Research Report 90-16 4-q Analysis of a Variable Speed Doubly AC Excited Reluctance Motor F. Liang, L Xu, and T.A. Lipo Electrical & Computer Engineering University of Wisconsin-Madison ‘Madison WI 53706-1691 Wisconsin Electric Machines & Power Electronics Consortium University of Wisconsin-Madison College of Engineering Electrical & Computer Engineering Department ‘2559D Engineering Hall 1415 Johnson Drive Madison WI 53706-1691 © 1990 - Confidentiald-q Analysis of a Variable Speed Doubly AC Excited Reluctance Motor Feng Liang, Longya Xu and T.A. Lipo University of Wisconsin Deparonent of Electial and Computer Engineering 1415 Johnson Dave ‘Maison W1,33706 USA . ABSTRACT “Toe paper describes new ype of variable speed dou scogande machin td pes be mde for aya he ‘machine. The ster ofthe machine i exuloged wilh Wo ges of SInusoldally distributed windings having pote numbers PL and Bp, The rotor consists of simple salincies of pole number Fr, hich i shown tobe consined to panicla values by Pl and Pz. A d-qrn made and equivalent cei i developed fortis Those “Samia fess woogie sow nal spow nat machine can have the advantages of doubly fed wound-rtor tiuchine whl eliminating the complicated wound rotor, bashes Sd sip rings normally astolted with couby fed machines. INTRODUCTION Developments in ACIAC converters with regenerating capability have led (0 a rapid ineveae of industrial applications Slicing AC sojussble speed drives (ASDs). However, the High cow ofthe ASDs compared to conventional speeded fhotors remains one of the main obstacles towards an even ‘roader numberof applications. Since the cost of the convert {Ens fo Jominete the overall cost of existing ASD systema, {eduction of the cos ofthe convenes i of great significance In pracuice, there are numerous situations, such as pump and Compressor applications, where the speed does not need (0 change over wide range. ‘The fact thatthe power 10 be oncolled i the speed adjusting proces is oly ¢ small pat of the nine ratngin such aplicabons implies at he converter Tating can be reduced to «great extent for such drive systems, One ofthe means to reuce the convene rating is 0 use solid Site Gonvene to conto ne ip power ino or fom be foot terminals of doubly-fd wound rior induction moter. In such ‘pplicatons, a bidreedonal power convener rated approximately {Sipecet of the machine ng can provide 15 percent power ‘onstantorue (13) ‘Aithougi a doubly-fed wound rotor machine provides a means to reduse the converter cating, the complicaion ofthe roxr and thestinrine it the apolieton of suck machines, To elimi the Complicated stor and ap ing urangement the. Soreaied selfeaseaded induction machine fas been proposed [4-6]. A Self eascaded machine normally consists of a specially wound {Stor anda starr ith wo windings as shown in Fig i. The Suro winding sts pa pole pat number ofa mulple of thes wiecpect te main eoninals A,B and Gand ¢nenplen pole pal number wih respect othe star points bande, One Brthe two sindings is connected tothe ality supply white the finer is connected toa frequency converte fr the purpose of Speed contol Unforaatly, with an addluonal winding onthe $Etor aswell as speci shorted windings on the rotor, lass St machine hat sued severely fom the pot of view of efficiency 809 A B c b P b Saran ] ] ® ce k 8 c Fig. 1 Stator Connection of Doubly Excited Reluctance Motor The efficiency problem concemed with the doubly-ea indsetion machine Can be substantially Solved by using the dosbly-excted relotance machine (DERM) in which he Stor {Fos inthe double wee phase winding arangement salar tothe self cascaded induction machine andthe ftor consists Simple salienles without an addtional rotor winding. Such & machine was fist proposed in a synchronous. machine Tealcatin Uy Brominty Pit] mhich was att sonocted by HHeyoe and” El-Anably (12) and analyzed by Xo, Liang and Lipo {13}. However, it appears that & dovbly-encited three phase ranger of sch amachine, pring i ub Tinh epee mete hue neve hers pvioty pepe, Th {hismachine he cage rotor af the normal self.cascaded machine {2 replaced by low cost, readily manufactured salen rotor asipped withos 8 cage winding. Hence, this typeof machine fis no rotor copper loss and eontequeiy offers the pos rh etn ne manwracurng oat an talfenance cost due wo the simple ror souctur, low converter ‘Coat ve tothe rating reduction and promise of high efciency takes such a machine very alvactve a8 potential means of {Eonomical varahle-epeed generator. adjtale drives, and pump and compete sxe Bech ft et athe polo he an windings an the rotor sieny are different with each cher, the magnet eld Jn DERM isnot rotating sine Wave wih constant magnitude, ‘hich vatonnateiy makes the undensancing ofthe panel of ‘operation ofthis kind of machine les than Saght forward sequently, derivation ofthe mot equivalent crus, which tue applicable only for steady sete. have ths far beenseriintuive with modification of the conventional indcton ‘Sat oymtgnoun uci tals te hcp Sifted pole numbers. "To compute the itraction of the {machine and converter, examine the sess on converter omponents and investigate the deta design aeratves, it SSE pony inept te el for an flys of such machine Ths paper clearly uncovers he Operational principle of the machine. by presenting the ‘eiationship between the pole numbers obained by studying he coupling tetween the two sts of sor windings, With the inaeices cleat by reaps of winding futons asi Toodel and cquivalen circuits have been’ developed by plication of fq tansformation eo. it ig shown tat uchine speed ea be usted by changing the frequency of one of ihe two stor winding cuenta onthe mode he proce! of operating the machine with adustableapesd is Tivesdgned by mean of simulstion MACHINE MODEL IN PHASE. VARTARLE, ‘COMPONENTS The Stator and Rotor Structure conventional laminations with 38 uniformly distibuted sem ‘pen slots in much the same manne asthe cased induction ‘tachine of Broadway (8). The rotor however, constructed Of laminations arranged to produce lage saliency berween te Aivect and quadrature axes No tour age is provided ance {Induction motor stating forge is pat reqused. A schematic of the conection dingram and pictorial tepesenation of base ‘ator and rotor geomeuy is shown in Figs. 2 and 3respectvel ‘When viewed fom one sr lead (ash and) the ending hag ice pase, poe conryioa When viewed from te ‘other terminals (A.B, and C), however, the winding i aguin three phase, but with two poles. "When hese two sets of leads ae powered simultaneously from two independent souees, the terminal curents will no afect te each ovier due 10 the symmetric nature of the winding. Therefore, in this paper, ‘perposiion wil be used and it will be assumed thatthe stator Winding of the DERM can be replaced by two equivalent. Physially separated windings while the currents remain Unchanged. ‘Hence ron saturation effects ae neglected in his fnalysis. The rotor of the machine can be either axially {iminated rotor or conventional salient rotor. To focus on the development of the machine model, the simpler convestional Stent Toefl eansnered ts pape A B e [3 [7 & es [eo fs fie “fie fee [26 [30 fas 1s fis 2s fer [31 fas fe feo [es [28 [32 [Se a b © Fig2 Winding Configuration for Sator of Doubly Excited 850 STATOR TET Fig.3 ustrason of Basi Stator and Rotor Geometry d ‘Machine Mode! ang Calculation of inductances By inspection, the model describing the machine s defined by he setof differential equations, ane — co} Vaponhianc+ Vase hae + Sate ® vace{ it ve Eh Aanc= Lanclanc+ Lascabe lite Date = Lateasc tase + Late hte, where sh Lyne (tat uate ERE wi -(tmt tas tae). - (ti tea its) fe tad Lac tone = (Es 2 He) tate 12s Lancate= (law Lap Lae vem (ES and Lurene — Laacane™ Ie these equations the quanicy "7 ‘denotes the wanspote. ‘Additonal equations forthe torque and speed are Allg ave) 2mm gel dave where i int) o 1 te ® where dente heroine adhe ad tie Obviously. he compuaion and analysis ofthe machine Indoctnces a defined byte four ndacance maces above Teeyo he undersunding of be pil of operon nda ‘successful application of the model, ae “The machine inductances can be acute by a vary of ‘meas ican els beoy, alee th vans cetapproaches. panicaar convenient approach is called the ‘etd of winding foncion (14-15] in which the inductances Sr tue machine ze cleuiates by an integral expression representing the placement of winding tums along the ait a8) periphery. ‘The method is pariclaly convenient forthe Enalysisof unusual machines since it assunes no symmetry in {he placement of any motor ell inthe te "Ae ee case ih ‘most inductnce eacuatons its atuned hat 1). The iron of the rotor and stator has infinite permesbilty and saturtion snot considered, 2), The stator surface is considered smooth andthe effets ‘of sot are corrected by the Caner coefficient. According to winding function theory [13-15] the. mutual inductance between any two windings "i" and J" in ay eletric ‘machine ean be computed by the equation: rs Lig @rm) = Hoel aI £10rm,0)Ni(Grm,0)NjGrm,049 (5) The term g'l(Grm.6) is termed the inverse gap function which becomes a constnt forthe uniform air gap machine and i «constant in d-axis under the pole face and approximately 2er0 in the qraxis fora salient-pole machine. The angle 6 defines 2 rricular angular potion alang the eatar inner cafare while mq isthe angular postion of the rotor with respect to some stator reference. The term Ni(Brm,6) is called the winding function and represents, in effec, the MMF distribution along the sir gap fora unit current in winding f If this winding i located on the stator, the winding function is ony a fonction of the stator peripheral angle @ while ifthe winding is located on the rotor the winding most be expressed a a function af both 6 and the mechanical postion ofthe rotor Og Winding fonctions for two-equivalent stator windings . ‘representing the six and two pole windings are drawn in Figs 4) and (Note that a substantial space harmonic contents, presen in the winding fonction plots. Hence, the influence of the space harmonics is appreciable with this machine (15). However, to present clearer picture of how the machine operates, his paper only considers the fundamental components ofthe winding functions as shown in Fig. (a). For the same reason, the inverse gap funtion in Eq, Sis assumed to be 2er0 Inthe gion beranen run rtne pales. F10m Qe! Gmighztn-arctsbanthQae) tA BamigEeOnseche tamer E One.) ‘where Pris the poe pio he rtor and 9=0,1,2,34.2P 1 NA®) 2n, ° Fig. 4A Winding Function for 2-Pole Phase A Na) Fig. 4B Winding Function fr 6-Pole Phases () Fig & (4) Fndornntal rrmpanente ofthe Winking Function’ (©) Typical Inverse Gap Function of Doubly Excite Reluctance Motor ‘With such simplification, the mutual inductance between phase A and phase a can be expressed as, a Lame {HE @NasinPrONasin P20 Wet Hosa , sia, uotINANa, Ape cesere Deter at = Kycooke PDO BD | KrcoslP2iP Nui where Py and Pz is the pole pur ofthe to thre-phase windings respectively, HotINANe ash) Kee sinl(P2eP SS) Seay, an nd Laceby Cee ee ee om astLeper Hset(Ps PLO, rr a7) ® ‘The mutual Mux inking phase A produced by currents i, ip Arate = LasiatLaniot Lack. Obviously, electromechanical energy conversion will not ceceur if the Bequency ofthe speed voltage in + given phase it Aifereat from the frequency of the cute flowing inthe samme hase, This observation implies that Le should have the Same frequency as tat of iq, Based on this requirement, the onsets fr bale pi numer iPr nd Pr canbe derived Bae o Mig isot eueney oy andi iy and ic ae given by ig=Ineostend 0) p= Imcos(ant- 3) a : 2, ice tneotant +) (2) By seating (6s, (10), (1) and (2) to) ak spplying ‘eos (a}eos() = costa-B)+cos(a+) can be shown that natn, hat to different rguenciaes Pr Pidormtor and P24 onm- 02 Since try can only have one unique value the only means to make Lane hve the fequeney iso choose «proper toto pole saber wo eliminate one ofthe componcts of inductee *$ Las. Lap and Lac. ae From (Oy ean determined hit FP peer noner ser tenm Dest Poem + BREED i so 1 can aby Us shown dum LCP, PZ and Fy sausty we FPL even umber then Ug, reaches is posible maximum value: ga bP Pr) Where Iggy * 26K, ‘Similarly, the other mutual inductances are given by Tye Fey * tan = fata?®8lP2¢P D2 ae = laa“ ee = Inns 28(P2¢P 2m — 7 Ihe“ Fea “ton = HglP24P an + 38) 82 ‘To reduce the pulsating orque, the self induced voltages must uso have ihe ste Tequency as those of the eurens. It can be shown that the only means to have that result is to choose ry, Pa. and Py in such a manner thatthe self indoctances are constants. By the same approach, itcan be shown tha if », ‘pp Fan even number then Iya "lpg toe Li +L wet tap elan bac ton Lac Lea =~ Sten otha where Lent = so Liste leakage inducunes. Similarly, with he conseine 2, ope #aneven namber the inductance ofthe abe sytem given by Iya het tat Len a Lab" Lent Lae Lea" Liem Ly = He pote where Lana = tre Lp ithe leakage inductance. ‘By examining the computed results of the self and mut indyetances ofthe DERM machine, the following conclusions se reached immediately: (1) To have both windings involved In the process of clectromechanical energy conversion, P, Pz and Pr have 1 be chosen in such a combination that the speed voltage in the ‘windings have the same frequency as those ofthe currents. (@) To reduce the pulsating torque, P, Pp and Pr have to satisfy some constraints so that the self inductances can be constats. (@) The elecomechanical energy conversion can occur only ata particular speed. In te cate under consideration this ‘pends given by m= Bt It can be shown that ifthe sequence ofthe curens ia. ib, and ic is changed to be opposite to that of iA, iB and ic, the ror speed willbe Its obvious that by changing 2, the machine speed can be adjusted to either a higher or lower value than the speed of o FiePyMACHINE MODEL IN D.Q.N SYSTEM ‘To predict the dynamic performance ofthe machine, Eqs. 1-4 containing time-varying parameters need tobe solved sim taneously, To have & model with constant parameters for BEDI, the thang nf eetarene fame raneformation it extended and applied to the analysis of the DERM. The complex variable notation is herein employed wo simplify the transformation and development of equivalent iets Defining a= en and fasc=ta + af +c five = fa raf + a2 ‘where the symbol "fis used to represent any of the tree phase variables such as voltage, current or flux linkage, (1) and 2) can be exoresed In a compact form: anc = Filanc + PARC 3) ate = fasbe + Pate as “where the sibel "pis used to represent Noting sidse coxa) it is obvious that the inductance matrix in complex form, Laacate, can be expressed as . (Lee kascaee mie) PR 1 JS ee toa, at shen 4B Pew, re) eia where Ge = Pr + P28. ‘With Lancate expressed inthe form of (15) its easy to show Aasc=Aa+ihe +i%ceLiiasc+ mie, 16) Cs * dase Dat Dae Pe eLaite+ Linge Las tnt fm Laz Lat} tanta denotes the comple conjugate ‘Substirutng (16) and (17) into (13) and (14) yields Li and asc tiiaac +L piasc +LmPip, © aa) Mave" Haig + Lapligg, Ln Phe? 09) “To eliminate the sinusoidal coupling of (18) and (19) the following wansformation is made, fea =f fan= Fe fae 2) tqea= fen sen= Fe 50 OP en ‘where “0” isthe angle by which q axis leads the axis of phase TA." donates the ABC system and"2" donates the abe sytem. "goats ABC Hen nd dors eae tiga + Phat + jaigat @2) eter AT +g + orange 3) y= por = (Pi +P2 Om det = Lida Lsign Aga = Lrignt Lmign ee ex inereme ae eagee commons eee vatyptves(ni+ pli iiatintio G4) Dividing this equation by 3 and making use ofthe definition of ete Sguenel sumone yetae vat =(r1+ pL nt a5) similarly, yau~ (4 phasing co) From (20), (21) (25) and (26), the transformation matix canbe obtained, sar (co) 0028 cou 4 ee $a] an vn28) ano [ane al Pes tod 3 ta _(couo-tcot-tr2F cost-te 28) z x, = 3] sino-ery siaco-ore2By sinco-o1-2fy [fe fa, 1 1 L 2 z i 11 can be shown thatthe torgue equation under the srarsformaien becomes Ter3Pi+ PD On Agni? a anus de voltage equations va) (Tele oly tmp alm Vig Va\f ot istip atm em ffi va {| tmp @-anlm t2+Lap {o-o)La lia Va) (oom mp (o-wlla tr+Lap a) ‘Based on the new equations inthe transformed coordinates the dq equivalent cuit show in Figure 6 is suggested."2 Fig. 6 Equivalent Circuit of the Doubly Excited Reluctance Motor Carespondng wo the Eauatons Derived from da Setting o=0 and defining the "sip" as sett e it can be proven that the equivalent circuit for steady sate ‘operation of DERM has exactly the same form as that of @ ‘bventonal wound rotor induction machine shown a8 Fi. 7 Ty Jolly Ll, Jeeta 1/s rrr hich ie eafered to athe "primary voltage in thie ibe oer winding i connered ts Requency convener whichis called the "secondary" volage. The rotor sped is adjusted under ‘tne lead condition, ‘Based on the above analysis, it can be known that the frequencies, «1, 02 and crm must satisty the following. consult £02 = 1+ Prom” (29) (#7 is used when the phase sequences ofthe ovo three-phase systems are the same), Obviously, dhe mechanical speed crm ‘can be adjusted just simply by changing cz. However, it canbe hove thatthe maximum torgue wil be deceased in such cae. In order to improve performance, the voltage must be vaned ‘while the frequency is adjusted in accordance withthe feedback Speed signal to saasfy the constraint, Eq. 29). When the peak Yes ofthe secondary volage i changed linearly fom 20 19 INGE id atin te eae ihe veo aot the primary voltage, the speed drops from the synchronous ‘speed (900 rpm) 10 995 rpm as showin Fig. 8. The currents, ‘voltage and trgue ae als shown in Fig 8. 4 x @ ANA WV ) © 7 Pena Sty Sa Ee Ct of oly ™ Excited Reluctance Mota. + Its interesting to observe that the guns inte dg frame and equivalea circuits have exacy the same forms as those of doubly fed wound rotor induction machine, which plies athe dobly excited reluctance machine i equivalent ‘number of Pre _ eer ee APPLICATION OF THE MACHINE MODEL ‘With the transient model and steady uate equivalent circuit developed, the performance and transient behavior can be tevaluated.” Since the model has the same form of that of 8 Conventional wound-roter induction motor, it can be expected Sith perenmanes othe DERM har he ae enn at ose of the wound-rotor machine, : ‘Wile deted simulation sud is ouside he op ofthis pets a example of he aplication af the mee! of DERM, {he speed varying process of he DERM i vexigned. Io he ole winding is connected toa 6D Hz supply oat © | (e) 0 tr ee ee corel Siang tet Set being mang Oe Pacey Ota, 0 ene vo‘To operate the machine in supersynchronous mode, the EASES fhe two ree hate sytem soul be te sie, Drevious case, the simulated speed, torque, currents and ‘lage are shown in Fg 9, an be ote iat in he transent process some electrical energy is pumped into machin from the converter, which results inte develonment of The ponte teeque and an ierease of he Bi ) ‘AA © 4 © © # (e) i J 0 s t, f+, | cara Segnalo Setnig ere 1 Panty Vaio ae are is hy Seconny Care (O)ere (Spe ‘A CONCLUSION An analysis of a new doubly excited reluctance machine (DERM) hasbeen presemted in is paper: The analysis is based on the study of the elecuomagnetic coupling between the ‘digs te fndamenal lens of an lets mich. The ‘Winding funetion theory provides a very wseful metas to Calclate the inductances which deseribe the Couplings. By ‘applying the necessary condon for electomechanical energy Conversion, the constants on the factors determining Re couplings, suchas pole numbers and speed, can be derived. In Spit othe tact thatthe machine ts eharetesied bya ir gap flux of pulsating amplitue, the inductive couplings have the sume feature as tha of conventional machines, .e.&: mutually indoced voltage ina winding his the same fequency as that of 655 the curent in the same winding. Because of this nature the study approach for conventional machine, such as 6 Todifction. Also the study ofthe fuch machines with now ‘Sinusoidal ur gap flux ean be underaken and simular ress ean be expected. By using such approach, itis shown that DERM tas he tune ode an squvalent ils as thae of 3 ‘can be claimed that a DERM can has the same advantages as that of « wound-rotor induction machine while eliminating the disadvantages suchas complicated rotor, slip ring and therefor ph pation and manenance con'A chin of he has been constructed ‘snd is undergoing experimen investigation atthe University of Wisconsin. References (1) GA. Smith, “Stic Scherbius System of Induction- Motor Speed Control”, Proc. IEE, vol. 124, No, 6, 1971, pp. 557-560. 2) W.Shephent and T Stanaay, “Slip Pawar Basevany in + an Induction Motor by the Use of & Thyrstr Inverter”, IEEE Trans, on Industry and General Applications, vol, IGA-S, No. 1, 1969. : m Hw "Adjustable Speed AC Drive Sjatme for Pump and Compressor Applications" IEEE Trans. on Industry Applications, vol." TA+10, No.1; January/February 1974, pp. 162-167 (1) LB. Hing “The Cascade lnduetion Motor, 3 1B, wt $2, 1914, pp. 406-426. [5] F Creedy, "Some Developments in Mult Cascade Induction Motors", peed I TEE, vol. $9, 1921; pp. 6 CB, Somuih, "Speéd Contol-of Single Frame Cascade Induetion Motor with Slip Power Pump Back", IEEE Trans. on Industry Applications, Vol. 1A-14, MareWApril 1978, pp. 97-105. (7) ARW. Broadway and G. Thorn, “Single-Unit PAM Induction Frequency Coavertors, Proc. IEB, val. 114, 1967, pp.958964. 18) AR.W: Broadway,’ L.’Burbridge, *Selt-Cascaded Machine: a Low-Speed Motor. or High-Frequency ‘Brushless Alternator", Pros. IEE, vol. 117, July 1970, ‘po. 1277-1290. 5 19] A.R.W: Broadway, "Cageless Induction Motor", Proc. TEE vol. 118, 1971, pp. 15921600. (00) |.ARW. Broads, “BrothlessStatoi-Conoled "Synch nnn Ahn Be TE 1 ‘agus 1973 pp. 860-866. (11), ARLW. Bondy and G. Tomas, “Brohless Cascade * * V Alternator”, Proc. IEE, vol. 121, 1974, pp. 1529-1535. (139°, Neged and A36BI Ani, "Reotnen ad Doubly Excited Relctnce Motor” ial Repo, Ox Ridge National Laboratories, Report ORNL/SUBAI- 930131, 123 pp. ai 09) LX, F Liang and TA. Lipo, rasiet Mode of ¢ Dosbiy Excited Reluctance Motor tobe Presented a IEEE PES Summer Meeting, fly 1980. {14} NL. Sehmite and. DW. Novotny, “Introductory Eiecwoechanics", (book), Ronald Pres, New YOR, 11965: : i (05)"" TA Lipo, “Analy of Syncrozous Machines", Uni verity of Wisconsin, 1987, 297 pp.