Field Weakening of Permanent Magnet Motors Some New Possibilities

T. A. Lipo Prof. Emeritus

University of Wisconsin Madison Wisconsin
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Outline

Brief Review of Field Weakening of PM Motors Field Weakening by Modification of the Motor Design Field Weakening by Modification of the Stator Circuit

Issues and Opportunities

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Outline

Brief Review of Field Weakening of PM Motors Field Weakening by Modification of the Motor Design Field Weakening by Modification of the Stator Circuit

Issues and Opportunities

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Two major classes of PM synchronous machines

Relatively low inductance

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Relatively high inductance

dq model of a wound field synchronous machine

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dq equivalent circuits for a PM machine in the synchronously-rotating reference frame

Magnet acts as a current source

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dq equivalent circuits for a PM machine in the synchronously-rotating frame steady state

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Reduced circuit during steady state

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Steady state final result

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Vector diagram with lagging power factor at the air gap stator d-flux magnetizing

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Vector diagram assuming leading power factor at the air gap stator d-flux demagnetizing

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Traction Application Torque vs. Speed Curve

T rated
Constant Torque Range

Constant Power Range

Power

Torque

High Speed Regime

=T P rated rated

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Rotor Speed

max

(CPSR)

Phasor Diagram for the constant torque range for Non-salient PM machine

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Phasor diagrams for constant power range with increasing wE with constant VS and IS when EI > ISXS

e e

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Phasor diagrams for increasing wE with constant VS and IS when EI < ISXS for Xs = 1.1 and EI = 0.8

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Phasor diagrams for increasing we with constant Vs & Is when EI = IsXs

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Power for increasing e with constant VS and IS

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daxis current for increasing speed with constant Vs and Is

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Phasor Diagrams for Increasing wE with constant VS and IS when EI=IS(XS+ XEXT)

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Field Weakening - The Problem

The ratio of EI/Xs determines the maximum extent of the field weakening range When Irated = EI/Xs the maximum power can be extracted for all speeds Maximum power can be derived by designing the motor with a proper value of Xs or by somehow achieving a variable EI Well designed machines typically have a minimum amount of copper and iron leading to a machine in which Xs is to small to achieve the optimum EI/Xs Problem can be solved by reducing EI but at the cost of enlarging the machine What to do??
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Solutions
Modify the stator winding design (i.e. increase Xs) Increase leakage by creating deeper stator slots Increase leakage by running on non-fundamental component space harmonic (i.e. fractional slot wdg.) Modify the stator or rotor of machine to vary EI Stator Modifications Rotor Modifications Mechanical Modifications Modify the external circuit powering the PM machine

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Outline

Brief Review of Field Weakening of PM Motors Field Weakening by Modification of the Motor Design Field Weakening by Modification of the Stator Circuit

Issues and Opportunities

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The CPPM Machine (Tapia-Lipo 2002)

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Operating Modes of the CCPM

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SynPM Machine (Luo-Lipo 2000)

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Dual Rotor Machine (Naoe-Fukami 2001)

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DSPM Machine (Chau-Jiang-Wang, 2003)

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Rotor Magnet Adjustment (Zhou et.al. 2010)

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Rotating Iron Segment (Shibukawa 2006)

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Axial Flux Machine with Stator/Rotor Rotation (Caricchi et.al. 2001&2006)

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Axial Air Gap Adjustment (Nakai et.al.)

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Flux Barrier Adjustment (Baoquan, Chunyan, & Shukang-2005)

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Outline

Brief Review of Field Weakening of PM Motors Field Weakening by Modification of the Motor Design Field Weakening by Modification of the Stator Circuit

Issues and Opportunities

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Solution#1 Open Winding Machine Drive

Vdc

a b c

a' b' c'

Ccom

INV1

INV2

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Field weakening of surface magnet PM machine

The concept presented in Lecture #2 can also be applied to a PM machine Adjust the bridge effective reactance to be capacitive and thus provide unity power factor as viewed from the machine terminals below rated speed Adjust the bridge effective reactance to provide a d-axis inductive reactance to allow field weakening to occur above rated speed

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Field weakening of surface magnet PM machineControl block diagram

Vdc r* r
Limiter

iq*
Decoupling Current Reg

PI
MTPA/ Flux Weakening

vq1* vd1*

Vector Rotator

id*

T()-1

va1* vb1* vc1*

r
Lq_com Ld_com

iq id vd_com* vq_com* iq id vqv*

Vector Rotator

T()

ia ib ic
a b c

a' b' c' Vector Rotator

vcom*

PI vdv*

vq2* vd2* r
T()-1

va2* vb2* vc2*

vcom

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Simulation results below base speed

100 ia va1 va2

50

va1,va2/V; ia/A

-50

-100 0.1

0.15

0.2

0.25 time/s

0.3

0.35

0.4

INV1 supply real voltage INV2 supplies imaginary voltage

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Simulation results flux weakening

single inverter drive
80 60 40 ia va

open-winding drive
80 60 40 ia va1 va2

va1,va2/V; ia/A
0.15 0.2 0.25 time/s 0.3 0.35 0.4

va/V; ia/A

20 0 -20 -40 -60 -80 0.1

20 0 -20 -40 -60 -80 0.1 0.15 0.2 0.25 time/s 0.3 0.35 0.4

Load: 20 Nm Speed command: 100 rad/s

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Simulation results flux weakening

single inverter drive
100

open-winding drive
100

80

80

40

m/rad/s
0 0.1 0.2 time/s 0.3 0.4 0.5

m/rad/s

60

60

40

20

20

0.1

0.2 time/s

0.3

0.4

0.5

Load: 20 Nm Speed command: 100 rad/s

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Rotor speed for ramp speed command

400 300

rm

Dual converter: Single converter: Speed reference : (Mech rad/s)

200 100 0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

t(sec)

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d- and q-axis currents during ramp speed increase

5 0

id & iq (A)

-5 -10 -15 -20 -25 -30 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8

Dual converter: id: iq: Single converter: iq: id:

t(sec)

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Field weakening of surface magnet PM machine

600 500

Dual converter:

Vdc
400 300 200 100 0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

t(sec)

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Rotor speed for step change in speed command

Dual converter: Single converter: Speed reference:

400

300

200

100

0.1

0.2

0.3

0.4

0.5

t(sec)

0.6

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Harmonics of open-winding drive

Effective doubled switching frequency compared to traditional open-winding drive The voltage reference assigned to the two inverters are not 180 degrees apart

va2
regular

va va1

va2 va va1
INV2 compensation

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Harmonics of open-winding drive

Single drive
0.5

Open-winding 180 deg shift Open-winding 90 deg shift

0.5
0.5

va

va

-0.5 0
0.6 0.4 0.2 0

-0.5
0.005 t
0.6 0.4 0.2 0

-0.5

0.01

0.015

0.005 t

0.01

0.015

0.005

0.01

0.015

0.6

0.4

0.2

0.5

1.5 x 10

2
4

0.5

1.5 x 10

2
4

0.5

1.5

2
4

m = 0.5 Vdc = 1 THD = 0.6574

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m1 = 0.5, m2 = 0.5 Vdc1 = 0.5, Vdc2 = 0.5 Phase shift = 180 deg THD = 0.3747

x 10 m1 = 0.5, m2 = 0.5 Vdc1 = 0.5, Vdc2 = 0.5 Phase shift = 90 deg THD = 0.7696

Harmonics of open-winding drive as function of phase shift M = 0.5

0.8 0.7 0.6 open-winding drive single drive

< = 0.6
0.7 0.6 0.5 open-winding drive single drive

THD
0.5 0.4

THD

0.4 0.3 0.2 80

80

100

120 140 phase shift

160

180

100

120 140 phase shift

160

180

INV1: Vdc = 1 THD = 0.6574 INV2: M1 = 0.5, M2 = 0.5 Vdc1 = 0.5, Vdc2 = 0.5
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INV1: Vdc = 1 THD = 0.5631 INV2: M1 = 0.5, M2 = 0.5 Vdc1 = 0.5, Vdc2 = 0.5

Harmonics of open-winding drive THD as function of modulation index M

2.5 2 1.5 open-winding single drive

3 2.5 2 open-winding single drive

THD

THD

1.5 1 0.5 0

1 0.5 0

0.2

0.4 m

0.6

0.8

0.2

0.4 m

0.6

0.8

180 degree phase shift

90 degree phase shift

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Adjustable Power Factor PM Machine Features: Effective field weakening of a PM machine can be achieved for any design (buried or surface magnet) Power factor control to unity power factor can be achieved below rated speed Concept can be extended to PM machines operating from the utility grid Concept can also be extended to PM generators Issues: Rating of the auxiliary power converter

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Solution #2 Field weakening by winding switching

Stator winding currents of phase a1 and a2

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Normal operation current directed into the dots

Thyristors turned on creating neutral

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High speed operation current reversed in half of the three stator windings

Thyristors turned off reversing the current in phase a2,b2,c3

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Standard lap winding q = 2 slots/pole/phase

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Currents reversed in half the windings

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Phasor diagram for operation at 2 pu speed before the switching event

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Phasor diagram for operation at 2 pu speed after the switching event

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Currents as a function of speed in constant power region

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Outline

Brief Review of Field Weakening of PM Motors Field Weakening by Modification of the Motor Design Field Weakening by Modification of the Stator Circuit

Issues and Opportunities

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Issues and oppurtinities

Rating of the inv2 inverter (variable impedance inverter Transients involved in changing inv2 controller from and equivalent capacitor to an equivalent inductor What is the best winding switching strategy to extend constant horsepower the highest? How do we design a concentric winding to accomplish field weakening concept keeping the inverter ratings equal? How serious are the losses resulting from the switched winding strategy? Can the winding switching concept be extended to fractional slot windings?

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Thank You for Attending!

Thanks to my student Di Pan

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