THESIS INTERNAL DEFENSE

ON
DYNAMIC MODELLING AND COMPUTER SIMULATION OF
PERMANENT MAGNET SYNCHRONOUS MOTOR FOR
IMPROVED PERFORMANCE

PRESENTED TO

DEPARTMENT OF ELECTRICAL/ELECTRONIC ENGINEERING,

MICHAEL OKPARA UNIVERSITY OF AGRICULTURE UMUDIKE

BY

EZEONYE, CHINONSO STANLEY.

MOUAU/PG/M.ENG/EEE/17/10999

MARCH, 2021.

SUPERVISOR:
ENGR. PROF. O. I. OKORO
 INTRODUCTION
 Permanent magnet synchronous motor (PMSM)
is a type of alternating current synchronous
motor with a sinusoidal back EMF waveform
and whose field excitation is produced by
permanent magnets.
 It uses permanent magnets embedded in the steel
rotor to create a constant magnetic field.
 The stator carries windings connected to an AC
supply to produce a rotating magnetic field,
while the rotor carries a permanent magnet.
 PROBLEM STATEMENT
 The merits of PMSM include negligible rotor losses, high efficiency,
absence of external source of magnetization current for excitation, smaller
in size, low inertia and lesser weight.
 The factors that hinder the performance of the motor in achieving the
above merits are limited speed range, high cost of magnetic materials,
improper saliency ratio and high stator core loss at high speed.
 By modeling the Interior and Surface Mounted PMSM, a comparative
analysis of the effects of core loss considerations, frequency variations in
determining the motor speed range and variation of d-axis inductance with
respect to q-axis inductance (saliency ratio) in determining the angle at
which the pull-out torque is obtained and at what ratio is electromagnetic
and fundamental torque attain maximum value.
 These results will give a clear understanding of the parameters required of
a particular motor for best operating performance.
 AIM AND OBJECTIVES
 The aim of this research is to model and simulate permanent magnet
synchronous motor for improved performance. The specific
objectives of the research include:
 To review existing literature on permanent magnet synchronous
motor and its application.
 To develop the electrical and mechanical models of the motor.
 To develop the dynamic models of IPMSM and SPMSM.
 To simulate the motor dynamic behaviors under various operating
condition.
 To study the motor performances with and without core losses.
 To study the effect of saliency for torque production on PMSM.
 To study the effect of loading on dynamic behavior of the motors.
 SCOPE OF THE THESIS
 This research work is limited to developing, analyzing
and simulating the models of permanent magnet
synchronous motor (IPMSM and SPMSM) of 2 KW, 220
KV, for determining the saliency ratio for torque
production, effect of core loss consideration and the
actual load a particular motor can withstand without
unsynchronous operation, and sensitivity study.
 Both the Electrical and Mechanical models were
performed using MATLAB software as it has become a
widely used and acceptable platform for analysis of most
electrical machines.
 SIGNIFICANCE OF THE STUDY
 The successful modeling and simulation of permanent magnet
synchronous motor will give a clear understanding of the
parameters required of a particular motor for its operation.
 This will show the saliency ratio for maximum torque
production, the highest load for a particular motor, sensitivity of
the parameters variation to the performance of the motor and
obtaining different motor speed range.
 By achieving this, the motor can be used in various drives
system such as automated industrial production, lifters, robotics
and computer aided manufacturing, hybrid electric vehicles
(HEV), flywheel energy storage system, friction welding units,
vacuum pumps and machine tools.
 REVIEW OF RELATED WORK
Some authors have worked on PMSM in different aspect. Some of the ones I reviewed include:

 Chen et al. (2016) presented Effect of Salient Pole on Permanent Magnet

Synchronous Motors.
 Adel and Hamed (2010) proposed dynamic modeling simulation for ac Surface
Permanent Magnet Synchronous Motor (SPMSM) with the aid of Matlab/Simulink
environment.
 El Shewy et al. (2008) presented Dynamic Modeling of Permanent Magnet
Synchronous Motor with core loss using Matlab/Simulink.
 Enrique (2006) detailed modeling of a permanent magnet synchronous motor drive
system in Simulink.
 Ritu et al. (2017) discussed Dynamic Modeling of Surface Mounted Permanent
Synchronous Motor for Servo motor application.
 From the reviewed literatures, it is seen that core loss effect, saliency effect,
loading effect, and effect of parameters variation and sensitivity was lacking in
their analysis. As a result, comparative analysis of the effects of core loss
considerations, effects of parameters variation and sensitivity, and the effects of
loading, in determining the motor’s best operating performance and at what load
will the motor go out of synchronism is carried out in my research.
PRINCIPLE OF OPERATION OF PERMANENT
MAGNET SYNCHRONOUS MOTOR
 The working principle of permanent magnet synchronous motor
is same as that of synchronous motor.
 When three-phase winding of stator is energized from three phase
supply, rotating magnetic field is set up in the air gap.
 The PMSM rotate because of the magnetic attraction between the
rotor and the stator poles.
 When the rotor poles are facing stator poles of the opposite
polarity, a strong magnetic attraction is set up between them.
 At no-load conditions, rotor poles are directly opposite to the
stator poles and their axes coincide.
 At load conditions the rotor poles lag behind the stator poles, but
the rotor continues to turn at synchronous speed, the mechanical
angle ‘θ’ between the poles increases progressively as load
increases.
CLASSIFICATIONS OF PERMANENT
MAGNET ELECTRIC MACHINES
PM Electric
Machines

PMAC Machines PMDC Machines

Sinusoidal type Trapezoidal type

(PMSM) (BLDCM)

Surface Magnets Interior Magnets

type (SPMSM) type (IPMSM)
 CONSTRUCTIONAL FEATURES OF IPMSM.

 The interior PM rotor construction is mechanically robust so it is suitable

for higher speeds.
 The manufacturing complexity is increased more than the SPMSM
because each PM is mounted inside the rotor.
 It has radially magnetized and alternately poled magnets.
 Because the magnet pole area is smaller than the pole area at the rotor
surface, the no-load air gap flux density is less than the flux density in the
magnet and can be applied in wide speed range up to 4000 rpm.
 It has higher permanent magnet flux leakage, higher armature reaction
flux, large flux-weakening capability and its permanent magnets are
protected against armature field.
 There is inductance variation for this type of rotor because the permanent
magnet part is equivalent to air in the magnetic circuit calculation,
therefore it has saliency with Lq > Ld.
 CONSTRUCTIONAL FEATURES OF SPMSM.

 SPMSM have a surface mounted permanent magnet rotor and each of the
PM is mounted on the rotor surface by a carbon or glass fiber bandage.
 In relation to other PM concepts, the surface mounted machines are easy to
manufacture and consequently the construction cost is lower.
 The main drawback of these machines is the exposition of the permanent
magnets to demagnetization fields.
 It can be applied in medium speed range of about 3000 rpm or below
because of the limitation that magnets will fly apart during high-speed
operations.
 It has low permanent magnet flux leakage, small armature reaction flux,
poor flux-weakening capability and its permanent magnets are not protected
against armature field.
 The effective air gap of the d-axis equals that of the q-axis and the motors
are considered to have small or no saliency, thus Ld = Lq.
 MATERIALS
The materials used in carrying out the research
are:
 Permanent Magnet Synchronous Motor Model
of 2 KW, 2.68 HP, 220 V, 50 Hz.
 MATLAB/SIMULINK R2013b software
 HP window 8, 4GB Installed Memory, 64-bit
operating system laptop.
 METHOD
 In dynamic modeling and simulation of
permanent magnet synchronous motor for
improved performance, we used MATLAB
software to model and observe the dynamic
behavior of the SPMSM and IPMSM under
various operating condition.
 This enabled the motor current, voltage, speed,
power, torque characteristics to be viewed under
different operating condition and the results of
relationship between them and time are shown.
 RESULTS AND DISCUSION
 Three phase voltages were applied to each
phase of the PMSM and a varying load torque
and frequency was also applied starting
initially at 0 Nm and 50 Hz respectively.
 The speed responses as well as other responses
to a varying torque and other motor parameters
are shown.
 The core loss and saliency effects are also
shown.
 

IPMSM with and without core loss.

Voltages and Currents response
It is seen that without core loss the magnitude of current is 75 A while it is 35 A with core loss. Also the introduction of
core resistance distort the axis voltage which took more time to settle and attain steady state.

Stator current against time with core loss Stator current against time without core loss
60 100
ia
40 ib
50
ic
ia,ib,ic in [A]

ia,ib,ic in [A]
20
0
0
-50
-20

-100 ia
-40 ib
ic
-60 -150
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Stator voltages against time dq voltages against time with and without core loss
400 400
Va
Vb
200 200
Vc
Va,Vb,Vc [V]

Vq,Vd [V]

Vq with core loss

0 0 Vd with core loss
Vq without core loss
Vd without core loss
-200 -200

-400 -400
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Speed, Electromagnetic torque and Electromechanical power
for IPMSM
From the speed graph, it is seen that with core resistance in the motor circuit, it takes
more time for the ripples to settle. As it can be seen that it reaches steady state value at
0.05 seconds when core loss is not considered.
The torque response shows that the effect of this resistance does not affect
electromagnetic torque directly and also affirm torque non-linearlity caused by
ignoring core loss. It’s only effect is the reduction of magnitude of the ripple
Mechanical rotor speed Speed in rpm against time with and without core loss
250 2500
with core loss Ns with core loss
200 without core loss 2000 Ns without core loss

150 1500
wrm [rad/s]

Ns [rpm]
100 1000

50 500

0 0

-50 -500

-100 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque Te against time with and without core loss Electromechanical power Pem against time with and without core loss
60 20
Te with core loss Pem with core loss
40 15
Te without core loss Pem without core loss
10
20
Pem [kw]
Te [Nm]

5
0
0
-20
-5
-40 -10

-60 -15
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 SPMSM with and without core loss.
Voltages and Currents response
It can be seen that without core loss the magnitude of current is 32 A while with core loss it stands at 20 A.
The effect of core resistance on the axis voltage show that Vq increases from 240 V to 300 V, while Vd decreases from 200 V to 100 V.

Stator current against time with core loss Stator current against time without core loss
30 40
ia
20 ia ib
ib
20
ic
ia,ib,ic in [A]

ia,ib,ic in [A]
10
ic
0 0

-10
-20
-20

-30 -40
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Stator voltages against time dq voltages against time with and without core loss
400 400
Va
300
Vb
200
Vc
Va,Vb,Vc [V]

200
Vq,Vd [V]

0 100
Vq with core loss
0
Vd with core loss
-200
Vq without core loss
-100
Vd without core loss
-400 -200
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Speed, Electromagnetic torque and Electromechanical power
for SPMSM.
It is seen that the speed at both cases. The only variation is in the magnitude of the
ripple which is 3700 rpm and 3100 rpm without core resistance and with core
resistance respectively.
Electromagnetic torque and electromechanical power maintains a constant steady state
value with and without considering core loss. The only variation is on the magnitude of
the ripple and settling time.
Mechanical rotor speed Speed in rpm against time with and without core loss
400 4000
with core loss Ns with core loss
without core loss Ns without core loss
300 3000
wrm [rad/s]

Ns [rpm]
200 2000

100 1000

0 0
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque Te against time with and without core loss Electromechanical power Pem against time with and without core loss
30 15
Te with core loss Pem with core loss
20 Te without core loss 10 Pem without core loss
Pem [kw]

10 5
Te [Nm]

0 0

-10 -5

-20 -10
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Parameters variation and Sensitivity for IPMSM. Voltage and
Current response for frequency variation
It is seen that increase in F does not affect the magnitude of the stator voltages which
stands at 311 V but as the F increases, the phase difference between the phases
increases.
The current is non sinusoidal at the starting and becomes sinusoidal when the motor
reaches its steady state at 0.02 seconds. The major difference is the magnitude of the
ripple which stand at 100 A for 50 Hz and 80 A for 60 Hz, and the steady state value of
current at 50 Hz is 70 A while at 60 Hz is 65 A.
Stator voltages against time with f=60 Hz Stator voltages against time with f=50 Hz
400 400
Va Va
Vb Vb
200 Vc 200 Vc
Va,Vb,Vc [V]

Va,Vb,Vc [V]
0 0

-200 -200

-400 -400
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Stator current against time with f=60 Hz Stator current against time wwith f=50 Hz
100 100
ia
ib
ic 50
50
ia,ib,ic in [A]

ia,ib,ic in [A]

0
0
-50

-50 ia
-100
ib
ic
-100 -150
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Axis voltage and current responses for IPMSM with Freq. Variation.
Frequency variation does not affect the steady state values of axis voltages. It only introduce slight variation on the ripples.
As frequency increases to 60 Hz, the q-axis current decreases from 72 A to 62 A, while the d-axis current decreases from 15 A to 13 A.
Therefore as frequency is increased, the d- and q-axis currents decrease as well as stator current.

Vq against time with f=50 & 60 Hz Vd against time with f=50 & 60 Hz
350 0
Vq with f=50 Hz Vd with f=50Hz
300 -50
Vq with f=60 Hz Vd with f=60Hz
-100
250
-150
Vq [V]

Vd [V]
200
-200
150
-250
100 -300

50 -350
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

iq against time with f=50 & 60 Hz id against time with f=50 & 60 Hz
120 50
iq with f=50Hz id with f=50Hz
100 40
iq with f=60Hz id with f=60Hz
30
80
20
iq [A]

id [A]

60
10
40
0

20 -10

0 -20
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Speed, Torque & Power responses for IPMSM. Freq. variation
Increase in frequency from 50 Hz to 60 Hz increased electrical speed from 314 to 377 rad/s and mechanical speed from 157 to 188.5 rad/s, as speed is directly
related to frequency of supply.
Also increase in frequency slightly increased the values of torque and output power since they are directly related.

Electrical rotor speed with f= 60Hz and 50Hz Mechanical rotor speed with f= 60Hz and 50Hz
600 300
f=60 Hz f=60 Hz
f=50 Hz f=50 Hz
400 200

wrm [rad/s]
wr [rad/s]

200 100

0 0

-200 -100
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque with f= 60Hz and 50Hz Electromechanical power with f= 60Hz and 50Hz
60 20
Te with f=60 Hz Pem with f=60Hz
40 15
Te with f=50 Hz Pem with f=50Hz
10
20
Pem [kw]
Te [Nm]

5
0
0
-20
-5
-40 -10

-60 -15
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Parameters variation and Sensitivity for SPMSM. Voltage
and Current response for frequency variation
As F increases, the phase angle between the voltages increases but the magnitude of
the voltages remains the same at 311 V.
The magnitude of the ripple at 50 Hz is 35 A while at 60 Hz is 30 A, and the steady
state value of current at 50 Hz is 32 A while at 60 Hz is 28 A.

Stator voltages against time with f=60Hz Stator voltages against time with f=50Hz
400 400
Va Va
Vb Vb
200 Vc 200 Vc
Va,Vb,Vc [V]

Va,Vb,Vc [V]
0 0

-200 -200

-400 -400
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Stator current against time with f=60Hz Stator current against time wwith f=50Hz
40 40
ia ia
ib ib
20 ic 20 ic
ia,ib,ic in [A]

ia,ib,ic in [A]

0 0

-20 -20

-40 -40
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Axis voltage and current responses for SPMSM on Freq. Variation
As frequency is increased, the steady state values of Vq increases from 230 V to 260 V, while Vd decreases from
210 V to 170 V.
As frequency increases, the q-axis current increases from 4 A to 5 A, while the d-axis current decreases from 33 A
to 28 A.

Vq against time with f=50 & 60 Hz Vd against time with f=50 & 60 Hz
350 300

300
200

250
100
Vq [V]

Vd [V]
200
Vd with f=50Hz
Vq with f=50 Hz 0
Vd with f=60Hz
150 Vq with f=60 Hz

-100
100

50 -200
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

iq against time with f=50 & 60 Hz id against time with f=50 & 60 Hz
30 40

20 30

10 20
iq [A]

id [A]

0 10

iq with f=50Hz id with f=50Hz

-10 0
iq with f=60Hz id with f=60Hz

-20 -10
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Speed, Torque & Power responses for SPMSM with Freq. variation
As F is increased from 50 Hz to 60 Hz, the steady state speed of the motor increased from 314 rad/s to 377 rad/s for electrical rotor speed and 157
rad/s to 188.5 rad/s for mechanical rotor speed as speed is directly related to frequency of supply. It is the same as that of IPMSM.
It is also seen that increase in frequency increases the magnitude of the steady state value of the electromagnetic torque and output power slightly.

Electrical rotor speed with f= 60Hz and 50Hz Mechanical rotor speed with f= 60Hz and 50Hz
1000 500
f=60 Hz f=60 Hz
800 f=50 Hz 400 f=50 Hz

wrm [rad/s]
wr [rad/s]

600 300

400 200

200 100

0 0
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque with f= 60Hz and 50Hz Electromechanical power with f= 60Hz and 50Hz
30 15
Te with f=60 Hz Pem with f=60Hz
20 Te with f=50 Hz 10 Pem with f=50Hz
Pem [kw]

10 5
Te [Nm]

0 0

-10 -5

-20 -10
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Current, Speed, Torque & Power responses for IPMSM with
variable stator resistance
As Rs decreases, more ripples are introduced in iq and id as when Rs=1.2 ohms, the magnitude is
120 A and 50 A for iq and id respectively and steady state value of i q increased slightly.
Speed remains constant 1500 rpm. The only effect of decreasing stator resistance is it introduced
more ripples which stand at about 2800 rpm.
When Rs is decreased from 1.2 ohms to 0.6 ohm, the magnitude of the torque ripple and output
power increases from 50 Nm to 70 Nm and 16 kw to 22.5 kw respectively and it takes more time
to attain its steady state, but the steady state values remains the same.
dq currents against time Synchronous speed against time
120 3000
Rs=0.6 Ohm
100
Rs=1.2 Ohms
2000
80

Ns [rpm]
iq,id [A]

60 iq with Rs=0.6 Ohm

id with Rs=0.6 Ohm 1000
40 iq with Rs=1.2 Ohms
id with Rs=1.2 Ohms
20
0
0

-20 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

100 30
Rs=0.6 Ohm Rs=0.6 Ohm
Rs=1.2 Ohms 20 Rs=1.2 Ohms
50
Pem [kw]

10
Te [Nm]

0
0

-50
-10

-100 -20
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Current, Speed, Torque & Power responses for SPMSM with
variable stator resistance
As Rs decreases to 3.4 ohms, more ripples ripples are introduced to iq and
the value of id increases from 33 A to 48 A.
It is seen that as Rs is varied, the steady state speed 1500 rpm.
As Rs is decreased to 3.4 ohms, the magnitude of the ripple for torque and
power also increases from 22 Nm to 30 Nm and 13 kw to 21.5 kw and it takes
more time to attain steady state.
dq currents against time Synchronous speed against time
60 5000
Rs=3.4 Ohms
4000 Rs=6.8 Ohms
40

3000

Ns [rpm]
20
iq,id [A]

2000
0
iq with Rs=3.4 Ohms 1000
id with Rs=3.4 Ohms
-20 iq with Rs=6.8 Ohms 0
id with Rs=6.8 Ohms
-40 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

40 30
Rs=3.4 Ohms Rs=3.4 Ohms
Rs=6.8 Ohms 20 Rs=6.8 Ohms
20
Pem [kw]

10
Te [Nm]

0
0

-20
-10

-40 -20
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Current, Speed, Torque & Power responses for IPMSM with
variable inertia constant
Decrease in J to 7.92e-5 kg/m2 only affected id ripple peak magnitude from 48 A to 40
A, while the steady state values remains constant.
As J is varied, the speed of the rotor remains constant and the magnitude of the ripples
is nearly equal, therefore change in inertia have negligible effect on speed response.
The torque and power responses show that decrease in J decreases the ripple peak
magnitude and takes less time to attain its steady state as compared to higher values.
dq currents against time Synchronous speed against time
120 2500
2
100 2000 J=7.92e-5 kg/m
2
J=1.584e-4 kg/m
80 1500

Ns [rpm]
2
iq,id [A]

60 iq with J=7.92e-5 kg/m 1000

2
id with J=7.92e-5 kg/m
40 iq with J=1.584e-4 kg/m
2 500
2
id with J=1.584e-4 kg/m
20 0

0 -500

-20 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

60 20
2 2
J=7.92e-5 kg/m 15 J=7.92e-5 kg/m
40 2 2
J=1.584e-4 kg/m J=1.584e-4 kg/m
10
20
Pem [kw]
Te [Nm]

5
0
0
-20
-5

-40 -10

-60 -15
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
Current, Speed, Torque & Power responses for SPMSM with
variable inertia constant
As seen in IPMSM, decrease in J to 7.92e-5 kg/m2 only affected thr ripple
magnitude of the axis current, rotor speed, electromagnetic torque and
electromechanical power. It is also noted that SPMSM always show less
distortion as compared to IPMSM.
dq currents against time Synchronous speed against time
40 5000
2
J=7.92e-5 kg/m
30
2 4000 J=1.584e-4 kg/m
2
iq with J=7.92e-5 kg/m
2
20 id with J=7.92e-5 kg/m

Ns [rpm]
2 3000
iq,id [A]

iq with J=1.584e-4 kg/m

10 2
id with J=1.584e-4 kg/m
2000
0

1000
-10

-20 0
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

30 15
2 2
J=7.92e-5 kg/m J=7.92e-5 kg/m
20 J=1.584e-4 kg/m
2 10 J=1.584e-4 kg/m
2
Pem [kw]

10 5
Te [Nm]

0 0

-10 -5

-20 -10
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Variation of coefficient of viscous friction for IPMSM. Current, Speed, Torque & Output Power responses
This shows that varying in B does not change the value of i q but affects the magnitude i d slightly.
The only effect of decreasing B to 0.01 Nms is it introduces higher peak magnitude of the ripples 2500 rpm.
As B is decreased to 0.01 Nms, the value of electromagnetic torque decreases and it introduces more ripples with magnitude of 60 Nm. Therefore it is better to use lower values of viscous
friction coefficient.

dq currents against time Synchronous speed against time

120 3000
B=0.01 Nms
100
B=0.02 Nms
2000
80

Ns [rpm]
iq,id [A]

60 iq with B=0.01 Nms

id with B=0.01 Nms 1000
40 iq with B=0.02 Nms
id with B=0.02 Nms
20
0
0

-20 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

60 20
B=0.01 Nms B=0.01 Nms
40 B=0.02 Nms B=0.02 Nms
10
20
Pem [kw]
Te [Nm]

0 0

-20
-10
-40

-60 -20
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Variation of coefficient of viscous friction for SPMSM. Current, Speed, Torque & Output Power responses
As viscous friction coefficient increases, the magnitude of the q-axis current increases while d-axis current decreases.
The only effect of decreasing viscous friction coefficient is that it introduces higher ripples of 4000 rpm for synchronous speed.
As B is decreased to 0.01 Nms, the value of electromagnetic torque and output power is decreased and it introduces more ripples.

dq currents against time Synchronous speed against time

40 5000
B=0.01 Nms
30 4000
iq with B=0.01 Nms B=0.02 Nms
20 id with B=0.01 Nms
iq with B=0.02 Nms 3000

Ns [rpm]
iq,id [A]

10 id with B=0.02 Nms

2000
0
1000
-10

-20 0

-30 -1000
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]

Electromagnetic torque against time Electromechanical power against time

30 15
B=0.01 Nms B=0.01 Nms
20 B=0.02 Nms 10 B=0.02 Nms

10 5
Pem [kw]
Te [Nm]

0 0

-10 -5

-20 -10

-30 -15
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
Time [sec] Time [sec]
 Saliency effect on behavior of IPMSM
The reluctance torque due to the effect of saliency shows that the load angle during the rated operation increases, and also the pull-out torque is obtained at a power angle greater than 900. The reluctance
torque greatly affect the electromagnetic torque as it increases it in the region of 900 to 1800 load angle and decreases the electromagnetic torque when the load angle lie between 00 to 900. Therefore, an
operation in the first 900 is not attempted in these motors and the preferred load angle is between 900 and 1800. At the point when Ld equals Lq, the motor becomes SPMSM and the value of reluctance torque
equals 0 Nm.

Fundamental torque against load angle Reluctance torque against load angle Electromagnetic torque against load angle
16 2 16

14 14
1.5

12 12
1

Electromagnetic torque (Nm)

10 10
Fundamental torque (Nm)

Reluctance torque (Nm)

0.5

8 8

6 6

-0.5
4 4
Ld=1.4Lq
-1 Ld=1.2Lq
2 Ld=Lq 2 Ld=1.4Lq
Ld=1.4Lq
Ld=1.2Lq Ld=0.8Lq Ld=1.2Lq
Ld=Lq Ld=0.6Lq Ld=Lq
-1.5 Ld=0.5Lq Ld=0.8Lq
0 Ld=0.8Lq 0
Ld=0.6Lq Ld=0.6Lq
Ld=0.5Lq Ld=0.5Lq

-2 -2 -2
0 50 100 150 200 0 50 100 150 200 0 50 100 150 200
Load angle (degree) Load angle (degree) Load angle (degree)
 Effect of Loading on IPMSM up to 90 Nm. Torque, Speed,
Axis Voltage & Current responses
As load increases, the steady state value of electromagnetic torque increases
and ripple magnitude decreases. When load is disconnected from 90 Nm to 0
Nm after 0.2 second, this led to the increase in ripple magnitude to 70 Nm and
1050 rad/sec for torque and speed. Also the responses of load variation to axis
voltages and currents are shown.
Electromagnetic torque Electrical rotor speed
150 1500

100
1000

wr [rad/s]
50
Te [Nm]

500
0

0
-50

-100 -500
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
Time [sec] Time [sec]

dq voltages dq current
400 150
Vq iq
Vd id
100
200
Vq,Vd [V]

50
iq,id [A]

0
0

-200
-50

-400 -100
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
Time [sec] Time [sec]
 Result of Switching off Load in Steps for IPMSM
The load is disconnected in steps from 90 Nm to 60 Nm to 30 Nm to 0 Nm and in this way the peak magnitude of the ripple is
reduced as compared to when is switched from 90 to 0 Nm.
The peak magnitude of the ripple for speed reduced to 525 rad/sec

Electromagnetic torque Electrical rotor speed

150 600

100 400

wr [rad/s]
Te [Nm]

50 200

0 0

-50 -200
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time [sec] Time [sec]

dq voltages dq current
400 150
Vq iq
Vd 100 id
200
Vq,Vd [V]

50
iq,id [A]

0
0

-200
-50

-400 -100
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time [sec] Time [sec]
 Effect of Loading on SPMSM up to 22 Nm. Torque, Speed,
Axis Voltage & Current responses
As load increases, the steady state value of electromagnetic torque increases
and ripple magnitude decreases. When the load is disconnected from 22 Nm to
0 Nm after 0.2 second, this led to the increase in ripple magnitude to 750 rad/s
for speed. The responses of axis voltages and currents are also shown.
Electromagnetic torque Electrical rotor speed
30 800

20
600

wr [rad/s]
10
Te [Nm]

400
0

200
-10

-20 0
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
Time [sec] Time [sec]

dq voltages dq current
400 40

300 30

200 20
Vq,Vd [V]

iq,id [A]

100 10

0 0

Vq iq
-100 -10
Vd id
-200 -20
0 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
Time [sec] Time [sec]
 Result of Switching off Load in Steps for SPMSM
The load is disconnected in steps and magnitude of the ripple is reduced to 500 rad/s for speed and other output parameters.

Electromagnetic torque Electrical rotor speed

30 800

20
600

wr [rad/s]
10
Te [Nm]

400
0

200
-10

-20 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time [sec] Time [sec]

dq voltages dq current
400 40

300 30

200 20
Vq,Vd [V]

iq,id [A]

100 10

0 Vq 0
Vd iq
-100 -10 id

-200 -20
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time [sec] Time [sec]
 Types of Torque for IPMSM: Induction, Reluctance, and Electromagnetic torque
It is observed that the electromagnetic torque has a peak ripple magnitude of 52 Nm, reluctance torque has 20 Nm and induction torque has a peak magnitude of 37 Nm. It is also observed that the electromagnetic torque attains a steady state of 2 Nm at
0.05 sec; the induction torque attains a steady state of 27 Nm at 0.05 sec while the reluctance torque attains steady state of –25 Nm at 0.05 sec. The electromagnetic torque is the sum of the reluctance and induction torque. When sudden change in rotor
speed occurs, induction torque restores the speed by developing the required torque in order to maintain synchronism

Induction torque (Nm)

40

30

20

10

0
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
Electromagnetic torque (Nm) Reluctance torque (Nm)

50

-50

-100
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
100

50

-50
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
 Types of Torque for SPMSM: Induction, Reluctance, and Electromagnetic torque
Induction torque has high initial starting condition and is the major torque component that helps the motor attain and maintain synchronism. Any sudden change in
rotor speed is accompanied by an induction torque, whose work is to restore the speed by developing the required torque. The induction and electromagnetic torque is
equal to 3 Nm while reluctance torque is zero because SPMSM has equal inductance on both axis; therefore induction torque equals electromagnetic torque.

Induction torque (Nm)

40

20

-20
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
Electromagnetic torque (Nm) Reluctance torque (Nm)

0.5

-0.5

-1
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
40

20

-20
0 0.02 0.04 0.06 0.08 0.1 0.12
Time (sec)
 CONCLUSION
 On the modeling of IPMSM an SPMSM under different load conditions, the
transient and steady state values of current, speed and torque curves are
analyzed.
 The three phase currents show less distortion and torque curves have very
little ripples.
 Hence SPMSM has the advantage of less overshoot, lower torque pulsation
and quick response but cannot be loaded beyond 22 Nm, while on the other
hand IPMSM shows more ripples, overshoot, slower response but is capable
of carrying load of up to 90 Nm.
 The graph of speed, torque and power versus time as we saw attained steady
state on time. Therefore, PMSM has very good start-up performance.
 The simulation results show the performance characteristics of the two
permanent magnet synchronous motor, that is speed of motor remain
constant even with variation of load torque.
 RECOMMENDATIONS
 Although, the Permanent Magnet Synchronous Motor has a
good start-up performance and speed-torque response, the
experimental implementation and analysis of speed-torque
response of the Interior and Surface Permanent Magnet
Synchronous Motor during dynamic studies in incorporation
to other non-linearities that affect the motor performance
such as saturation and harmonic effects can be taken up by
another researcher for better motor performance.
 Irrespective of good speed-torque response, robust control
techniques can also be investigated for IPMSM and SPMSM
drive system.
THANKS