FINITE-CONTROL-SET MODEL PREDICTIVE CONTROL OF AXIALLY LAMINATED FLUX-SWITCHING PERMANENT MAGNET MACHINE WITH EXTENDED VOLTAGE SPACE VECTORS

Transcription

1 FINITE-CONTROL-SET MODEL PREDICTIVE CONTROL OF AXIALLY LAMINATED FLUX-SWITCHING PERMANENT MAGNET MACHINE WITH EXTENDED VOLTAGE SPACE VECTORS by Tianshi WANG, M.Eng. (Elec.) Submitted for the Degree of Doctor of Philosophy at University of Technology Sydney 2018

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3 ACKNOWLEDGEMENTS This work was carried out at the School of Electrical and Data Engineering, Faculty of Engineering and Information Technology, University of Technology Sydney. I would like to express my sincerest appreciation to my supervisor, Prof. Jianguo Zhu Head of Discipline - SEDE Electrical Power and Energy System, for his invaluable expert technical guidance and advice throughout my research and my life. I would like to express my appreciation to my co-supervisor Dr. Gang Lei for his expert advice. Great gratitude also goes to Dr. Youguang Guo for his suggestion and kind help. Special gratitude goes to Mr. Jiang Chen for his technical support. Acknowledgments go to Prof. Wei Xu for his idea of ALFSPMM, Prof. Youchang Zhang for his help on MPC, and Dr. Chengcheng Liu for his contribution to the FEM analysis. I also would like to thank all my colleagues and friends including, Dr. Mohammad Jafari, Ms. Zahra Malekjamshidi, Mr. Lingfeng Zheng, Mr. Jianwei Zhang, Ms. Tingting He, Mr. Bo Ma and Mr. Nian Li. Finally, I would like to express my deepest gratitude to my wife Shuyang Liu, my father Yanqing Wang and my mother Xiaoyun Jiang for their love and support during my study. I also dedicate this thesis to my lovely son Lucas Wang. I appreciate your patience and support during dad s thesis writing. ii

4 TABLE OF CONTENTS CERTIFICATION ACKNOWLEDGEMENTS TABLE OF CONTENTS LIST OF SYMBOLS LIST OF FIGURES LIST OF TABLES ABSTRACT i ii iii vii ix xiv xv CHAPTER 1. INTRODUCTION 1.1 Background and Significance Thesis Outline 3 REFERENCES 5 CHAPTER 2. A LITERATURE SURVEY ON ELECTRIC VEHICLES AND MOTOR DRIVES 2.1 Introduction Developmental History of EVs Early battery electric vehicles Hybrid electric vehicles Plug-in hybrid electric vehicle Modern battery electric vehicle PHEVs and BEVs in microgrids Technical Requirements of EV Motor Drive Electric Machines for EV Drives and Their Applications DC machines Induction machines Switched reluctance machines Permanent magnet machines Comparison of electric machines The State of the Art of PMSMs Permanent magnets on the rotor Permanent magnets on the stator 45 iii

5 2.6 Electrical Motor Control Techniques Six-step control Field oriented/vector control Direct torque control Model predictive control Qualitative comparison of control methods Summary 63 REFERENCES 64 CHAPTER 3. ANALYSIS AND DESIGN OF AXIALLY LAMINATED FLUX SWITCHING PERMANENT MAGNET MACHINE 3.1 Introduction The Design of ALFSPMM Comparison of different types of stator-pm machines The proposed ALFSPMM Comparison of conventional FSPMM and ALFSPMM Prototype fabrication Rotor Stator Stator windings Final assembly Models of ALFSPMM The complete, reduced and simplified models Rotor lamination core misalignment model FEM Numerical Calculations and Experimental Measurements of ALFSPMM Stator resistance Magnetic flux density distribution Flux linkages Inductances Back-EMF Cogging torque Load Tests The Influence of the Bending Processes on Soft Magnetic Material Summary 112 REFERENCES 113 CHAPTER 4. FINITE-CONTROL-SET MODEL PREDICTIVE DIRECT TORQUE CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTORS WITH EXTENDED SET OF VOLTAGE SPACE VECTORS iv

6 4.1 Introduction Model of PMSM The Conventional DTC The Conventional FCS-MPDTC One-step delay compensation FCS-MPDTC with one-step delay compensation Conventional DTC with one-step delay compensation Principle of Proposed FCS-MPDTC Definition of extended VSVs The pre-selective scheme Principle of the Proposed FCS-MPDTC Summary 134 REFERENCES 134 CHAPTER 5. NUMERICAL SIMULATION AND EXPERIMENTAL TESTS OF ALFSPMM 5.1 Introduction Model of ALFSPMM Numerical Simulations Setup and parameters Combined load test Experimental Tests Setup of experimental test platform Steady state responses (unload and with load) Start-up tests Deceleration tests Load tests Quantitative Analysis and Comparison Conventional DTC Conventional FCS-MPDTC Conventional FCS-MPDTC with one-step delay compensation Proposed FCS-MPDTC Proposed FCS-MPDTC with one-step delay compensation Analysis of torque/flux ripples and inverter switching frequencies Drive system efficiency Discussion of the test results Summary 172 v

7 CHAPTER 6. NUMERICAL SIMULATION AND EXPERIMENTAL TESTS OF PMSM 6.1 Introduction Model of PMSM Numerical Simulations Setup and parameters Combined load test Experimental Tests Setup of experimental test platform Steady state responses (unload and with load) Start-up tests Deceleration tests Load tests Quantitative Analysis and Comparison Conventional DTC Conventional FCS-MPDTC Conventional FCS-MPDTC with one-step delay compensation Proposed FCS-MPDTC Proposed FCS-MPDTC with one-step delay compensation Analysis of torque/flux ripples and inverter switching frequencies Drive system efficiency Discussion of the test results Experimental Tests at Same Switching Frequency Steady state responses (unload and with load) Dynamic performance Drive system efficiency Summary 213 CHAPTER 7. CONCLUSIONS AND FUTURE WORK 7.1 Conclusion Future Work 215 APPENDIX A. LIST OF PUBLICATIONS FROM THIS WORK 216 vi

8 LIST OF SYMBOLS * Reference value dq f,,,, r Stationary stator reference frame axes Rotary rotor reference frame axes Frequency (Hz) Three-phase flux linkages (Wb) - and - axis stator flux linkages (Wb) d- and q-axis stator flux linkages (Wb) Angle between two stator reference frame and rotor reference frame,,,, u s, u d, u q,,,, d- and q-axis inductance (H) Flux linkage generated by the rotor permanent magnet (Wb) Number of the machine pole pairs Stator voltages (V) - and - axis stator voltages (V) stator voltage vector, d- axis and q-axis stator voltage (V) Stator currents (A) - and - axis stator currents (A) d- and q-axis stator currents (A) Per-phase stator winding resistance () Electromagnetic torque (Nm) Load torque applied on the rotor shaft Space voltage vectors produced by the two level inverter (V) Total input power of a motor (W) Electromagnetic power obtained by subtracting the mechanical loss from the input power (W) vii

9 Rotor mechanical speed Electrical speed u k s, u k d, u k q, k i d, k iq Stator voltage vector d- axis and q-axis stator voltage, d-axis k 1 T k 1 e, s k 1 i q k 1 T s sys P dc k 1, i, d and q-axis stator current at (k)th sampling instant Predicted value of torque, flux, d- axis and q-axis stator current at (k+1)th sampling instant Weighting factor Sampling period (s) Efficiency of the drive system Power output of DC power supply (W) viii

10 LIST OF FIGURES Fig Global greenhouse gas emissions Fig World petroleum discovery, remaining reserves and cumulative consumption Fig HEV drive system configuration Fig PHEV drive system configuration Fig Basic concept of the microgrid introduced in IEEE Standard Fig Desired torque-speed and power-speed curves Fig DC machine exploded diagram Fig DC machine structures Fig Victor Wouk with his 1974 hybrid Buick Skylark Fig Fiat Panda Elettra Fig The battery pack of Fiat Panda Elettra Fig Induction machine exploded diagram Fig Basic induction machine topology Fig General Motors Electrovan Fig Volkswagen Chico Fig Renault Next Fig General Motors Fig Tesla Motors Roadster Fig Tesla Model S and its powertrain Fig Switched reluctance machine exploded diagram Fig Basic switched reluctance machine topologies Fig Holden ECOmmodore and cutaway view of the motor/generator Fig New Land Rover electric Defender Fig Permanent magnet machine exploded diagram Fig Toyota Prius of latest generation Fig Honda Insight Fig Ford Fusion Hybrid Fig Mercedes-Benz ML 450 Hybrid Fig Nissan Leaf Fig BYD Qin Fig Tesla Model 3 Fig Comparison according to the applicability in EV applications Fig PM synchronous machine topologies Fig Cross sectional view of (a) PM hysteresis hybrid machine (b) 4-layer ix

11 hybrid winding machine and (c) double rotor synchronous PM machine Fig IPM machines with different rotor structures Fig Proposed pole-shoe rotor Fig Cross sectional view of (a) the first proposed DSPM and (b) stator doubly fed DSPM Fig Structure of SHEDS-PM Fig DSPM machine with 12/10 stator/rotor poles Fig Topologies of DSPM machine: Fig Structure of (a) 4/2 pole flux-switch alternator (b) 4/6 pole flux-switch alternator, and (c) FSPM proposed by E. Hoang in 1997 Fig Topologies of modern FSPM Fig Back emf waveform of BLDC and PMSM Fig Disassembled view of a BLDC motor: Fig Feedback signals generated by Hall elements Fig Inverter diagram and conduction modes for six-step control Fig Torque generation under different conduction modes Fig Diagram of vector control drive system Fig Diagram of direct torque control drive system Fig Development of DTC scheme Fig Finite control set MPC scheme Fig Flux distribution of four machines Fig FEM predicted flux linkage and torque Fig Cross section view of ALFSPMM Fig D-view of ALSFSPMM Fig Modelling of stator and rotor cores Fig The magnetization curves of the HiB steel sheet used in ALFSPMM Fig Flux density contour, (a) conventional FSPMM and (b) ALSFSPMM Fig FEM predicted performances of conventional FSPMM and ALFSPMM Fig Construction procedure of rotor Fig Construction procedure of stator Fig Construction procedure of winding and final assembly Fig Final assembly of ALFSPMM Fig FEM models of ALFSPMM, (a) complete model, (b) reduced model and (c) simplified model. Fig ALFSPMM FEM model with misalignment Fig Resistance test of ALSFSPMM Fig Flux density contour of ALFSPMM (a) complete model, (b) reduced model and (c) simplified model x

12 Fig Flux linkage of four models Fig Block diagram of experimental ALFSPMM inductance measurement Fig Platform setup of experimental inductance measurement Fig FEM predicted and measured self-inductance of ALFSPMM Fig FEM predicted and measured mutual-inductance of ALFSPMM Fig FEM predicted and measured back-emf of ALFSPMM Fig Schematic diagram of cogging torque measurement Fig Balanced beam fixed on the motor end bracket Fig Platform setup of cogging torque measurement Fig Cogging torque measurement in 360 mechanical degrees Fig FEM predicted cogging torque of ALFSPMM Fig Measured and FEM predicted cogging torque of ALFSPMM Fig Platform setup of load test Fig Measured torque output versus phase current of ALFSPMM Fig Measured magnetization properties of bended specimens before and after annealing at 50 Hz Fig Custom-made tools and methods used in fabrication of ALFSPMM Fig Relationship between different reference frames Fig PMSM equivalent circuits in (a) d-, and (b) q-axes Fig Block diagram of PMSM DTC drive system Fig Voltage vector and spatial sector definition Fig Block diagram of MPC drive system Fig One-step delay in digital control systems Fig Basic VSVs and extended VSVs Fig Block diagram of proposed FCS-MPDTC drive system Fig The selection of VSVs at 1000 r/min (simulation). Fig Block diagram of DTC drive system Fig Block diagram of conventional FCS-MPDTC drive system Fig Block diagram of proposed FCS-MPDTC drive system Fig Combined load test of DTC: (a) at 400 rpm, and (b) at 800 rpm Fig Combined load test of conventional FCS-MPDTC: (a) at 400 rpm, and (b) at 800 rpm Fig Combined load test of conventional FCS-MPDTC with one-step delay compensation: (a) at 400 rpm, and (b) at 800 rpm Fig Combined load test of proposed FCS: (a) at 400 rpm, and (b) at 800 rpm Fig Combined load test of proposed FCS-MPDTC with one-step delay compensation: (a) at 400 rpm, and (b) at 800 rpm Fig Platform setup of experimental test, (1) encoder, (2) ALFSPMM and xi

13 (3) dynamometer Fig Platform setup of experimental test, (1) power quality clamp meter, (2) dynamometer controller and (3) DC power supply Fig Platform setup of experimental test, (1) DC power supply, (2) dynamometer controller, (3) ALFSPMM, (4) dynamometer, (5) dspace control board, (6) power quality clamp meter and (7) encoder. Fig Steady-state response at 400 rpm (no load) Fig Steady-state response at 400 rpm (rated load) Fig Steady-state response at 800 rpm (no load) Fig Steady-state response at 800 rpm (rated load) Fig Start-up response from standstill to 800 rpm Fig Deceleration test Fig Load test Fig Comparison of torque ripples in different control methods Fig Comparison of flux ripples in different control methods Fig Comparison of inverter switching frequencies in different control methods Fig Drive system efficiency contour of DTC Fig Drive system efficiency contour of conventional FCS-MPDTC Fig Drive system efficiency contour of conventional FCS-MPDTC with one-step delay compensation Fig Drive system efficiency contour of proposed FCS-MPDTC Fig Drive system efficiency contour of proposed FCS-MPDTC with one-step delay compensation Fig Block diagram of DTC drive system Fig Block diagram of conventional FCS-MPDTC drive system Fig Block diagram of proposed FCS-MPDTC drive system Fig Combined load test of DTC: (a) at 400 rpm, and (b) at 1000 rpm Fig Combined load test of conventional FCS-MPDTC: (a) at 400 rpm, and (b) at 1000 rpm Fig Combined load test of conventional FCS-MPDTC with one-step delay compensation: (a) at 400 rpm, and (b) at 1000 rpm Fig Combined load test of proposed FCS: (a) at 400 rpm, and (b) at 1000 rpm Fig Combined load test of proposed FCS-MPDTC with one-step delay compensation: (a) at 400 rpm, and (b) at 1000 rpm Fig Platform setup of experimental test, (1) DC power supply, (2) dynamometer controller, (3) PMSM, (4) dynamometer and (5) dspace control xii

14 board Fig Steady-state response at 200 rpm (no load) for: (a) DTC, (b) MPDTC-8, (c) MPDTC-8 with one-step delay compensation, (d) MPDTC-20 and (e) MPDTC-20 with one-step delay compensation Fig Steady-state response at 200 rpm (2 Nm load) for: (a) DTC, (b) MPDTC-8, (c) MPDTC-8 with one-step delay compensation, (d) MPDTC-20 and (e) MPDTC-20 with one-step delay compensation Fig Steady-state response at 600 rpm (no load) Fig Steady-state response at 600 rpm (2 Nm load) Fig Steady-state response at 1000 rpm (no load) Fig Steady-state response at 1000 rpm (2 Nm load) Fig Start-up response from standstill to 1000 rpm Fig Deceleration test Fig Load test Fig Comparison of torque ripples in different control methods Fig Comparison of flux ripples in different control methods Fig Comparison of inverter switching frequencies in different control methods Fig Drive system efficiency contour of DTC Fig Drive system efficiency contour of conventional FCS-MPDTC Fig Drive system efficiency contour of conventional FCS-MPDTC with one-step delay compensation Fig Drive system efficiency contour of proposed FCS-MPDTC Fig Drive system efficiency contour of proposed FCS-MPDTC with one-step delay compensation Fig Experimental steady-state response at rated speed and load, (a) conventional DTC, (b) conventional FCS-MPDTC and (c) proposed FCS-MPDTC Fig Experimental start-up responses with no load from standstill to rated speed Fig Experimental load test, Fig Experimental decelerating responses from 1000 r/min to 200 r/min, Fig Experimental drive system efficiency contours xiii

15 LIST OF TABLES Table 2-1. Comparison of Electrical Machines Table 2-2. Comparison of Performance Table 2-3 Electric Motors in Electric Vehicles Table 2-4 Qualitative comparison of control methods Table 3-1 Main Dimensions of Four Machines (length unit: mm) Table 3-2 Performance of Four Machines Table 3-3 Dimensions of Two Machines (Unit: mm) Table 3-4 Final ALFSPMM Prototype Parameters Table 3-5 Data Analysis of Back-emfs Table 4-1 Switching table of classic DTC scheme for PMSM drive Table 4-2 Modulation of Extended VSVs Table 4-3 Pre-selective scheme Table 5-1 Machine and Control Parameters Table 5-2 Steady-state of DTC Table 5-3 Steady-state of FCS-MPDTC Table 5-4 Steady-state of FCS-MPDTC with one-step delay compensation Table 5-5 Steady-state of proposed FCS-MPDTC Table 5-6 Steady-state of proposed FCS-MPDTC with one-step delay compensation Table 6-1 Machine and Control Parameters Table 6-2 Steady-state of DTC Table 6-3 Steady-state of FCS-MPDTC Table 6-4 Steady-state of FCS-MPDTC with one-step delay compensation Table 6-5 Steady-state of proposed FCS-MPDTC Table 6-6 Steady-state of proposed FCS-MPDTC with one-step delay compensation Table 6-7 Quantitative Comparison of Experimental Results xiv

16 ABSTRACT The Flux-switching permanent magnet machine (FSPMM) has recently attracted considerable interest for high performance drive applications due to their high torque and high power density features. The laminations of traditional FSPMMs are radially laminated, i.e. steel sheets are laminated perpendicular to the shaft axis. Due to the nonlinear magnetic path, the radial laminations can have serious partial magnetic saturation at the edges/tips of stator teeth or rotor poles. The rated frequency of FSPMMs is usually much higher than traditional rotor-inserted PM machines at a given speed. In this case, the core loss of FSPMMs becomes evident especially beyond the rated speed, which leads to decrease of output power, torque/power density and efficiency. The reluctance motor with axially laminated rotor has received growing interest in recent years. This type of motor can achieve a higher torque density compared with segmented rotors and flux-barrier rotors. In this thesis, an axially laminated flux-switching permanent magnet machine (ALFSPMM) with HiB grain oriented silicon steel stator and rotor cores is proposed. The HiB silicon steel features high permeability and low specific core loss, and as a result, the total power loss of proposed motor is much lower than the conventional FSPMMs. The detailed fabrication procedures are presented. The theoretical characteristics of ALFSPMM are calculated by 2D finite element method (FEM). Experimental measurements of the prototype machine are presented to validate the FEM calculation. On the machine control side, the direct torque control (DTC) is one of the most popular control algorithms. It features simple structure and fast dynamic response. However, the performance of DTC in terms of torque and flux ripples and drive system efficiency is unsatisfactory since the voltage space vector (VSV) is selected heuristically. Recently, the finite-control-set model predictive direct torque control (FCS-MPDTC) has been developed as a simple and promising control technique to overcome these problems. xv

17 The FCS-MPDTC still suffers from relatively high torque and flux ripples due to the limited number of VSVs. This thesis proposes a novel FCS-MPDTC with an extended set of twenty modulated VSVs, which are formed by eight basic VSVs and twelve extended VSVs by modulating eight basic VSVs with fixed duty ratio. To mitigate the computational burden caused by the increased number of VSVs, a pre-selective scheme is designed for the proposed FCS-MPDTC to filter out the impractical VSVs. The drive system efficiency is also investigated. The theory and simulation are validated by experimental results on the ALFSPMM prototype. xvi

18 Chapter 1. Introduction CHAPTER 1 INTRODUCTION 1.1 Background and Significance With the increasing concern on energy diversification, energy efficiency, and environmental protection, electric vehicles (EVs) are becoming more attractive and may be the most practical way for road transportation. Motor drive system is the core technology for EVs that converts the on-board electrical energy to the desired mechanical motion and the electric machine is the key element of motor drive system. The ideal electric machine for EVs application should feature high efficiency, high torque/power density, wide speed range, low acoustic noise, reasonable cost and high reliability for vehicular environment. Various types of electric machine had been applied to EVs, such as DC machine (DCM), induction machine (IM), switch reluctance machine (SRM) and permanent magnet synchronous machine (PMSM). DCM possesses excellent controllability and low torque ripples. However the reliability is low, due to the usage of brushes and commutators. IM has robust rotor structures and low manufacturing costs, but the efficiency and power/torque density are low. SRM presents outstanding flux weakening ability and the drawbacks are low power density, large torque ripples and large acoustic noise. PMSM features high torque/power density and high efficiency. The major weaknesses are high cost, delicate rotor structure, poor heat dissipation and narrow speed range. Recently, Flux-switching permanent magnet machine (FSPMM) has been proposed to overcome above problems for EV drive applications and various novel topologies based on the principle of flux-switching have been proposed in the last decade [1.1]-[1.6]. The laminations of traditional FSPMMs are radially laminated, i.e. steel sheets are laminated perpendicular to the shaft axis. Due to the nonlinear magnetic path, the radial laminations can have serious partial magnetic saturation and the maximal flux density is usually more than 2.0 T at the edges/tips of stator teeth or rotor poles. The pole pairs in

19 Chapter 1. Introduction FSPMMs are equal to the number of rotor poles. As a result, the rated frequency of FSPMMs is usually much higher than that of the traditional rotor-inserted PM machines at a given speed. In this case, the core loss of FSPMMs becomes evident especially beyond the rated speed, which leads to decrease of output power, torque/power density and efficiency. The reluctance motor with axially laminated rotor has received growing interest in recent years. It is increasingly used in servo drive applications, even though its industrial manufacturing process has not been well established yet [1.7]. This type of motor can achieve a higher torque density compared with segmented rotors [1.9]], [1.10] and flux-barrier rotors [1.11]. In this thesis, an axially laminated flux-switching permanent magnet machine (ALFSPMM) with HiB grain oriented silicon steel stator and rotor cores is proposed. The HiB silicon steel features high permeability and low specific core loss [1.12]. As a result, the total power loss of proposed motor is much lower than the conventional FSPMMs. On the machine control side, the typical PMSM control methods are six-step control, field oriented control/vector control (FOC/VC) and direct torque control (DTC). The implantation of six-step control is simple and cost effective. However it is unable to deliver high accuracy torque/speed control. FOC/VC features excellent steady-state and dynamic performance and has been widely used in servo system. However FOC/VC requires constant precise angular position measurement to perform complex coordinate transformation [1.13]. The direct torque control (DTC) is one of the most popular control algorithms. It features simple structure and fast dynamic response. However, the performance of DTC in terms of torque and flux ripples and drive system efficiency is unsatisfactory since the voltage space vector (VSV) is selected heuristically [1.14]. Recently, the finite-control-set model predictive direct torque control (FCS-MPDTC) has been developed as a simple and promising control technique to overcome these problems [1.15]. The FCS-MPDTC still suffers from relatively high torque and flux ripples due to the limited number of VSVs. High sampling frequency of the control system is required to improve the performance. This would result in a high computational burden on the microprocessor hardware as well as high switching loss, which are undesirable in the real-time implementation.

20 Chapter 1. Introduction This thesis proposes a novel FCS-MPDTC with an extended set of twenty modulated VSVs, which are formed by eight basic VSVs and twelve extended VSVs by modulating eight basic VSVs with fixed duty ratio. By evaluating all twenty VSVs, the concept of duty ratio control is naturally integrated into the proposed algorithm. Compared to conventional FCS-MPDTC, the proposed FCS-MPDTC requires less computing time and features lower torque and flux ripples, lower phase current THD and higher system efficiency. The major objectives of this thesis project are: To conduct a comprehensive literature survey of the developmental history of EVs and EV drives To propose a novel FSPM machine for EV application. To propose a novel FCS-MPDTC control scheme for the purposes of torque/flux ripples reduction and drive system efficiency increase. To perform both simulation and experimental tests based on the proposed drive system and compare the test results to other conventional control schemes. 1.2 Thesis Outline This thesis is organised in seven chapters, including this one as an introduction to the background and structure of the whole thesis. Chapter 2 presents a comprehensive literature survey of the developmental history of EVs and the state of the art of permanent magnet synchronous machines (PMSMs). Various topologies of PMSMs and classifications are introduced. A literature review of all the major machine control methods is presented. Chapter 3 proposes a novel FSPM machine for EV application. The design process and detailed fabrication procedures are presented. The theoretical characteristics of ALFSPMM, such as back-emf, self/mutual inductance and cogging torque are

21 Chapter 1. Introduction calculated by 2D finite element method (FEM). Experimental measurements of the prototype machine are presented to validate the FEM calculation. Chapter 4 proposes a novel FCS-MPDTC with an extended set of twenty modulated VSVs, which are formed by eight basic VSVs (used in the conventional DTC) and twelve extended VSVs by modulating eight basic VSVs with fixed duty ratio. In Chapter 5, numerical simulation and experimental tests of the proposed FCS- MPDTC are performed on the novel FSPM machine. The quantitative analysis in terms of torque/flux ripples and drive system efficiencies are also presented. Chapter 6 presents the numerical simulation and experimental tests results of the proposed FCS-MPDTC based on a surface mounted PMSM. In addition, the drive system performance and efficiency are studied under the similar inverter switching frequency. Chapter 7 draws conclusions from this thesis and proposes possible future works. Lists of related references are attached at the end of each chapter.

22 Chapter 1. Introduction REFERENCES [1.1] I. A. A. Afinowi, Z. Q. Zhu, Y. Guan, J. C. Mipo and P. Farah, A Novel Brushless AC Doubly Salient Stator Slot Permanent Magnet Machine, in IEEE Transactions on Energy Conversion, vol. 31, no. 1, pp , March [1.2] M. He, W. Xu and C. Ye, Novel Single-Phase Doubly Salient Permanent Magnet Machine With Asymmetric Stator Poles, in IEEE Transactions on Magnetics, vol. 53, no. 6, pp. 1-5, June [1.3] E. Hoang, M. Lecrivain, et al., A new structure of a switching flux synchronous polyphased machine with hybrid excitation, in Power Electronics and Applications, European Conference on, pp [1.4] R. L. Owen, Z. Q. Zhu, et al., Fault-Tolerant Flux-Switching Permanent Magnet Brushless AC Machines, in Industry Applications Society Annual Meeting, pp [1.5] Z. Q. Zhu, J. T. Chen, et al., Analysis of a Novel Multi-Tooth Flux-Switching PM Brushless AC Machine for High Torque Direct-Drive Applications, Magnetics, IEEE Transactions on, vol. 44, pp , [1.6] Z. Xiang, L. Quan and X. Zhu, A New Partitioned-Rotor Flux-Switching Permanent Magnet Motor With High Torque Density and Improved Magnet Utilization, in IEEE Transactions on Applied Superconductivity, vol. 26, no. 4, pp. 1-5, June [1.7] N. Bianchi and B. J. Chalmers, Axially laminated reluctance motor: analytical and finite-element methods for magnetic analysis, IEEE Trans. Magn., vol. 38, no. 1, pp , Jan [1.8] A. J. O. Cruickshank, R.W. Menzies, and A. F. Anderson, Axially laminated anisotropic rotors for reluctance motors, in Proc. Inst. Elec. Eng. Electr. Power Appl., vol. 113, no. 12, pp , Dec [1.9] P. J. Lawrenson and L. A. Agu, Theory and performance of polyphase reluctance machine, in Proc. Inst. Elec. Eng. Electr. Power Appl., vol. 111, no. 8, pp , Aug [1.10] P. J. Lawrenson and L. A. Agu, Low-inertia reluctance machines, in Proc. Inst.

23 Chapter 1. Introduction Elec. Eng. Electr. Power Appl., vol. 111, no. 12, pp , Dec [1.11] J. K. Kostko, Polyphase reaction synchronous motors, J. Amer. Inst. Elect. Eng., vol. 42, no. 11, pp , Nov [1.12] H. Hagihara, Y. Takahashi, K. Fujiwara, Y. Ishihara, and T. Masuda, Magnetic properties evaluation of grain-oriented electrical steel sheets under bending stress, IEEE Trans. Magn., vol. 50, no. 4, Art.ID , Apr [1.13] P. Vas, Vector Control of AC Machines, Clarendon Press, pp. 264, [1.14] Takahashi and T. Noguchi, A New Quick-Response and High-Efficiency Control Strategy of an Induction Motor, Industry Applications, IEEE Transactions on, vol. IA-22, pp , [1.15] S. Kouro, P. Cortes, et al., Model Predictive Control: A Simple and Powerful Method to Control Power Converters, Industrial Electronics, IEEE Transactions on, vol. 56, pp , 2009.

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56 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives DC Machine Induction Machine PM Machine SR Machine (Very high) (Very high) (Moderate) (High) (Very high) (Moderate) (High) SPM IPM IM SRM

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80 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives abc-dq abc- abc-dq abc-dq

81 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Applied Thermo-Sciences Environmental Protection Agency (EPA) U.S. Environmental Protection Agency (EPA), Society of Automotive Engineers (SAE) Future Transportation Technology Conference Society of Automotive Engineers (SAE) UBM Canon Handbook of Batteries (3rd edition), Battery Reference Book Modern Electric, Hybrid Electric, and Fuel Cell

82 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Vehicles: Fundamentals, Theory, and Design, Second Edition in Proceedings of the IEEE 56th Vehicular Technology Conference Society of Automotive Engineers (SAE) The Economist Sea-Bird Electronics, Inc., Nickel Metal Hydride Handbook Allpar.com group.renault.com Car and Driver.

83 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Panasonic.com in IEEE Transactions on Industrial Electronics Electric Vehicle Machines and Drives: Design, Analysis and Application in IEEE Transactions on Transportation Electrification Vehicle-to-Grid: Linking electric vehicles to the smart grid Smart Grid Technology and Application IEEE Electrification Magazine, IEEE Standards Coordinating Committee 21, IEEE Transaction on Industrial Informatics, IEEE Transaction on Smart Grid

84 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives IEEE Transaction on Power Electronics Technical Report Grid Integration of Electric Vehicles in Open Electricity Market in IEEE Transactions on Transportation Electrification in IEEE Journal of Emerging and Selected Topics in Power Electronics in IEEE Transactions on Transportation Electrification in IET Electrical Systems in Transportation in IEEE Transactions on Transportation Electrification Philosophical Transactions. Series A, Mathematical, Physical And Engineering Sciences, ElectricalKnowhow,

85 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives knowhow.com, Electric Drives, Third Edition Engineering & Science. California Institute of Technology, FIATblog.nl, greencarreports.com in IEEE Transactions on Industry Applications in IEEE Transactions on Power Electronics, in IEEE Transactions on Industrial Electronics GreenCar.com, Tesla Motors.

86 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives SEC , Tesla Motors. in IEEE Transactions on Energy Conversion, in IEEE Transactions on Industrial Electronics, in IEEE Transactions on Industrial Electronics in IEEE Transactions on Magnetics in IEEE Transactions on Magnetics 2002 International Conference on Power Electronics, Machines and Drives CSIRO Pedia, Nidec SR Drives Ltd

87 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Permanent Magnet Motor Technology: Design and Applications, Third Edition in IEEE Industrial Electronics Magazine Modern Power Electronics and AC Drives New Energy and Fuel, in IEEE Transactions on Magnetics, in IEEE Transactions on Industry Applications in IEEE Transactions on Transportation Electrification in IEEE Transactions on Applied Superconductivity, in IEEE Transactions on Industry Applications in IEEE Transactions on Magnetics

88 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives in Chinese Journal of Electrical Engineering in IEEE Transactions on Magnetics Toyota Global Newsroom, THE OFFICIAL BLOG OF TOYOTA GB, log.toyota.co.uk/history-toyota-prius, Official Toyota.website. Honda Corporate Press Release Hybrid Cars /vehicle/fordfusion-hybrid.html, Automoblog.net, official Nissan website, China Car Times official Tesla web site, inverse.com, Industrial Electronics, IEEE Transactions on,

89 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives in Electromagnetic Field Computation (CEFC), th Biennial IEEE Conference on in Electromagnetic Field Computation (CEFC), th Biennial IEEE Conference on in IEEE Transactions on Industrial Electronics, in IEEE Transactions on Magnetics, in Industry Applications Society Annual Meeting Magnetics, IEEE Transactions on International Conference Electrical Machines and Systems on in IEEE Transactions on Energy Conversion, in IEEE Transactions on Magnetics Power Apparatus and Systems, Part III. Transactions of the American Institute of Electrical Engineers

90 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives in Power Electronics and Applications,European Conference on, in Industry Applications Society Annual Meeting Magnetics, IEEE Transactions on in Energy Conversion Congress and Exposition, in IEEE Transactions on Applied Superconductivity Magnetics, IEEE Transactions on in IEEE Transactions on Industrial Electronics, Energy Conversion, IEEE Transactions on Elec. Eng. Jap., Industry and General Applications, IEEE Transactions on

91 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives NASA TN-D-2108 IEEE Transactions on, Energy Conversion, IEEE Transactions on IEEE Transactions on, Siemens-Zeitschrift General Electric Review American Institute of Electrical Engineers Industry Applications, IEEE Transactions on Proceedings of the IEEE Conference on Applied Control IEEE Transactions on Industrial Electronics

92 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Conference Record of the 1988 IEEE IAS Annual Meeting Electronics Letters Vector control of AC machines International Conference on Industrial Electronics, Control, Instrumentation, and Automation (Power Electronics and Motion Control) Proceedings of the Sixth International Conference on Electrical Machines and Drives Industrial Electronics. Proceedings of the 2002 IEEE International Symposium on Industry Applications, IEEE Transactions on, Industry Applications, IEEE Transactions on IEEE Transactions on in Industrial Electronics Society, The 25th Annual Conference of the IEEE

93 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Sensorless Vector and Direct Torque Control Automatic Control of Converter-fed Drives Industrial Electronics, IEEE Transactions on, in Industrial Electronics, Control and Instrumentation, Industry Applications, IEEE Transactions on Power Electronics, IEEE Transactions on Control Systems Technology, IEEE Transactions on Automatic Control, IEEE Transactions on, Power Electronics Letters, IEEE Industrial Electronics, IEEE Transactions on, Industry Applications, IEEE Transactions on

94 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives Industrial Electronics, IEEE Transactions on Industrial Electronics, IEEE Transactions on, in Industry Applications Conference 37th IAS Annual Meeting, Energy Conversion, IEEE Transaction on Model-Based Predictive Control of Electric Drives Automatica Automatica IEEE Trans. Ind. Electron. IEEE Trans. Ind. Electron., IEEE Trans. Ind. Electron.

95 Chapter 2. A Literature Survey on Electric Vehicles and Motor Drives IEEE Trans. Ind. Electron, IEEE Trans. Ind. Electron in Proc. Int Electrical Machines and Systems, IEEE Trans. Ind. Electron. IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron Industrial Electronics, IEEE Transactions on in Industrial Technology, International Conference on, in IET Electric Power Applications

96 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine emf

97 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

98 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine emf emf

99 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

100 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

101 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

102 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

103 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

104 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine x y x steelx 1 y steelz 1 air steelx steelz x.

105 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

106 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

107 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

108 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

109 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

110 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

111 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine d q

112 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

113 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine L mis

114 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine Ra Rb Rc Rs R R T T m m T 0 R 0 T 0 T m R m

115 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

116 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

117 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine Vs Ls f I L m Vm f I s s L s L m V s V m emf I s

118 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

119 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

120 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine emf emf emf emf emf

121 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine emf L

122 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

123 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine T LM M cogging scale pre load T cogging M scale M pre-load L

124 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

125 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

126 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

127 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

128 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

129 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine emf

130 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine

131 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine IEEE Trans. Magn IEEE Trans. Magn IEEE Trans. Magn

132 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine IEEE Trans. Magn IEEE Trans. Ind. Appl., IEEE Trans. Magn IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Magn IEEE Trans. Magn IEEE Trans. Magn

133 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine IEEE Trans. Magn IEEE Trans. Magn IEEE Trans. Ind. Appl. IEEE Trans. Magn. inproc. Inst. Elec. Eng. Electr. Power Appl. inproc. Inst. Elec. Eng. Electr. Power Appl inproc. Inst. Elec. Eng. Electr. Power Appl. J. Amer. Inst. Elect. Eng. in Proc. IET Computation in Electromagnetics IEEE Trans. Magn IEEE Trans. Magn IEEE Trans. Magn

134 Chapter 3. Axially Laminated Flux Switching Permanent Magnet Machine in Proc. IEEE Power & Energy Society General Meeting IEEE Trans. Magn IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Ind. Electron IEEE Trans. Magn

135 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors

136 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors emf

137 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors emf u d s s Rsis dt u s i s R s s ua ia Laa Lab Lac ia a d u R i L L L i b s b ba bb bc b b e dt u c i c Lca Lbc L cc i c c

138 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors a L L L L L L b c L L L aa ab ac ba bb bc ca bc cc emf emf - d-q a a b c

139 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors a d b q c d-q a ia id iq ua ud uq a d q d d d d q d q Ri s d ud d Ri s q uq dt dt dt dt d-q u u R i d d dt dt d d dt dt d d s d q q q Rsiq d dq

140 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors Li Li d d d f q q q L d L q d q f qq dd u R i L di dt L i u R i L di dt L i d d s d d e q q q q s q q e d d e f d-q dq d-q Pin uaia ubib ucic

141 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors Pin ui d d ui q q d d P R i i i i i i dt dt q d in s d q q d e q q d d p r P em qiq did r p e r p dr Te TL J Fr dt T L J F

142 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors T p i i e d q q d Te p fiq Ld Lqidi q p LL s flq s Ld Lq d q d-q- L d = L q = L s f s Te p fiq p L s u d dt s s Rsis Li s s s r

143 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors r e j r f Te psis p ii T T us us u s T i s

144 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors

145 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors G T T k k k e e s s s t u k V V V V s u R i L di dt L i u R i L di dt L i d d s d d e q q q q s q q e d d e f

146 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors d-q di d dt Ri Li u L s d q q d d diq Ldi d Rsiq uq f dt L q d-qk+1th i i R i L i u T k k k k k d d s d q q d s Ld k k k k k q q d d s q q f s Lq i i L i R i u T k+1th

147 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors kth k+1th kthk+1th k1th k+1th x ux d-qk+1th d q k+2th

148 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors k1th i i R i L i u T k k k k k d d s d q q d s Ld i i L i Ri u T k k k k k q q d d s q q f s Lq G T T k k k e e s s s t u k V V V V s k+1th kth k+1th k+1th k+1th

149 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors V 7 V 1 + V 19 V 8 V 2 +V 20 V 9 V 3 + V 19 V 10 V 4 +V 20 V 11 V 5 + V 19 V 12 V 6 +V 20 V 13 V 1 +V 2 V 14 V 2 + V 3 V 15 V 3 +V 4 V 16 V 4 + V 5 V 17 V 5 +V 6 V 18 V 1 +V 6 V 19 V 20

150 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors T e S 1 V 1 V 2 V 7 V 8 V 13 V 14 T e S x S 1 S 2 S 3 S 4 S 5 S 6 V 1 V 2 V 7 V 8 V 13 V 14 V 2 V 3 V 8 V 9 V 14 V 15 V 3 V 4 V 9 V 10 V 15 V 16 V 4 V 5 V 10 V 11 V 16 V 17 V 5 V 6 V 11 V 12 V 17 V 18 V 1 V 6 V 7 V 12 V 13 V 18 V 1 V 6 V 7 V 1 V 2 V 7 V 2 V 3 V 8 V 3 V 4 V 9 V 4 V 5 V 10 V 5 V 6 V 11 V 12 V 17 V 18 V 8 V 13 V 18 V 9 V 13 V 14 V 10 V 14 V 15 V 11 V 15 V 16 V 12 V 16 V 17 V 3 V 4 V 9 V 4 V 5 V 10 V 5 V 6 V 11 V 1 V 6 V 7 V 1 V 2 V 7 V 2 V 3 V 8 V 10 V 14 V 15 V 11 V 15 V 16 V 12 V 16 V 17 V 12 V 17 V 18 V 8 V 13 V 18 V 9 V 13 V 14 V 4 V 5 V 10 V 5 V 6 V 11 V 1 V 6 V 7 V 1 V 2 V 7 V 2 V 3 V 8 V 3 V 4 V 9 V 11 V 16 V 17 V 12 V 17 V 18 V 12 V 13 V 18 V 8 V 13 V 14 V 9 V 14 V 15 V 10 V 15 V 16,T e

151 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors

152 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors IEEE Trans. on IA

153 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors IET Power Electronics, IEEE Trans. Ind. Electron IET Electric Power Applications, IET Renewable Power Generation IEEE Trans. Ind. Electron IET Power Electronics IET Electric Power Applications IET Electric Power Applications IEEE Trans. Ind. Electron IET Power Electronics

154 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors IEEE Trans. Ind. Appl. IET Electric Power Applications IEEE Trans. Power Electron IEEE Trans. Power Electron IEEE Trans. Ind. Electron IEEE Transactions on Industrial Informatics IEEE Trans. Power Electron IEEE Trans. Ind. Appl IEEE Transactions on Power Electronics in Proc. IEEE Energy Convers. Congr. Expo

155 Chapter 4. Finite-Control-Set Model Predictive Direct Torque Control of Permanent Magnet Synchronous Motors with Extended Set of Voltage Space Vectors IEEE Trans. Power Electron

156 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM pma m pmb m pmc m m

157 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM L L L a m Lb L Lm Lc L L m L 0 L m =0 Mab Mba M Mm Mbc Mcb M Mm Mca Mac M Mm M 0 M m ua ia a d u R i b s b b dt u c i c c a La Mab Mac ia pma M L M i b ba b bc b pmb c Mca Mcb L c i c pmc u i L M M i d u R i M L M i dt u i M M L i a a a ab ac a pma b s b ba b bc b pmb c c ca cb c c pmc

158 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM ia La Mab Mac ia ia La Mab Mac pma d d d R s i b Mba Lb M bc i b i b Mba Lb M bc e pmb e dt d d i M M L i i M M L c ca cb c c c ca cb c pmc Te a ia La Mab Mac ia pma Tr a Tem a T eb i b Mba Lb M bc i b pmb Trb Temb Tec i c Mca Mcb L c i c pmc Trc Temc T r T em d-q d-q u u d d s d q q q Rsiq d d d R i dt dt d d dt dt d-q Li d d d m Li q q q L d L q

159 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM T p i i e d q q d

160 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM R s d L d q L q f p V dc T rated rated I rated k 1 f sys

161 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

162 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

163 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

164 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

165 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

166 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

167 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

168 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

169 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

170 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

171 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

172 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

173 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

174 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

175 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

176 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

177 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

178 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

179 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

180 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

181 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

182 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

183 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

184 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

185 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM P P sys out dc sys P out P dc

186 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

187 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

188 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

189 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

190 Chapter 5. Numerical Simulation and Experimental Tests of ALFSPMM

191 Chapter 6. Numerical Simulation and Experimental Tests of PMSM d-q d-q

192 Chapter 6. Numerical Simulation and Experimental Tests of PMSM u u R i d d dt dt d d dt dt d d s d q q q Rsiq d d-q d Li d d f q Li q q L d L q d q f qq dd u R i L di dt L i u R i L di dt L i d d s d d e q q q q s q q e d d e f T p i i e d q q d Te p fiq Ld Lqidi q p LL s flq s Ld Lq d q

193 Chapter 6. Numerical Simulation and Experimental Tests of PMSM d-q- L d = L q = L s f s Te p fiq p L s u d s s Rsis dt Li s s s r r e j r f Te psis p ii

194 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

195 Chapter 6. Numerical Simulation and Experimental Tests of PMSM R s d L d q L q f p V dc T rated rated k 1 f sys

196 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

197 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

198 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

199 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

200 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

201 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

202 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

203 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

204 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

205 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

206 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

207 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

208 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

209 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

210 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

211 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

212 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

213 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

214 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

215 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

216 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

217 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

218 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

219 Chapter 6. Numerical Simulation and Experimental Tests of PMSM

220 Chapter 6. Numerical Simulation and Experimental Tests of PMSM