List of symbols

𝑉𝑑𝑠 , 𝑉𝑞𝑠
dq0-axis stator voltages
, 𝑉0𝑠
𝑖𝑑𝑠 , 𝑖𝑞𝑠 , 𝑖𝑜𝑠 dq0-axis stator currents
′ ′
𝑖𝑘𝑑 , 𝑖𝑘𝑞 dq-axis damper winding currents ,referred to the stator side

′ Equivalent magnetizing current of the permanent magnet,

𝑖𝑚
referred to the stator side
𝜆𝑑𝑠 , 𝜆𝑞𝑠
dq0-axis stator flux linkages
, 𝜆0𝑠
𝜆′𝑘𝑑 , 𝜆′𝑘𝑞 dq-axis damper winding flux linkages

𝜆′𝑚 Flux linkage of the permanent magnet

𝑅𝑠 armature or stator winding resistance

′ ′
𝑅𝑘𝑑 , 𝑅𝑘𝑞 dq-axis damper winding resistance ,referred to the stator side

𝐿𝑚𝑑 , 𝐿𝑚𝑞 mutual inductances in q-axis and d-axis

𝐿𝑙𝑠 armature or stator winding leakage inductance

𝐿′𝑘𝑑𝑘𝑑 dq-axis damper winding self-inductances, referred to the stator

, 𝐿′𝑘𝑞𝑘𝑞 side

𝐿𝑑𝑠 ,𝐿𝑞𝑠 dq-axis stator inductances

p Number of poles

𝜃𝑟 Rotor angle

𝑇𝑒𝑚 Electromagnetic torque

𝑇𝑙 Load torque

𝐽 Motor inertia

𝜔𝑟 Electrical rotor speed in rad/sec

𝜔𝑚 Mechanical rotor speed in rad/sec

B Friction factor
 Chapter Two
Modeling And Simulation Of Permanent Magnet
Synchronous Motor Using MATLAB

2.1 MODELING OF SYNCHRONOUS MOTOR

The ultimate purpose of this section is to develop a detailed
mathematical model of PMSM synchronous machine because the
model and its understanding (reference frame theory) are the basis
for all modern motor modeling and control schemes. The d-q model
eliminates time varying coefficients dependent on rotor position. The
model considers direct and quadrature stator windings. Here, the
synchronous machine is operated as motor; it is convenient to assume
that the direction of negative stator current is into the terminals.

Equations in phase quantities

𝑑
𝑉𝑎𝑏𝑐 = 𝑅𝑠 𝑖𝑎𝑏𝑐 + 𝜆 (2.1)
𝑑𝑡 𝑎𝑏𝑐

Va  ia  a 

V   R i   d   (2.2)
 b s  b
dt  
b

Vb  ic  c 

The stator phase voltages are given as:

𝑑
𝑉𝑎 = 𝑅𝑠 𝑖𝑎 + 𝜆 (2.3)
𝑑𝑡 𝑎
 𝑑
𝑉𝑏 = 𝑅𝑠 𝑖𝑏 + 𝜆𝑏 (2.4)
𝑑𝑡

𝑑
𝑉𝑐 = 𝑅𝑠 𝑖𝑐 + 𝜆𝑐 (2.5)
𝑑𝑡

In the above, 𝑅𝑠 is the stator resistance per phase while 𝑉𝑎𝑏𝑐 , 𝑖𝑎𝑏𝑐 and
𝜆𝑎𝑏𝑐 are the stator phase voltage , current and flux linkage matrix
respectively .The stator winding flux linkage (𝜆𝑎𝑏𝑐 ) of each phase is the
sum of flux linkages related to the stator current (𝜆𝑎𝑏𝑐(𝑠) ) and the mutual
flux linkage resulting from the permanent magnet (𝜆𝑎𝑏𝑐(𝑟) ) , which are
expressed by the following matrix equations:

𝜆𝑎𝑏𝑐 = 𝜆𝑎𝑏𝑐(𝑠) + 𝜆𝑎𝑏𝑐(𝑟) (2.7)

 Laa Lba Lac 

𝜆𝑎𝑏𝑐(𝑠) = 𝐿 𝑖𝑎𝑏𝑐 =  L Lbb Lbc  𝑖𝑎𝑏𝑐 (2.8)
 ba
 Lca Lcb Lcc 

 cos r 
 
𝜆′𝑎𝑏𝑐(𝑚) = 𝜆𝑚 cos( r  2 3)  (2.9)
cos( r  2 3)
 

Here, 𝜆′𝑚 is the amplitude of the mutual flux linkages resulting from the
permanent magnet as seen from the reference. The diagonal and off-
diagonal elements of the inductance matrix L are the stator self and
mutual inductances respectively.

The stator flux linkages are given as:

𝜆𝑎𝑠 = 𝐿𝑎𝑎 𝑖𝑎 + 𝐿𝑎𝑏 𝑖𝑏 + 𝐿𝑎𝑐 𝑖𝑐 (2.10 )

𝜆𝑏𝑠 = 𝐿𝑏𝑎 𝑖𝑎 + 𝐿𝑏𝑏 𝑖𝑏 + 𝐿𝑏𝑐 𝑖𝑐 (2.11)

𝜆𝑐𝑠 = 𝐿𝑐𝑎 𝑖𝑎 + 𝐿𝑐𝑏 𝑖𝑏 + 𝐿𝑐𝑐 𝑖𝑐 (2.12 )

Where 𝐿𝑎𝑎 , 𝐿𝑏𝑏 and 𝐿𝑐𝑐 are stator self-inductances and 𝐿𝑎𝑏 , 𝐿𝑎𝑐 , 𝐿𝑏𝑐
, 𝐿𝑏𝑎 and 𝐿𝑐𝑏 are the stator mutual inductances .

The total stator self-inductance of each phases are given as:

𝐿𝑎𝑎 = 𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 𝑐𝑜𝑠2𝜃𝑟 (2.13)

𝐿𝑏𝑏 = 𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 𝑐𝑜𝑠2(𝜃𝑟 + 2𝜋⁄3) (2.14)

𝐿𝑐𝑐 = 𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 𝑐𝑜𝑠2(𝜃𝑟 − 2𝜋⁄3) (2.15)

Where 𝐿𝑙𝑠 is the leakage inductance, 𝐿𝑚1 is the average single phase
magnetizing inductance and 𝐿𝑚2 is half the amplitude of the varying
magnetizing inductance due to saliency. 𝐿𝑚1 and 𝐿𝑚2 are given by:

𝜋𝜇0 𝑟𝑙 𝑁𝑠 2
𝐿𝑚1 = ( ) (2.16)
2(𝑙𝑔,𝑚𝑖𝑛 + 𝑙𝑔,𝑚𝑎𝑥 ) 𝑝

𝜋𝜇0 𝑟𝑙 𝑁𝑠 2
𝐿𝑚2 = ( ) (2.17)
2(𝑙𝑔,𝑚𝑖𝑛 − 𝑙𝑔,𝑚𝑎𝑥 ) 𝑝

On the above, 𝜇0 is the air’s permeability, 𝑟 is the radius, l is the axial

length of the air gap, 𝑁𝑠 is the number of turns per phase, p is the number
of poles, 𝑙𝑔,𝑚𝑖𝑛 is the minimum air gap length and 𝑙𝑔,𝑚𝑎𝑥 is the
maximum air gap length.

The stator mutual inductances are given as:

𝐿𝑚1
𝐿𝑎𝑏 = 𝐿𝑏𝑎 = − − 𝐿𝑚2 cos(2𝜃𝑟 − 2𝜋⁄3) (2.18)
2
 𝐿𝑚1
𝐿𝑏𝑐 = 𝐿𝑐𝑏 = − − 𝐿𝑚2 cos(2𝜃𝑟 + 2𝜋⁄3) (2.19)
2

𝐿𝑚1
𝐿𝑐𝑎 = 𝐿𝑎𝑐 = − − 𝐿𝑚2 cos2𝜃𝑟 (2.20)
2

Using the equations (2.8) - (2.20), the stator winding flux linkage (2.7)
may be expanded as:

𝐿𝑚1
𝜆𝑎 = [𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 𝑐𝑜𝑠2𝜃𝑟 ]𝑖𝑎 − [ + 𝐿𝑚2 cos(2𝜃𝑟 − 2𝜋⁄3)] 𝑖𝑏
2
𝐿𝑚1
−[ + 𝐿𝑚2 𝑐𝑜𝑠2𝜃𝑟 ] 𝑖𝑐 + 𝜆𝑚 𝑠𝑖𝑛𝜃𝑟 (2.21)
2

𝐿𝑚1
𝜆𝑏 = − [ + 𝐿𝑚2 cos(2𝜃𝑟 − 2𝜋⁄3)] 𝑖𝑎
2
+ [𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 cos 2(𝜃𝑟 + 2𝜋⁄3)]𝑖𝑏 (2.22)
𝐿𝑚1
−[ + 𝐿𝑚2 cos(2𝜃𝑟 + 2𝜋⁄3)] 𝑖𝑐 + 𝜆𝑚 sin(𝜃𝑟 − 2𝜋⁄3)
2

𝐿𝑚1 𝐿𝑚1
𝜆𝑐 = − [ + 𝐿𝑚2 cos 2𝜃𝑟 ] 𝑖𝑎 − [ + 𝐿𝑚2 cos(2𝜃𝑟 + 2𝜋⁄3)] 𝑖𝑏 (2.23)
2 2
+ [𝐿𝑙𝑠 + 𝐿𝑚1 − 𝐿𝑚2 cos 2(𝜃𝑟 − 2𝜋⁄3)]𝑖𝑐 + 𝜆𝑚 sin(𝜃𝑟 − 2𝜋⁄3)

2.1 dq0 transformation

The stator winding flux linkages and the stator winding inductances are a
function of the rotor angle which varies with time at the rate of the
rotor’s angular speed. These time-dependent coefficients presents
computational complexity which could produce numerical problems. In
order to obtain time-invariant inductance coefficients, the three phase (a,
b, c) stator variables can be transformed into Park (q, d, 0) variables in
rotor reference frame, that is turned at the system frequency as shown in
Figure 2.1
 Figure 2.1: Circuit representation of a PMSM with damper windings showing the
dq axes in arbitrary rotating reference frame

This transformation may be expressed as shown in equation (2.24).

𝑓𝑑𝑞0 = 𝑇𝑑𝑞0 . 𝑓𝑎𝑏𝑐 (2.24)

Where 𝑓𝑎𝑏𝑐 is the (q, d, 0) component matrix, 𝑓𝑎𝑏𝑐 is the (a, b, c) component

matrix and 𝑇𝑑𝑞0 is the Park transformation matrix, as shown in the following
equation:

Vq  Cos  r Cos( r  120) Cos( r  120) Va 

V   3  Sin 
Sin ( r  120) Sin ( r  120)  V 
 d 2 r  b
(2.25)
V0   1 1 1  Vc 
 2 2 2 

Flux linkages

In terms of inductances the flux linkages of the various windings can be

expressed as follows:
Stator dq winding flux linkages :

′ ′
𝜆𝑑𝑠 = (𝐿𝑙𝑠 + 𝐿𝑚𝑑 )𝑖𝑑𝑠 + 𝐿𝑚𝑑 𝑖𝑘𝑑 + 𝐿𝑚𝑑 𝑖𝑚 (2.26)

′
= 𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑑 𝑖𝑘𝑑 + 𝜆′𝑚

′
𝜆𝑞𝑠 = (𝐿𝑙𝑠 + 𝐿𝑚𝑞 )𝑖𝑞𝑠 + 𝐿𝑚𝑞 𝑖𝑘𝑞 (2.27)

′
= 𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑞 𝑖𝑘𝑞

𝜆0 = 𝐿𝑙𝑠 𝑖0

𝜆′𝑘𝑑 = 𝐿𝑚𝑑 𝑖𝑑𝑠

′
+ 𝐿′𝑘𝑑𝑘𝑑 𝑖𝑘𝑑
′ ′
+ 𝐿𝑚𝑑 𝑖𝑚 (2.28)

= 𝐿𝑚𝑑 𝑖𝑑𝑠 + 𝐿′𝑘𝑑𝑘𝑑 𝑖𝑘𝑑

′
+ 𝜆′𝑚

𝜆′𝑘𝑞 = 𝐿𝑚𝑞 𝑖𝑞𝑠 + 𝐿′𝑘𝑞𝑘𝑞 𝑖𝑘𝑞

′
(2.29)

Stator dq winding voltage equations

𝑑
𝑉𝑑𝑠 = 𝑅𝑠 𝑖𝑑𝑠 + 𝜆𝑑𝑠 − 𝜔𝑟 𝜆𝑞𝑠 (2.30)
𝑑𝑡

𝑑
𝑉𝑞𝑠 = 𝑅𝑠 𝑖𝑞𝑠 + 𝜆𝑞𝑠 + 𝜔𝑟 𝜆𝑑𝑠 (2.31)
𝑑𝑡

𝑑
𝑉𝑜𝑠 = 𝑅𝑠 𝑖𝑜𝑠 + 𝜆 (2.32)
𝑑𝑡 𝑜𝑠

′ ′ 𝑑 𝜆′𝑘𝑑
0 = 𝑅𝑘𝑑 𝑖𝑘𝑑 + (2.33)
𝑑𝑡

′ ′ 𝑑 𝜆′𝑘𝑞
0= 𝑅𝑘𝑞 𝑖𝑘𝑞 + (2.34)
𝑑𝑡

Substituting equations (2.26) and (2.27) in equations (2.30) and (2.31) giving the
following:
 𝑑 ′ ′
𝑉𝑑𝑠 = 𝑅𝑠 𝑖𝑑𝑠 + (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑑 𝑖𝑘𝑑 + 𝜆′𝑚 ) − 𝜔𝑟 (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑞 𝑖𝑘𝑞 ) (2.35)
𝑑𝑡

′
𝑑𝑖𝑑𝑠 𝑑 𝑖𝑘𝑑 ′
= (𝑅𝑠 𝑖𝑑𝑠 + 𝐿𝑑𝑠 ) + 𝐿𝑚𝑑 + 𝐿𝑚𝑑 − 𝜔𝑟 (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑞 𝑖𝑘𝑞 )
𝑑𝑡 𝑑𝑡

𝑑 ′ ′
𝑉𝑞𝑠 = 𝑅𝑠 𝑖𝑞𝑠 + (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑞 𝑖𝑘𝑞 ) + 𝜔𝑟 (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑑 𝑖𝑘𝑑 + 𝜆′𝑚 )
𝑑𝑡
′
𝑑𝑖𝑞𝑠 𝑑𝑖𝑘𝑞
′
= (𝑅𝑠 𝑖𝑞𝑠 + 𝐿𝑞𝑠 ) + 𝐿𝑚𝑞 + 𝜔𝑟 (𝐿𝑞𝑠 𝑖𝑞𝑠 + 𝐿𝑚𝑑 𝑖𝑘𝑑 + 𝜆′𝑚 ) (2.36)
𝑑𝑡 𝑑𝑡

And substituting equations (2.28) and (2.29) in equations (2.33) and (2.34)
giving following :

′ ′ 𝑑
0 = 𝑅𝑘𝑑 𝑖𝑘𝑑 + (𝐿𝑚𝑑 𝑖𝑑𝑠 + 𝐿′𝑘𝑑𝑘𝑑 𝑖𝑘𝑑
′
+ 𝜆′𝑚 ) (2.36)
𝑑𝑡

′
′ ′
𝑑𝑖𝑑𝑠 ′
𝑑 𝑖𝑘𝑑
0= 𝑅𝑘𝑑 𝑖𝑘𝑑 + 𝐿𝑚𝑑 + 𝐿𝑘𝑑𝑘𝑑
𝑑𝑡 𝑑𝑡

′ ′ 𝑑
0 = 𝑅𝑘𝑞 𝑖𝑘𝑞 +
𝑑𝑡
(𝐿𝑚𝑞 𝑖𝑞𝑠 + 𝐿′𝑘𝑞𝑘𝑞 𝑖𝑘𝑞
′
) (2.37)

′
′ ′
𝑑 𝑖𝑘𝑞 𝑑𝑖𝑞𝑠
0= 𝑅𝑘𝑞 𝑖𝑘𝑞 + 𝐿′𝑘𝑞𝑘𝑞 + 𝐿𝑚𝑞
𝑑𝑡 𝑑𝑡

The electrical power and torque

3 2 3𝑑 2 3
𝑝𝑖 = 𝑅𝑠 [ (𝑖𝑑 )2 + (𝑖𝑞 ) ] + [𝐿𝑑 (𝑖𝑑 )2 + 𝐿𝑞 (𝑖𝑞 ) ] + 𝜔𝑟 [𝜆𝑑 𝑖𝑑 − 𝜆𝑞 𝑖𝑞 ]
2 4 𝑑𝑡 2

= 𝑝𝑐𝑢 + 𝑝𝑑𝑊 + 𝑝𝑒𝑚 (2.38)

Where 𝑝𝑐𝑢 represents the armature resistance loss, 𝑝𝑑𝑊 represents the
rate of change of armature magnetic energy, and 𝑝𝑒𝑚 represents the
electromechanical power which is transferred across the air gap.
The output torque can be obtained by dividing the electromechanical
power by the rotor’s angular mechanical speed 𝜔𝑚 as follows:

𝑝𝑒𝑚
𝑇𝑒𝑚 = (2.39)
𝜔𝑚

The electromagnetic torque equation

3𝑝
𝑇𝑒𝑚 = (𝜆 𝑖 − 𝜆𝑞𝑠 𝑖𝑑𝑠 ) (2.40)
4 𝑑𝑠 𝑞𝑠

The relationship between the mechanical speed and electrical speeds and the
electrical rotor position 𝜃𝑟 is given by:

𝑑𝜃𝑟 𝑝
= 𝜔𝑟 = 𝜔𝑚 (2.41)
𝑑𝑡 2

The relationship between torque and rotor speed is given as shown below
𝑑𝜔𝑟
𝑇𝑒𝑚 = 𝐵𝜔𝑟 + 𝑇𝑙 + 𝐽 (2.42)
𝑑𝑡

𝑑𝜔𝑟
𝑇𝑒𝑚 − 𝑇𝐿 = 𝐽 + 𝐵𝜔𝑟
𝑑𝑡
 Parameters symbol value units

Rated voltage
𝑉𝐿𝐿 220 V
Output power
𝑃𝑜𝑢𝑡 800 W
Rared speed 1500 rpm
𝑤𝑚
150 rad/sec.
Stator resistance ohms
RS 4.8
PM Flux linkage wb
𝜆𝑚 0.272
q-axis inductance mH
Lq 30
d-axis inductance mH
𝐿𝑑 65
Rated current A
𝐼𝑆 3
𝐾𝑔 ∗ 𝑚2
Inertia J 0.000189

NO of poles p 4
N*m*s
Friction factor B 0.005

Proportional gain KP 5

Integral gain
KI 10