Reduction of Cogging Torque and Electromagnetic Vibration Based on Different Combination of Pole Arc Coefficient for Interior Permanent Magnet Synchronous Machine

Cogging torque and electromagnetic vibration are two important factors for evaluating permanent magnet synchronous machine(PMSM)and are key issues that must be considered and resolved in the design and manufacture of high-performance PMSM for electric vehicles.A fast and accurate magnetic field calculation model for interior permanent magnet synchronous machine(IPMSM)is proposed in this article.Based on the traditional magnetic potential permeance method,the stator cogging effect and complex boundary conditions of the IPMSM can be fully considered in this model,so as to realize the rapid calculation of equivalent magnetomotive force(MMF),air gap permeance,and other key electromagnetic properties.In this article,a 6-pole 36-slot IPMSM is taken as an example to establish its equivalent solution model,thereby the cogging torque is accurately calculated.And the validity of this model is verified by a variety of different magnetic pole structures,pole slot combinations machines,and prototype experiments.In addition,the improvement measure of the machine with different combination of pole arc coefficient is also studied based on this model.Cogging torque and electromagnetic vibration can be effectively weakened.Combined with the finite element model and multi-physics coupling model,the electromagnetic characteristics and vibration performance of this machine are comprehensively compared and analyzed.The analysis results have well verified its effectiveness.It can be extended to other structures or types of PMSM and has very important practical value and research significance.

Coupled Electromagnetic-Thermal-Fluidic Analysis of Permanent Magnet Synchronous Machines with a Modified Model

The researches on the heat generation and dissipa-tion of the permanent magnet synchronous machines(PMSMs)are integrated problems involving multidisciplinary studies of electromagnetism,thermomechanics,and computational fluid dynamics.The governing equations of the multi-physical prob-lems are coupled and hard to be solved and illustrated.The high accuracy mathematical model in the algebraically integral con-servative forms of the coupled fields is established and computed in this paper.And the equation coupling with the fluid flow and the temperature variation is modified to improve the positive definiteness and the symmetry of the global stiffness matrix.The computational burden is thus reduced by the model modification.A 20kW 4500rpm permanent magnet synchronous machine(PMSM)is taken as the prototype,and the calculation results are validated by experimental ones.

Multi-objective Hierarchical Optimization of Interior Permanent Magnet Synchronous Machines Based on Rotor Surface Modification

To solve the problem of large torque ripple of interior permanent magnet synchronous motor(IPMSM),the rotor surface notch design method was used for V-type IPMSM.In order to accurately obtain the optimal parameter values to improve the torque performance of the motor,this paper takes the output torque capacity and torque ripple as the optimization objectives,and proposes a multi-objective layered optimization method based on the parameter hierarchical design combined with Taguchi method and response surface method(RSM).The conclusion can be drawn by comparing the electromagnetic performance of the motor before and after optimization,the proposed IPMSM based on the rotor surface notch design can not only improve the output torque,but also play an obvious inhibition effect on the torque ripple.

State-Model Based Time-Domain Diagnosis of Internal Faults for Permanent Magnet Synchronous Machine Wind Application

Upon occurrence of an internal fault on the PMSM （permanent magnet synchronous machine）, the topology of the stator is amended causing structural imbalances due to the change of the connection within the windings. In this work, a state model of internal faults of the PMSM is developed. This model is in the （abc） reference frame. The modeling approach is based on the assumption that each stator phase is replaced by two major and minor sub-windings. This model is used subsequently in the residual generation for diagnosis. The fault indicators are obtained by the projection in parity space and estimated using the Luenberger observer. A scenario of fault inter-turn by the short-circuit occurring between phase （a and b） is validated by simulation.

A New Scheme to Direct Torque Control of Interior Permanent Magnet Synchronous Machine Drives for Constant Inverter Switching Frequency and Low Torque Ripple

DTC （direct torque control） can produce quick and robust response, but it has the problems of large torque ripples and inconstant inverter switching frequency. This paper introduces a modified direct torque control based on the SVM （space vector modulation） for IPMSM （interior permanent magnet synchronous motor） drive. Two PI （proportional-integral） controllers regulate the flux and torque, respectively, and the inverter is controlled by the SVM technique in the proposed DTC system. Simulation results show that the performance of the proposed DTC system has been improved with respect to the conventional DTC. The DTC system can effectively reduce the flux and torque ripples.

Influence of Design Parameters on Cogging Torque in Directly Driven Permanent Magnet Synchronous Wind Generators

In order to reduce the cogging torque, this paper investigates the influence of some parameters on the cogging torque developed by directly driven permanent magnet synchronous wind generators. Based on the remanent magnetic flux densities, the cogging torque is computed by using finite element method. It is shown that many parameters have influence on cogging torque and the slot and pole number combination has a significant effect on cogging torque. A simple factor has been introduced to indicate the effect of the slot and pole number combination. Some practical experience to reduce the cogging torque was applied to 2 MW three phase permanent magnet synchronous generator at rated speed of 37.5 rpm for wind energy conversion. The simulation and experiment results verify the effect of the proposed method.

Properties of Brushless DC Machine Induced by Permanent Magnets Applied to a Traction Drive

The paper presents a mathematical model ofbrushless DC machine induced by permanent magnets. Its construction uses the classical model of permanent magnet synchronous machine and induced model of power inverter using the serraphil form. The results of the computer simulation were presented for such states： startup, work under active constant load and the behavior of the machine in terms of exponential and stepping change of the power inverter＇s control angle.

Quantitative Comparison of Electromagnetic Performance of Electrical Machines for HEVs/EVs

In this paper,various types of sinusoidal-fed electrical machines,i.e.induction machines(IMs),permanent magnet(PM)machines,synchronous reluctance machines,variable flux machines,wound field machines,are comprehensively reviewed in terms of basic features,merits and demerits,and compared for HEV/EV traction applications.Their latest developments are highlighted while their electromagnetic performance are quantitatively compared based on the same specification as the Prius 2010 interior PM(IPM)machine,including the torque/power-speed characteristics,power factor,efficiency map,and drive cycle based overall efficiency.It is found that PM-assisted synchronous reluctance machines are the most promising alternatives to IPM machines with lower cost and potentially higher overall efficiency.Although IMs are cheaper and have better overload capability,they exhibit lower efficiency and power factor.Other electrical machines,such as synchronous reluctance machines,wound field machines,as well as many other newly developed machines,are currently less attractive due to lower torque density and efficiency.

A Survey on Fault Diagnosis and Fault Tolerant Methodologies for Permanent Magnet Synchronous Machines

This paper presents a comprehensive survey of fault diagnosis and fault tolerant approaches for permanent magnet synchronous machines(PMSM).PMSMs are prominent in the pervading usage of electric motors,for their high efficiency,great robustness,reliability and low torque inertia.In spite of their extensive appliance,they can be quite non-resilient and inadequate in operation when faults appear in motor drive apparatus such as inverters,stator windings,sensors,etc.These may lead to insulation failure,torque fluctuations,overcurrent or even system collapse.On that account,fault diagnosis and fault tolerant methods are equipped to enhance the stability and robustness in PMSMs.Progressive methodologies of PMSM fault diagnosis and tolerance are classified,discussed,reviewed and compared in this paper,beginning with mat hematical modeling of PMSM and then scrutinizing various fault conditions in PMSMs.Finally,the scope of research on the topic is highlighted.The contribution of this review is to emphasize optimistic schemes and to assist researchers with the latest trends in this field for future directions.

Optimization of Added Permanent Magnet Amount in Synchronous Reluctance Machines for High Performance

An optimizing method of adding permanent magnet into synchronous reluctance machines for high performance is presented. The method enables torque components from reluctance and permanent magnet to reach an optimal combination so as to obtain a maximum efficiency, higher power factor in a wider speed range. Capability curves of synchronous reluctance combined with permanent magnet (SR PM) machines are described for different quantities of permanent magnet. The interacting principle of reluctance and permanent magnet torque is discussed. Simulation results based on an integrated model of the SR PM machine with a controller are presented to demonstrate the interaction of the two kinds of torques. Particularly, efficiency contours over the capability curves are illustrated to show the effect of added permanent magnet amount. An optimizing criterion for added permanent magnet amount in SR PM machine design is developed. Compared to induction, pure synchronous reluctance, and non optimized SR PM machines with same stator, the optimized SR PM machine shows higher efficiency in a wider speed range.

Advanced Computer-aided Design and Analysis for Synchronous Reluctance-Permanent Magnet Machines

This paper presents an advanced computer aided design (CAD) package for the synthesis, analysis, and optimization of synchronous reluctance combined with permanent magnet (SR PM) machines. The distinguishing features of the CAD package are that it allows a wide range of design options and parameter variations for the new type of machines, calculations of optimization for maximum efficiency and higher power density, and various performance. The package as described in the main text permits the integration of the machine design with an electronic controller, along with the simulation of the whole system. Through the optimal design, characteristic calculations, and system simulations, the CAD package offers a superior design for the SR PM machines, and presents a feasibility frontier outlined by the design.

Improved Hybrid Method to Calculate Inductances of Permanent Magnet Synchronous Machines with Skewed Stators Based on Winding Function Theory

An improved hybrid method combining two dimensional(2D)finite element analysis(FEA)and the analytical method is put forward to calculate the stator winding inductance and synchronous inductance influenced by stator skewing technique.Based on winding function theory(WFT),the improved method proposes two factors to describe variable inductances along the stator skewing angles.Comprehensive simulations are then performed on three interior permanent magnet synchronous machines(IPMSMs),one normal and two skewed machines(half slot and one slot pitch skewing respectively).Extensive experiments are conducted on relevant prototypes with good correlation.Moreover,analysis and comparisons are made as to the influence of different skewing angles on the inductances and torque-speed curves.It is found that Ld increases and Lq decreases by skewing,leading to the reduction of the rotor saliency and maximal torque capability,but increase of the flux weakening capability.

A New Technique:Research and industrial application of a novel compound permanent magnet synchronous machine

We propose a novel kind of compound permanent magnet synchronous machine (CPMSM), which is applicable in low-speed and high-torque situations. We first explain the structure of the CPMSM. Based on theoretically deducing the calculation formulae of the CPMSM electromagnetic parameters, we analyze the operating characteristics of the CPMSM, and obtain the power-angle curves and working curves. The no-load magnetic field distribution and the cogging torque are analyzed by applying the finite element method of three-dimensional (3D) magnetic fields, to determine the no-load leakage coefficient and the waveform of the cogging torque. Furthermore, the optimal parameters of the permanent magnet for reducing the cogging torque are determined. An important application target of the CPMSM is in directdrive pumping units. We have installed and tested a direct- drive pumping unit in an existing oil well. Test results show that the power consumption of the direct-drive pumping unit driven by CPMSM is 61.1% of that of the beam-pumping unit, and that the floor space and weight are only 50% of those of a beam-pumping unit. The noise output does not exceed 58 dB in a range of 1 m around the machine when the machine is 1.5 m from the ground.

Modeling and Hardware-in-the-Loop System Realization of Electric Machine Drives-A Review

This paper presents a state-of-the-art review in modeling approach of hardware in the loop simulation(HILS)realization of electric machine drives using commercial real time machines.HILS implementation using digital signal processors(DSPs)and field programmable gate array(FPGA)for electric machine drives has been investigated but those methods have drawbacks such as complexity in development and verification.Among various HILS implementation approaches,more efficient development and verification for electric machine drives can be achieved through use of commercial real time machines.As well as implementation of the HILS,accurate modeling of a control target system plays an important role.Therefore,modeling trend in electric machine drives for HILS implementation is needed to be reviewed.This paper provides a background of HILS and commercially available real time machines and characteristics of each real time machine are introduced.Also,recent trends and progress of permanent magnet synchronous machines(PMSMs)modeling are presented for providing more accurate HILS implementation approaches in this paper.

The Minimum Rotor Rotation Angle for Calculating On-Load Electromotive Force Waveform of Synchronous Generators

为了快速计算同步发电机负载运行时的稳态性能,希望在转子相对定子旋转的角度尽可能小的情况下就能够准确得到电枢绕组电动势波形。根据电机理论,针对分数槽绕组同步发电机负载运行时的气隙磁通密度进行分析,得到了准确计算电枢绕组电动势波形的转子最小旋转角。应用有限元法计算最小旋转角范围内定、转子不同位置下的电磁场,通过对电磁场计算结果进行后处理,得到了定子每个齿磁通在一个或者多个周期的变化波形,从而快速计算电枢绕组电动势波形。对两台不同电枢绕组形式的永磁同步发电机负载电动势波形进行了计算,通过对计算结果进行比较,验证了方法的正确性。在一台电机上进行了实验,计算结果和实验结果较吻合。该方法具有计算准确以及计算量小的优点。

PMSM正切趋近律无位置传感器角度补偿方法研究

在负载转矩突变的动态过程中,基于PI调节器的角度补偿方法作用时PMSM超螺旋滑模观测器(STSMO)转子电角度估算误差波动剧烈,因此依据角度估算误差的定义,建立了转子电角度补偿算法的数学模型。根据滑模控制和趋近律理论,提出了基于正切趋近律的变步长闭环角度补偿方法,选择角度估算误差的半角正切值作为角度调节步长,并通过前馈解耦得到的角度估算误差正余弦信号计算该步长,实现了对无位置传感器控制系统动态性能和抗扰动能力的改善。根据归一化灵敏度的定义,分析调节步长随角度估算误差变化的灵敏度,提出了基于归一化补偿灵敏度的系统动态性能分析方法,衡量两种补偿算法作用下系统的动态性能。计算和仿真结果表明,正切趋近律补偿方法具有更高的归一化补偿灵敏度,在负载转矩突变等角度估算误差变化剧烈的工况下能够实现更好的补偿效果,抑制估算角度误差的波动。实验结果表明,相比传统的PI补偿方法,正切趋近律补偿方法能够将突加额定转矩动态过程中角度估算误差的波动幅度降低61.9%,动态过程持续时间缩短23%,有效提升了系统的动态性能和抗扰动能力。

采用改进遗传算法优化LS-SVM逆系统的外转子无铁心无轴承永磁同步发电机解耦控制

为了实现外转子无铁心无轴承永磁同步发电机(outer rotor coreless bearingless permanent magnet synchronous generator,ORC-BPMSG)的精确控制,提出一种基于改进遗传算法(improved genetic algorithm,IGA)优化最小二乘支持向量机(least square support vector machine,LS-SVM)逆系统的解耦控制策略。首先,基于ORC-BPMSG的结构及工作原理,推导其数学模型,并分析其可逆性。其次,建立LS-SVM回归方程,并采用IGA优化LS-SVM的性能参数,从而训练得到逆系统。然后,将逆系统与原系统串接,形成伪线性系统,实现了ORC-BPMSG的线性化和解耦。最后,将提出的控制方法与传统LS-SVM逆系统控制方法进行对比仿真和实验。仿真和实验结果表明:所提出的控制策略可以较好地实现ORC-BPMSG输出电压和悬浮力、以及悬浮力之间的解耦控制。

基于气隙磁密差信号峭度因子的永磁同步电机局部退磁故障诊断

该文提出一种新型基于气隙磁密信号差峭度因子的永磁同步电机局部退磁故障诊断方法。首先,建立永磁同步电机等效磁路模型,根据简化模型分析局部退磁故障后各极主磁路下径向气隙磁密的变化规律。然后,将预存健康电机空载状态下气隙磁密信号与测量的在线状态下气隙磁密信号作差并计算其峭度值,作为故障特征值。取健康电机空载状态下气隙磁密信号与不同工况下气隙磁密信号差峭度值的最大值作为参考值,根据故障特征值与参考值的大小诊断出局部退磁。最后,仿真和实验结果均验证提出的局部退磁故障诊断方法的有效性。

含准Z源的双永磁电机驱动系统的研究及仿真

由于九开关逆变器通过共享模式,可减少电力电子器件数量,减小驱动装置的体积与重量,适用于双机驱动的应用场合。针对九开关逆变器双机驱动系统中单台电机电压利用率低的问题,研究了一种含准Z源的双永磁同步电机驱动系统。为了实现双机驱动系统中每台电机的独立可控,研究了基于SVPWM调制的双机分时控制原理。为满足不同的工况,研究了永磁同步电机的恒转矩-弱磁控制策略,利用间接电压法对Z源电压进行控制,以维持Z源电压的稳定。搭建了含准Z源的双永磁同步驱动系统仿真模型,仿真结果表明,永磁同步电机和准Z源的控制策略行之有效,分时控制可实现双机驱动系统的独立可控,可满足工程应用的需求。

电动汽车永磁同步电机匝间短路检测算法仿真

当电机出现匝间短路故障时,电机内部电阻会大幅度降低,电流突增,造成其余元件功率过大问题。若不能及时监测该故障电机将会导致二次损坏。但是,由于短路故障具有瞬时性,其特征获取难度较大。为此提出电动汽车永磁同步电机匝间短路故障检测方法。构建驱动汽车的永磁同步电机模型,依据当永磁同步电机模型处于匝间短路故障状态时,基波电流与正序电流的制约关系失效的原理,提取电机匝间短路故障特征。基于此利用粒子群算法-最小二乘支持向量机(Particle swarm optimization-Least Squares Support Vector Machine,PSO-LSSVM)获取故障检测结果,实现电动汽车永磁同步电机匝间短路故障的检测。实验结果表明,研究方法在任意时刻检测到的负载力矩均与实际值吻合,且输出的电机残余能量具有较高可靠性,说明了上述方法具有较强的可应用性。