Machine block assumes a linear magnetic circuit with
no saturation of the stator and rotor iron. This assumption can be made because of the large
air gap usually found in permanent magnet synchronous machines.

Limitations
When you use Permanent Magnet Synchronous Machine blocks in discrete systems, you
might have to use a small parasitic resistive load, connected at the machine terminals, in
order to avoid numerical oscillations. Large sample times require larger loads. The minimum
resistive load is proportional to the sample time. As a rule of thumb, remember that with a
25 s time step on a 60 Hz system, the minimum load is approximately 2.5% of the
machine nominal power. For example, a 200 MVA PM synchronous machine in a power
system discretized with a 50 s sample time requires approximately 5% of resistive load or
10 MW. If the sample time is reduced to 20 s, a resistive load of 4 MW should be sufficient.

Example
The power_brushlessDCmotor demo illustrates the use of the Permanent Magnet
Synchronous Machine block in motoring mode with a closed−loop control system built
entirely with Simulink blocks. The complete system includes a six step inverter block from
the SimPowerSystems library. Two control loops are used; the inner loop synchronizes the
pulses of the bridge with the electromotive forces, and the outer loop regulates the motor’s
speed, by varying the DC bus voltage. The mechanical torque applied at the motor’s shaft is
originally 0 N.m (no load) and steps to its nominal value (3 N.m) at t = 0.1 second. The
parameters of the machine are found in the dialog box section.
Set the simulation parameters as follows:
Type: Fixed−step
Integrator type: Runge-Kutta , ode4
Sample time: 5e−6 (set automatically by the Model properties )
Stop time: 0.2

Set the Flux distribution parameter to Trapezoidal and run the simulation to observe
the motor’s torque, speed, and currents. Change the Back EMF flat top area parameter of
the trapezoidal model from 120 to 0 and observe the waveform of the electromotive force e_a.
The torque climbs to nearly 28 N.m when the motor starts and stabilizes rapidly when the
motor reaches the reference value. The nominal torque is applied at t = 0.1 second and the
controller reacts rapidly and increases the DC bus voltage to produce the required electric
torque. Observe the saw tooth shape of the currents waveforms. This is caused by the six
step controller, which applies a constant voltage value during 120 electrical degrees to the
motor. The initial current is high and decreases during the acceleration to the nominal
speed. When the nominal torque is applied, the stator current increases to maintain the
nominal speed. The saw tooth waveform is also observed in the electromotive torque signal
Te. However, the motor’s inertia prevents this noise from appearing in the motor’s speed
waveform.
When the Back EMF flat top area parameter of the trapezoidal model is changed from 120
to 0, the model reacts exactly like the sinusoidal model. The electromotive force e_a is
purely sinusoidal and the torque ripple is less than the previous case. The sinusoidal model
requires a larger current to produce the same torque. That’s why the trapezoidal machine is
used in high torque applications, and the sinusoidal machine in precision applications.
References
[1] Grenier, D., L.−A. Dessaint, O. Akhrif, Y. Bonnassieux, and B. LePioufle, "Experimental
Nonlinear Torque Control of a Permanent Magnet Synchronous Motor Using Saliency,"
IEEE Transactions on Industrial Electronics , Vol. 44, No. 5, October 1997, pp.680−687.

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