Thermal modelling is of great importance in all electric machines but especially in permanent magnet synchronous machines (PMSMs). The thermally fragile permanent magnets (PMs) can more easily be demagnetized at high temperatures. When high speed machines are considered, heat extraction surfaces are small due to the higher energy density. This thesis focuses on the thermal modelling of a high speed slotless PMSM using analytical techniques. From literature it is clear that analytical distributed models have not reached its full potential in thermal modelling of electric machines. Thermal experiments on high speed electric machine, including rotor PM temperature measurements are not commonly found in literature. The thermal behaviour of each component of the machine is influenced by the overall temperature distribution. The widely used lumped parameter (LP) cylindrical component model derived by Mellor et al. is used to derive a LP model of the entire machine. A two dimensional (2-D) analytical distributed model is derived for the rotor PM using the separation of variables method. Three of the boundaries are assumed to be of the convection type and the fourth of constant heat flow type. Different convection coefficients are assumed to exist in the radial and axial directions. The distributed model is verified using COMSOL R and good correlation is shown. The distributed model is used to determine the temperature distribution in the PM and the convection heat flow in the axial direction. Loss calculation is an integral part of thermal modelling. Temperature changes in an electric machine is due to the interaction between the heat generation (losses) and heat removal. The losses found in a high speed slotless PMSM are investigated. A 2-D analytical magnetic model is used to determine the stator lamination loss as well as the stator winding eddy current loss. A simple LP model is derived for the rotor eddy current loss. Due to the relatively large resistivity of the shielding cylinder and PM material, the rotor eddy current loss is a significant part of the total machine loss. The tangential current width is determined empirically in this thesis but a 3-D distributed model which includes end space effects and skin depth could also be used. A large part of thermal modelling is empirically based. The convection and interface resistances are determined through a set of experiments in this thesis. The measured and calculated convection coefficients correlated well for both forced and natural convection cooling. A large temperature increase found during the no-load test can be attributed to large bearing loss, possibly due to axial loading. The LP model is modified to include the phenomena found during the experiments. The thermal model is used to predict the temperatures of a high speed PMSM at rated load and speed. Although the PM is not heated above the Curie temperature, demagnetization is still possible. According to the model, the machine will not be able to operate at full load and speed for extensive periods due to mechanical stress limits being exceeded. The temperature distribution of the PM could not be verified since the temperatures in the air gap and end space could not be measured. It is expected that axial heat flow will be larger than what is currently predicted by the distributed model. A sensitivity analysis was used to investigate the influence of the thermal resistances and losses on the machine temperatures. Methods for reducing the rotor eddy current loss and interface resistances are also discussed. The first contribution of this thesis is the 2-D analytical distributed model for the PM of a high speed PMSM. Hot spots and 2-D heat flow can be analysed using this model. Combining the LP and 2-D analytical distributed models is another contribution. This combines the simplicity and fast solution times of the LP model with the 2-D thermal distribution of the analytical distributed model. The systematic experimental investigation of the thermal behaviour of a high speed PMSM is a further contribution. / Thesis (Ph.D. (Electrical Engineering))--North-West University, Potchefstroom Campus, 2011.

Thermal modelling is of great importance in all electric machines but especially in permanent magnet synchronous machines (PMSMs). The thermally fragile permanent magnets (PMs) can more easily be demagnetized at high temperatures. When high speed machines are considered, heat extraction surfaces are small due to the higher energy density. This thesis focuses on the thermal modelling of a high speed slotless PMSM using analytical techniques. From literature it is clear that analytical distributed models have not reached its full potential in thermal modelling of electric machines. Thermal experiments on high speed electric machine, including rotor PM temperature measurements are not commonly found in literature. The thermal behaviour of each component of the machine is influenced by the overall temperature distribution. The widely used lumped parameter (LP) cylindrical component model derived by Mellor et al. is used to derive a LP model of the entire machine. A two dimensional (2-D) analytical distributed model is derived for the rotor PM using the separation of variables method. Three of the boundaries are assumed to be of the convection type and the fourth of constant heat flow type. Different convection coefficients are assumed to exist in the radial and axial directions. The distributed model is verified using COMSOL R and good correlation is shown. The distributed model is used to determine the temperature distribution in the PM and the convection heat flow in the axial direction. Loss calculation is an integral part of thermal modelling. Temperature changes in an electric machine is due to the interaction between the heat generation (losses) and heat removal. The losses found in a high speed slotless PMSM are investigated. A 2-D analytical magnetic model is used to determine the stator lamination loss as well as the stator winding eddy current loss. A simple LP model is derived for the rotor eddy current loss. Due to the relatively large resistivity of the shielding cylinder and PM material, the rotor eddy current loss is a significant part of the total machine loss. The tangential current width is determined empirically in this thesis but a 3-D distributed model which includes end space effects and skin depth could also be used. A large part of thermal modelling is empirically based. The convection and interface resistances are determined through a set of experiments in this thesis. The measured and calculated convection coefficients correlated well for both forced and natural convection cooling. A large temperature increase found during the no-load test can be attributed to large bearing loss, possibly due to axial loading. The LP model is modified to include the phenomena found during the experiments. The thermal model is used to predict the temperatures of a high speed PMSM at rated load and speed. Although the PM is not heated above the Curie temperature, demagnetization is still possible. According to the model, the machine will not be able to operate at full load and speed for extensive periods due to mechanical stress limits being exceeded. The temperature distribution of the PM could not be verified since the temperatures in the air gap and end space could not be measured. It is expected that axial heat flow will be larger than what is currently predicted by the distributed model. A sensitivity analysis was used to investigate the influence of the thermal resistances and losses on the machine temperatures. Methods for reducing the rotor eddy current loss and interface resistances are also discussed. The first contribution of this thesis is the 2-D analytical distributed model for the PM of a high speed PMSM. Hot spots and 2-D heat flow can be analysed using this model. Combining the LP and 2-D analytical distributed models is another contribution. This combines the simplicity and fast solution times of the LP model with the 2-D thermal distribution of the analytical distributed model. The systematic experimental investigation of the thermal behaviour of a high speed PMSM is a further contribution. / Thesis (Ph.D. (Electrical Engineering))--North-West University, Potchefstroom Campus, 2011.

Permanent magnet synchronous motors are finding ever increasing use in hybrid and electric vehicles. This thesis develops a new control strategy for Permanent Magnet Synchronous Motors (PMSMs) to reduce the motor and inverter losses compared to conventional control techniques. The strategy utilises three common control modes for PMSMs; brushless DC with 120°E conduction, brushless DC with 180°E conduction, and brushless AC control. The torque and power output for each control mode is determined for an example motor system using a three phase axial flux YASA motor and an IGBT inverter. The loss components for the motor and inverter are also estimated using a combination of analytical and simulation techniques and results are then validated against experimental measurements. Efficiency maps for each control mode have been used to determine an optimal mode utilisation strategy, which minimises the total system losses and maximises the available motor torque output. The proposed control strategy switches between the three control modes without interruption of motor torque to maximise the system efficiency for the instantaneous operating speed and demanded torque output. The benefits of the new strategy are demonstrated using an example vehicle over a simulated drive cycle. This yields a 10% reduction in losses compared to conventional brushless AC control.

Master of Science / Department of Electrical and Computer Engineering / Ruth Douglas Miller / This thesis presents the design of two models for permanent-magnet direct-drive wind turbines. The models are of a 10 kW and a 5 MW wind turbine, which are representative of residential scale and commercial scale turbines respectively. The models include aerodynamic and mechanical simulations through the FAST software, as well as concurrent electrical simulations through the SimPowerSystems toolbox for MATLAB/Simulink. The aim is to provide wind turbine designers and researchers with a comprehensive simulation tool that they can use to design and test many different aspects of a wind turbine. The particular novelty of these models is their high level of detail in electromechanical simulations. For each model, a generator speed controller was designed in a reference frame attached to the generator’s rotor, and was executed with a 3-phase active rectifier using space-vector pulse-width modulation. Also for each model, active and reactive power controllers were designed in a reference frame synchronous with the grid, and were executed with a 3-phase inverter using space-vector pulse-width modulation. Additionally, a blade pitch controller was designed for the 5 MW model. Validation of the models was carried out in the MATLAB/Simulink environment with satisfactory results.

Nous proposons dans ces travaux, une solution aux problèmes de longue date posés par le control sans capteur d’une machine électrique. Cette solution consiste à élaborer un contrôleur asymptotiquement stable qui régule la vitesse du moteur en mesurant uniquement les coordonnées électriques. Nous l’avons appliqué à un moteur synchrone à aimant permanent non saillant, perturbé par un couple de charge constant non connu. Le schéma proposé est un observateur non linéaire d’ordre 4, basé sur le control qui ne dépend pas d’opérations non robustes intrinsèques au système, comme l’intégration de boucle ouverte à un système dynamique et ce schéma peut être facilement intégrée en temps réel. Le contrôleur est facile à commander par l’ajustement du gain qui détermine directement le taux de convergence de la position et de la vitesse et charge le couple d’observateurs. Les simulations et les résultats expérimentaux mettent en évidences les bonnes performances ainsi que la robustesse des paramètres d’incertitudes du schéma que nous proposons. La comparaison par simulation avec un contrôleur sans capteur à champ orienté présenté récemment dans la littérature, a également été effectuée. La thèse se termine par des remarques de conclusion et des propositions de sujet de recherche s’inscrivant dans la continuité de ces travaux. / A solution to the longstanding problem of sensorless control of an electrical machine is provided in this work. That is, the construction of an asymptotically stable controller that regulates the mechanical speed of the motor, measuring only the electrical coordinates. The result is presented for a non-salient permanent magnet synchronous motor perturbed by an unknown constant load torque. The proposed scheme is a fourth order nonlinear observer-based controller that does not rely on-intrinsically nonrobust-operations like open-loop integration of the systems dynamical model nor signal differentiation, and can be easily implemented in real time. The controller is easy to commission, with the tuning gains directly determining the convergence rates of the position, speed and load torque observers. Simulation and experimental results that illustrate the good performance, as well as the robustness to parameter uncertainty, of the scheme are presented. A simulated comparison with a sensorless field-oriented controller, recently proposed in the drives literature, is also carried out. The thesis is closed with some concluding remarks and some potential research topics generated from this work.

<p><p>A permanent magnet synchronous motor is traditionally controlled from measured</p><p>values of the angular velocity and position of the rotor. However, there is a wish</p><p>from SAAB Avitronics to investigate the possibility of estimating this angular</p><p>velocity and position from the current measurements. The rotating rotor will</p><p>affect the currents in the motor’s stator depending on the rotor’s angular velocity,</p><p>and the observer estimates the angular velocity and angular position from this</p><p>effect.</p><p>There are several methods proposed in the article database IEEE Xplore to</p><p>observe this angular velocity and angular position. The methods of observation</p><p>chosen for study in this thesis are the extended Kalman filter and a phase locked</p><p>loop algorithm based on the back electro motive force augmented by an injection</p><p>method at low velocities.</p><p>The extended Kalman filter was also programmed to be run on a digital signal</p><p>processor in SAAB Avitronics’ developing hardware. The extended Kalman filter</p><p>performs well in simulations and shows promise in hardware implementation. The</p><p>algorithm for hardware implementation suffers from poor resolution in calculations</p><p>involving the covariance matrices of the Kalman filter due to the use of 16-bit</p><p>integers, yielding an observer that only functions in certain conditions.</p><p>As simulations with 32-bit integer algorithm performs well it is likely that a 32-</p><p>bit implementation of the extended Kalman filter would perform well on a motor,</p><p>making sensorless control possible in a wide range of operations.</p></p>

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A permanent magnet synchronous motor is traditionally controlled from measured values of the angular velocity and position of the rotor. However, there is a wish from SAAB Avitronics to investigate the possibility of estimating this angular velocity and position from the current measurements. The rotating rotor will affect the currents in the motor’s stator depending on the rotor’s angular velocity, and the observer estimates the angular velocity and angular position from this effect. There are several methods proposed in the article database IEEE Xplore to observe this angular velocity and angular position. The methods of observation chosen for study in this thesis are the extended Kalman filter and a phase locked loop algorithm based on the back electro motive force augmented by an injection method at low velocities. The extended Kalman filter was also programmed to be run on a digital signal processor in SAAB Avitronics’ developing hardware. The extended Kalman filter performs well in simulations and shows promise in hardware implementation. The algorithm for hardware implementation suffers from poor resolution in calculations involving the covariance matrices of the Kalman filter due to the use of 16-bit integers, yielding an observer that only functions in certain conditions. As simulations with 32-bit integer algorithm performs well it is likely that a 32- bit implementation of the extended Kalman filter would perform well on a motor, making sensorless control possible in a wide range of operations.

Sliding mode controllers (SMC) with time delay and a rotor position observer are designed for the sensorless speed control of permanent magnet synchronous motor (PMSM) are proposed in this paper. Based on field-oriented principle, a flux SMC is designed to achieve quick flux control. And then a speed SMC with time delay is presented and compared with PI controller in the direct torque control framework. The effectiveness of the proposed control scheme under the load disturbance and parameter uncertainties is verified by simulation results.

This thesis presented a sensor-less permanent magnet synchronous motor (PMSM) driver for controlling air-conditioner rotary compressor speed. In this thesis, a quasi-sine pulse-width modulation (PWM) driving method was proposed. Furthermore, the current feedback control scheme and rotor magnet pole position detection were included. The system structure was implemented by using a digital signal processing (DSP) platform. The proposed driving scheme was compared with the square-wave driving without current feedback and six-step square-wave driving method with current feedback. Moreover, the passive and shunt semi-active power factor correction (PFC) technique were researched for the air-conditioner application. Experimental results demonstrated that the system power factor could be improved by the proposed shunt semi-active PFC method. Besides, the proposed sensor-less quasi-sine PWM driving method implemented in an air-conditioner compressor driver was capable of reducing the magnitude of rotational speed ripples, compressor vibration, and system power consumption.