Táto práca pojednáva o problematike vytvárania a simulácie reluktančnej sieti synchrónneho stroja s V tvarovanými permanentnými magnetmi v programe PSpice. Na začiatku sa oboznámime s konštrukciou a parametrami stroja a potom vyvodíme základné rovnice na výpočet každého prvku siete. Vypočítame každý prvok tohto stroja a potom vytvoríme túto sieť v PSpice. Na začiatku je simulovaná sieť statická a všetky magnetické odpory sú lineárne. Neskôr nahradíme lineárne odpory reprezentujúce plechy nelineárnymi a počítame s precovnou teplotou permanentných magnetov. Potom porovnáme naše výsledky s FEM metódou počítanými hodnotami a vypočítame indukované napätie v jednej cievke stroja. Na záver vypočítame výkonovú a momentovú charakteristiku stroja.

This thesis presents two transient models for a prototype integrated charger for use in a plug-in hybrid-electrical vehicle application. The models can be useful in order to develop control algorithms for the system or to recommend improvements to the machine design. A flux map based method, obtaining input data from simulations using the finite element method (FEM) is used to model the grid synchronization process. The grid side voltage can then be predicted by incorporating spatial flux linkage harmonics. The model is implemented in Matlab/Simulink and compared to stand alone FEM simulations with good agreement. The charging process is modeled using an inductance based model also requiring FEM simulations as input data. Since the flux linkages in the grid and inverter side windings are dependent on each other, the presented transient model is linearized around a specific operating point. This model is also implemented in a Matlab/Simulink environment. Sensorless control of a PMSynRel drive is also studied in this thesis. Focus is put on operating limits due to magnetic saturation when operating at low speeds. The rotating and pulsating voltage vector injection methods for sensorless control are studied in detail. A technique to map the feasible sensorless control region is proposed which utilizes the resulting position error signal rather than data of differential inductances. This technique is implemented experimentally and compared to corresponding FEM simulations with good agreement. The impact of spatial inductance harmonics on the quality of the position estimates is also studied. A method to predict the maximum position estimation error due to the inductance harmonics is proposed based on simplified analytical models. A technique is presented and experimentally verified which can compensate for this effect by injecting a modified rotating voltage carrier. Lastly, the impact of saturation in the rotor structure on the initial magnet polarity detection is investigated. The experimental results, in good agreement with the corresponding FEM simulations, indicate that the impact of saturation in the magnet bridges of rotor is the dominant phenomenon at lower peak current magnitudes. / QC 20110928

The importance of accurately controlling the speed and torque of Synchronous Machines (SMs) in industry, transportation, aerospace, to name a few, can not be overstated. The driving unit to control the machines are called Variable Speed Drives (VSDs) and they can be designed in many different ways. In this project, a speed sensorless drive using high-frequency square-wave voltage injection is implemented in a open-source Python software called Motulator, developed by Prof. Marko Hinkkanen at Aalto University. The drive is first tested on an already existing linear model of a Permament Magnet Synchronous Machine (PMSM). An equivalent model is built in Matlab/Simulink to benchmark the performance of the implementation in Python. The results suggest that the performance Motulator implementation is satisfactory when compared to the Simulink implementation. Next, a non-linear Synchronous Reluctance Machine (SynRM) is implemented, using data from Finite Element (FEM) simulations of the non-linear flux-current relation. By using the injection scheme (with some tweaks), the speed of the motor is accurately controlled, but a steady-state position error is observed at all operating points. The error is produced due to the cross-saturation effect and a compensation strategy is implemented in an attempt to remove this error. however without full success. / Det är av avgörande betydelse att kunna kontrollera varvtal och vridmomentet hos synkrona elektriska maskiner (SM) inom transport, flyg och rymd, för att nämna några tillämpningar. Drivsystem för att styra de elektriska maskinerna kallas för varvtalsreglerade drivsystem och kan konstrueras på många olika sätt. I det här projektet implementeras ett varvtalsreglerat drivsystem, utan sensor för mätning av varvtalet. Varvtalsestimeringen bygger på att en fyrkantsvåg med hög frekvens injiceras varur det är möjligt att estimera hastigheten. Implementering görs i Python i en open-source programvara kallad Motulator, utvecklad av professor Marko Hinkkanen från Aaltouniversitetet. Regleringen testas först på en redan existerande linjär modell av en permanentmagnetiserad motor. Som jämförelse utvecklas även en motsvarande implementering av regleralgoritm och motor i Matlab/Simulink. Resultaten visar att Motulatorimplementeringen fungerar väl och att simuleringarna stämmer väl överens med Matlab/Simulink-modellen. I nästa steg implementeras en icke-linjär modell av en synkron reluktansmaskin. Det icke-linjära förhållande mellan flöde och ström modelleras med hjälp av data från finita elementsimuleringar (FEM). Simuleringar i Motulator visar att varvtalet i denna motormodell kan kontrolleras för alla olika laster och varvtal. Däremot noteras ett stationärt rotorpositionsfel vid vissa driftpunkter. Felet beror på mättningen av statorinduktansen och en algoritm implementerats för att kompensera effekten av mättningen och därmed eliminera felet. Det visar sig dock att kompenseringsalgoritmen endast fungerar vid vissa driftpunkter.

No description available.

Spårledningar används inom tunnelbanan för att visa tågets position samt bestämma tågets hastighet genom att bryta spänningsamplituden i signalen vid olika frekvenser. Frekvensen till spårledningen fås från en roterande frekvensomformare. I dagens anläggning används roterande frekvensomformare med borstar. Dessa avger i relärum mycket värme och ger miljöproblem i form av koldamm från borstarna. Det befintliga systemet är gammal och har funnits i drift över 30 år, därför håller reservdelar på att ta slut samt service till systemet svårtillgängligt. Detta examensarbete har undersökt möjligheten att uppgradera till nyare system som bygger på en lösning med roterande borstlös frekvensomformare där reservdelarna och service är tillgängliga i minst 25 år. Undersökningen jämför olika roterande borstlösa frekvensomformare från olika leverantörer för att hitta en frekvensomformare där kraven från Trafikförvaltningen uppfylls. Studien har haft fokus på problemområdet med borstade frekvensomformaren som producerar skadliga ämnen såsom koldamm och värmen i relärum. Diskussioner med tillverkningsföretag av roterande borstlös frekvensomformaren har skett under denna studies gång där möjliga alternativ för vidare utveckling av systemet i relärum analyseras. I projektet har även diskuterat möjligheten att använda det nya systemet av frekvensomformare med borstlösa motor och generator istället för den nuvarande borstade frekvensomformaren som finns i anläggningen. Resultatet har även visat att den roterande borstlösa frekvensomformaren kan omvandla frekvensen till 75 Hz. Det nya systemet uppfyller kraven från Trafikförvaltningen samt att systemet håller i minst 25 år till. Att systemet håller minst i 25 år till var ett stort krav av Trafikförvaltningen som uppfylldes under denna studie. / Track lines are used in subway stations to show the train locations and determine the speed of the train by chopping the frequency. The frequency of the track lines is obtained from a rotary frequency converter. In today's stations, rotary frequency converters with brushes are commonly used. These emit a great deal of heat in some relays and produce environmental problems in the form of carbon dust from the brushes. The existing systems have been used for over 30 years and obtaining spare parts and conducting maintenance on the systems can be difficult. This degree project examines the possibility of newer systems being built on a rotating brushless frequency converter, where the spare parts and servicing would be available for at least the next 25 years. The project surveys and compares different rotating brushless frequency converters from different suppliers to find an identical frequency converter to meet the requirements of the Traffic Administration. The result of this study has had a lot of focus on the problem area with the brushed frequency converter that produces harmful substances such as carbon dust and the heat in the relay room. Discussions with manufacturing companies of rotating brushless frequency converters have been made during this study where possible options were discussed for further development of the system in relay rooms. The result has also discussed the possibilities of using the new system of frequency converters with brushless motor and generator instead of the current brushed frequency converter available in the facility. The result has also shown that the rotating brushless frequency converter can convert the frequency to 75 Hz. The new system meets RAMS requirements of the Trafikförvaltning, and the system lasts for at least 25 years. This was a major requirement of the Trafikförvaltning, which was fulfilled during this study.

Energy efficiency in electric machines is both environmentally and economically important. Water pumps with an integrated Variable Frequency Drive (VFD) and a Permanent Magnet Synchronous Machine (PMSM) have challenged the status quo of the Induction Machine (IM) for water pumps. The Synchronous Reluctance Machine (SynRM) is also a viable alternative that does not use permanent magnets. This degree project focuses on the control of SynRM, with particular attention on sensorless control methods. Simulation models for a SynRM and a Surface Permanent Magnet Synchronous Machine (SPMSM), together with their control systems, were developed in MATLAB Simulink. Two sensorless control methods were implemented and examined: the Luenberger state observer and the Model Reference Adaptive System (MRAS). The control system was adapted to use sensorless control methods. The investigated sensorless control methods allowed the application of the speed-torque test profile for two method and motor type combinations, without causing instability. The Luenberger observer was stable with the SPMSM and the MRAS with the SynRM. Parameter sensitivity with respect to the variation of inductance and stator resistance values used by the sensorless methods was also tested. The Luenberger observer kept the control system stable with up to a ±5 % variation of inductance. The MRAS kept the control system stable down to −12 %, but only up to +2 % for an overestimation of the inductance. The variation of stator resistance had a limited impact on the stability of both sensorless schemes. / Energieffektivisering av elektriska maskiner är betydelsefullt både ur ett miljömässigt och ekonomiskt perspektiv. Vattenpumpar med en synkron permanentmagnetsmaskin och en integrerad enhet för variabel hastighetsreglering (VFD) utmanar den mer konventionella lösningen baserad på en asynkronmaskin (IM). Den synkrona reluktansmaskinen (SynRM) är ett annat lämpligt alternativ som inte använder permanentmagneter. Det här examensarbetet behandlar huvudsakligen sensorlös reglering av SynRM. Simuleringsmodeller för reglering av en SynRM och en permanentmagnetiserad synkronmaskin med ytmonterade magneter (SPMSM) utvecklades i MATLAB Simulink. Två metoder för sensorlös reglering undersöktes, en på Luenbergers tillståndsobservatör och en baserad på adaptiv modellreferensreglering (MRAS). Systemet för reglering anpassades till metoderna för sensorlös reglering. De undersökta sensorlösa metoderna testades vid nominell hastighet med steg i vridmoment och hastighet. Luenberger observatören kunde köras med bibehållen stabilitet med en SPMSM och MRAS kördes med en SynRM, också den med bibehållen stabilitet. Även känsligheten för variationer i induktans och statorresistans för de sensorlösa reglermetoderna testades. Luenberger observatören kunde bibehålla stabiliteten med en variation i induktans på ±5 %. MRAS kunde bibehålla stabiliteten ner till en estimering av induktansen på −12 % av induktansen. På uppsidan nådde dock MRAS stabilitet endast upp till en överestimering av induktansen på 2 %. Felestimering av statorresistansen hade minimal påverkan på stabiliteten för båda sensorlösa reglermetoderna.

No description available.

The electrification of automobiles has emerged as the sustainable powertrain solutionto meet United Nations sustainable development goals of sustainable cities andcommunities, affordable and clean energy, and climate action. The success of theelectrification depends on the efficiency of traction motors. Hence, the automobileindustry is dedicated to improving the performance of electrical traction machinesfor high performance and sustainability. The thesis aims to build various electricalmachine’s concept designs and quantify their behaviour on sustainability andperformance. The thesis objective is to design Permanent Magnet Synchronous Motor (PMSM),Synchronous Reluctance Motor (SynRM), and Permanent Magnet SynchronousReluctance Motor (PM­SynRM). The thesis work comprises of accurate performanceestimation and optimisation of these electrical machines through a finite element based method. The in­house scripts are developed to estimate the performance, electrical losses, and efficiency of these electrical machines through flexible open-source tools. The performance of PMSM with rare-­earth magnet Neodymium Ferrite Boron(NdFeB) and without rare­-earth magnet (ferrite) is done to evaluate the role of bothmagnets in producing torque density. The SynRM is evaluated and optimized usinggenetic algorithms in the thesis. The electrical machines are designed without the useof rare-­earth magnets to eliminate the degradation of the environment and reduce thecost and weight of the motor. / The electrification of automobiles has emerged as the sustainable powertrain solutionto meet United Nations sustainable development goals of sustainable cities andcommunities, affordable and clean energy, and climate action. The success of theelectrification depends on the efficiency of traction motors. Hence, the automobileindustry is dedicated to improving the performance of electrical traction machinesfor high performance and sustainability. The thesis aims to build various electricalmachine’s concept designs and quantify their behaviour on sustainability andperformance. The thesis objective is to design Permanent Magnet Synchronous Motor (PMSM),Synchronous Reluctance Motor (SynRM), and Permanent Magnet SynchronousReluctance Motor (PM­SynRM). The thesis work comprises of accurate performanceestimation and optimisation of these electrical machines through a finite element based method. The in­house scripts are developed to estimate the performance, electrical losses, and efficiency of these electrical machines through flexible open-source tools. The performance of PMSM with rare-­earth magnet Neodymium Ferrite Boron(NdFeB) and without rare­-earth magnet (ferrite) is done to evaluate the role of bothmagnets in producing torque density. The SynRM is evaluated and optimized usinggenetic algorithms in the thesis. The electrical machines are designed without the useof rare-­earth magnets to eliminate the degradation of the environment and reduce thecost and weight of the motor.   Sammanfattning på svenska / Abstract in Swedish Elektrifieringen av bilar har framstått som en hållbar drivlinelösning för att mötaFörenade Nationernas hållbara utvecklingsmål för hållbara städer och samhällen, medprisvärda och rena energi och klimatåtgärder. Framgången med elektrifieringen berorpå effektivitet på motorer för framdrivningen. Därför är bilindustrin dedikerad tillatt förbättra prestanda för elmotorer för hållbarhet och hög prestanda. Avhandlingensyftar till att bygga olika konceptdesign för elmotorer för framdrivning och kvantifieraderas beteende på hållbarhet och prestanda. Uppsatsmålet är att utforma Permanent Magnet Synchronous Motor (PMSM),Synchronous Reluktance Motor (SynRM) och permanent magnetassisterad SynRM(PM­SynRM). Examensarbetet består av noggrann prestationsuppskattning ochoptimering av dessa elektriska maskiner genom finit element metod (FEM). Deskripten för att hantera FEM för elektormagnetisk design är in­house utveckladeför att uppskatta flexibelt prestanda, elektriska förluster och effektiviteten hos dessaelektriska maskiner genom att använda öppen källkod. Prestanda för PMSM med en sällsynta jordartsmagnet (NdFeB) och PMSM utansällsynta jordartsmagnet (ferrit) räknades fram för att utvärdera båda magneternasroll för att producera vridmomentdensitet. SynRM och PM­SynRM maskinernautvärderas och optimeras med hjälp av genetiska algoritmer i avhandlingen.De studerade elektriska maskinerna är designad utan användning av sällsyntajordartsmagneter för att eliminera miljöförstöring och minska motorns kostnad ochvikt.

The aim of this master thesis is to design and analyse a FSCW PMaSynRM (Permanent Magnet assisted Synchronous Reluctance Motor) for industrial applications. The design process includes analytical calculations (initial design and PM amount minimization) and nite element method (FEM) based design optimization. An overcompensated design is proved to be advantageous for a 10-pole reluctance motor. A comparative analysis with other rotor topologies was made, where motor performance, temperature e ects and production costs are taken into account. Detailed curves which describe eciency, power factor and current with respect to ambient temperature are studied for the proposed motor designs at di erent working points. The demagnetization risk is also taken into account and the safe working temperature ranges have been dened for all the considered motors. The results show that the initial motor design with 10 poles/12 slots PMaSynRM with NdFeB magnets has poor performance in terms of eciency and power factor, with huge amount of PM inserted. This is mainly due to the lack of reluctance torque for this relatively higher number of poles solution. Moreover, it has been found in literature and conrmed in this investigation that this negative e ect for the 10-pole motor is amplied due to the presence of the concentrated winding. Indeed, it is shown by simulations that the motor performance is improved by employing 8 poles/12 slots PMaSynRM conguration with a relatively lower NdFeB magnet amount, thanks to the improved rotor anisotropy. The 10 poles/12 slots interior permanent magnet (IPM) and surface mounted permanent magnet (SMPM) topologies present higher performance due to the e ective utilization of PM, mainly or completely producing the torque. Hence, IPM and SMPM do not su er the lack of anisotropy. / Syftet med detta examensarbete ar att utforma och analysera en FSCW PMaSynRM (Permanent Magnet assisted Synchronous Reluctance Motor) for industriella applikationer. Designprocessen omfattar analytiska berakningar (ursprungliga konstruktion och PM belopp minimering) och nita elementmetoden (FEM) baserad design optimering. En overkompenserad design visat sig vara fordelaktigt for en 10-polig reluktansmotor. En jamforande analys med andra rotor topologier gjordes, dar motor prestanda, temperature ekter och produktionskostnader beaktas. Detaljerade kurvor som beskriver e ektivitet, e ektfaktor och strom med avseende pa omgivningstemperatur studeras for de foreslagna motorn for vid olika arbetspunkter. Den avmagnetisering risken ocksa beaktas och sakerhetstemperaturomraden har denierats for alla ansag motorerna. Resultaten visar att den initiala motordesign med 10-polig/12 spar PMaSynRM med NdFeB magneter har daliga e ektivitet och e ektfaktor, med enorma mangder PM insatt. Detta ar framst pa grund av bristen pa reluktansvridmomentet for denna relativt hogre poltal losning. Dessutom har man funnit i litteraturen och bekraftat i denna unders okning att denna negativa e ekt for 10-polig motorn forstarks pa grund av narvaron av den koncentrerade lindningen. Faktum ar att det framgar av simuleringar att motorprestanda forbattras med en 8-polig/12 spar PMaSynRM konguration med en relativt lagre NdFeB magnet belopp, tack vare den forbattrade rotor anisotropi. Den 10-polig/12 spar interior permanentmagnet (IPM) och ytmonterade permanent magnet (SMPM) topologier presentera hogre prestanda tack vare ett e ektivt utnyttjande av PM och deras produktion vridmoment, huvudsakligen eller helt anfortrotts PM effekten.

L’agression sexuelle (AS) commise envers les enfants est un sujet complexe à enquêter et les allégations reposent souvent exclusivement sur le témoignage de l’enfant. Cependant, même quand l’enfant divulgue une AS, il peut être réticent à révéler certains détails personnels et gênants de l’AS à un étranger. Étant donné qu’il n'est pas toujours possible d'obtenir le consentement de filmer et qu’il est relativement difficile de mesurer l’attitude non verbale de l’enfant et celui de l’enquêteur au cours des entrevues d’investigations, cette recherche a été novatrice dans sa création d’échelles verbales de telles attitudes. Afin de déterminer la corrélation de l’attitude des enquêteurs et la collaboration des enfants, 90 entrevues d’enfants âgés de 4 à 13 ans ont été analysées. Les entrevues ont été enregistrées sur bande audio, transcrites et codifiées à l'aide des sous-échelles verbales d'attitudes soutenantes et non-soutenantes des enquêteurs ainsi que d’attitudes de résistance et de coopération de la part de l'enfant. La proportion des détails sur l’AS fournie par les enfants a également été calculée. Afin de comparer les entrevues avec et sans le protocole du National Institute of Child Health and Human Development (NICHD), une MANCOVA, contrôlant pour l’âge de l’enfant et la proportion de questions ouvertes, démontre tel qu’attendu que les entrevues avec le protocole obtiennent plus de détails fournis à la suite des questions ouvertes que les entrevues sans le protocole. Cependant, aucune différence ne ressort quant aux attitudes de l’enfant et celle de l’enquêteur. Afin de trouver le meilleur prédicteur de la quantité de détails dévoilés par les enfants, une analyse de régression multiple hiérarchique a été faite. Après avoir contrôlé pour l'âge de l’enfant, l’utilisation du protocole et la proportion de questions ouvertes, la résistance de l’enfant et l’attitude non-soutenante de l’enquêteur expliquent 28 % supplémentaire de la variance, tandis que la variance totale expliquée par le modèle est de 58%. De plus, afin de déterminer si la collaboration de l’enfant et l’attitude de l’enquêteur varient en fonction de l’âge des enfants, une MANOVA démontre que les enquêteurs se comportent similairement, quel que soit l'âge des enfants. Ceci, malgré le fait que les jeunes enfants sont généralement plus réticents et coopèrent significativement moins bien que les préadolescents. Finalement, une régression multiple hiérarchique démontre que le soutien de l'enquêteur est le meilleur prédicteur de la collaboration des enfants, au-delà des caractéristiques de l'enfant et de l’AS. Bien que l’utilisation du protocole NICHD ait permis des progrès considérables dans la manière d’interroger les enfants, augmentant la proportion de détails obtenus par des questions ouvertes/rappel libre et amplifiant la crédibilité du témoignage, l’adhésion au protocole n’est pas en soi suffisante pour convaincre des jeunes enfants de parler en détail d’une AS à un inconnu. Les résultats de cette thèse ont une valeur scientifique et contribuent à enrichir les connaissances théoriques sur les attitudes de l'enfant et de l'enquêteur exprimées lors des entrevues. Même si les enquêteurs de cette étude offrent plus de soutien aux enfants résistants, indépendamment de leur âge, pour promouvoir la divulgation détaillée de l’AS, de meilleures façons de contrer les attitudes de résistance exprimées par les jeunes enfants et une minimisation des attitudes non-soutenantes lors des entrevues sont nécessaires. / Child Sexual Abuse (CSA) is a complex subject to investigate and an alleged victim’s disclosure is crucial as it may be the only substantial evidence for investigators to establish their case. However, even when CSA is revealed, children may be reluctant to reveal personal and often embarrassing details to a stranger during a forensic interview. As it is not always possible to obtain consent to film and it is relatively hard to measure children’s and interviewers’ non-verbal attitudes during forensic interviews, this doctoral dissertation was innovative in its creation of verbal scales of such attitudes. In order to determine whether interviewers’ attitudes correlates with children’s collaboration during forensic interviews, 90 children ranging from 4 to 13 years of age were analysed. Interviews were audio taped, transcribed and then codified using verbal subscales of interviewers’ supportive and non-supportive attitudes as well as children's cooperative and reluctant attitudes. The proportion of details provided by the children in regards to the SA was calculated. To determine if differences exist between National Institute of Child Health and Human Development (NICHD) Protocol and Non-Protocol interviews, a MANCOVA was conducted controlling for children’s age and the proportion of open-ended questions. As expected Protocol interviews obtained significantly more details from open-ended prompts than Non-Protocol interviews. However, it showed no differences according to children’s and interviewer’s attitudes. To find the variable that has the greatest impact on the quantity of detail disclosed by children, a hierarchical multiple regression analysis was conducted. After controlling for children’s age, NICHD Protocol and proportion of open-ended questions which are known to increase the quantity of details disclosed; children’s reluctance and interviewers’ non-supportive attitudes contributed to an additional 28% of the variance, when the total variance explained by the model as a whole was 58%. Moreover, to determine whether children’s collaboration and interviewers’ attitudes vary according to the child’s age-group a MANOVA was conducted. It revealed that interviewers behaved similarly irrespective of children’s age, even though younger children were generally more reluctant and cooperated significantly less than pre-adolescents. Finally, to determine which variables regarding child and SA characteristics, as well as interviewers’ attitudes, will have a greater chance at predicting children’s collaboration, a hierarchical multiple regression analysis was conducted. It showed that an interviewer’s support was a stronger correlating variable than children’s and SA characteristics in predicting children’s collaboration. While we believe that the development of the NICHD Protocol has enabled considerable progress in the way children are interviewed leading to more details obtained from free recall strategies, and thus leading to more credible testimonies. However, adherence to the Protocol is simply not sufficient to convince young reluctant children to talk in details about the SA to a stranger. This dissertation results have great scientific value as it enhances the theoretical underpinnings of the attitudes expressed by both the child and the interviewer during forensic interviews. Although, interviewers in this study did offer more support to reluctant children, regardless of their age, researchers need to find better ways to deal with young children’s reluctance as well as encourage practitioners to minimize non-supportive attitudes.