The work deals with creating a DC electric motor drive. The model is composed of electrical power from the engine model and transistor pulse converter load, which are joined together and completed the anchor and regulate the flow control engine speed. Great attention was paid to the determination of losses in the load drive electric vehicles and create a model of electric power load. The real work was verified by an experimental model of an electric vehicle Car4 the available parameters.

The electrical motors parameters identification is solved in this master’s thesis using subspace based methods. Electrical motors are simulated in Matlab/Simulink interactive environment, specifically permanent magnet DC motor and permanent magnet synchronous motor. Identification is developed in Matlab interactive environment. Different types of subspace algorithms are used for the estimation of parameters. Results of subspace parameters estimation are compared with least squares parameters estimation. The thesis describes subspace method, types of subspace algorithms, used electrical motors, nonlinear approach of identification and comparation of parameters identification.

This thesis deals with analysis of electric drive parts from hybrid electric vehicle, namely interior permanent magnet synchronous motor and inverter with control. First part describes a basic theory. Further, motor and inverter computer models are shown, specified simulations are performed on this models. Results are compared with values measured on real machines from accessible literary sources.

The diplomatic thesis will describe the principle functions of synchronous motors with permanent magnets, for therein analysis of PMSM and BLDC motors. We will make calculation of the required parameters from the power unit for glider Discus 2. We will create a design of BLDC and PMSM motor from specified parameters. Features of the proposed engines will be verified with the help of the programs FEMM, RMxprt, Maxwell. At the end of the work will make conclusion about the diplamatic project and diffrences between PMSM and BLDC motor.

he recent development of the power electronic and high-energy permanent magnets enables developing synchronous machines excited by permanent magnets, that are able to meet very gradual and exact control demands. Due to high torque density, that permanent magnet machines reach, the synchronous motors may be used even in direct (gearless) drives. One of the branches, in which direct drives can be used, is material handling. The most propelling drives in this branch consist of induction motor, simple gearbox with invariable gear ratio mounted to the drive wheel. Main aim of this thesis is designing the direct drive motor for low-lift truck. Motor is built-in the driven wheel, therefore outer rotor design appears to be more suitable. Two types of motors – permanent magnet synchronous motor and transverse flux motor have been chosen on the basis of technical paper study, many years lasting experience and verification computations. Both motor types are described in great details in this thesis. Both synchronous motor with PM and transverse flux motor have been designed for direct drive of the given low-lift truck. The proposals of both motors have been optimized by means of finite element method. Based on these design optimizing computations, both motors have been designed, produced and design accuracy has been verified by laboratory testing. Synchronous motor with PM achieves better electromagnetic parameters and its production is also simpler, therefore this motor is more suitable for this application. The solution with transverse flux motor may save substantial amount of active materials. Results of the detailed optimization and comparison of both motor types are the main benefits of this thesis.

In the aviation industry, safety and robustness are the number one priorities, which is why they use well-tested systems such as hydraulic actuators. However, drawbacks such as high weight and maintenance have pushed the industry toward newer, electrical, actuators that are more efficient and lighter. Electrical actuators, on the other hand, have some reliability issues. In particular, short circuits in the stator windings of Permanent-Magnet SynchronousMotors (PMSMs), referred to as Inter-Turn Short Faults (ITSFs), are the dominating faults, and is the focus of this thesis. ITSFs are usually challenging to detect and often do not become noticeable until the fault has propagated, and the motor is on the verge of being destroyed. This thesis investigates the possibility of detecting ITSFs in a PMSM, at an early stage when only one turn is shorted. The method is limited to finding the faults using ML algorithms. Both an experiential PMSM and a simulated model of the experimental PMSM, with the ability to induce an ITSF, were used to collect the data. Several Machine Learning (ML) models were developed, and then trained and tested with the collected data. The results show that four of the tested ML models, being: Random Forest, Gaussian SVM, KNN, and the CNN, all achieve an accuracy exceeding 95%, and that the fault can be found at an early stage in a PMSM with three coils connected in parallel in each phase. The results also show that the ML models are able to identify the ITSF when the simulated data is downsampled to the same frequency as the experimental data. We conclude that the ML models, provided in this study, can be used to detect an ITSF in a simulated PMSM, at an early stage when only one turn is shorted, and that there is great potential for them to detect ITSFs in a physical motor as well.

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.

Klimatutmaningar, lagändringar och ett ökat miljötänk har tvingat transportsektorn att ställa om till eldrift. Batterier och elmotorer har utvecklats kraftigt och är nu ett alternativ även för tunga fordon. Ett vanligt förekommande problem med elmotorer i fordon är lagerströmmar, här kallat gnista eller blixthändelser. Dessa uppstår på grund av oönskade urladdningar i motorn och förorsakar skador på lagren i motorn. Syftet med motorlager är att avlasta och minska friktionen kring motoraxeln. För att förebygga problemet och se förbättringar eller försämringar av olika åtgärder som görs krävs att lagerströmmar kan identifieras utifrån mätdata. Detta examensarbete analyserar relevant forskning inom området för att sedan introducera en metod och en algoritm för att identifiera lagerströmmar i samarbete med Scania CV. Algoritmen består av tre olika parametrar som påverkar identifieringen av de oönskade strömmarna på olika sätt. Verktyget lyckades identifierade lagerströmmar i olika mätdata, och hittade skillnader i antalet blixthändelser mellan olika körningar av provobjektet. Dock krävs vidare utveckling av verktyget och möjligheten att bearbeta annan typ av data som exempelvis spänningar i motorn för atthitta bättre samband. / A changing climate, changing laws and an increased environmental consciousnesshas forced the transport sector to transition to electric power. Batteries and electric motors have seen a quick and powerful development which means that they are now an alternative even for heavy vehicles. A common problem with electric motors forvehicles is bearing currents. The bearing currents occur as a result of electrical discharges in the motor and can damage the bearings inside the motor. The purpose of motor bearings is to offload and reduce friction for the motor shaft. To prevent the issue and to see improvements or deteriorations from different preventativemeasures it is critical to be able to identify bearing currents from data. This thesis analyzes relevant research in the area before introducing a method and an algorithm for detecting bearing currents in cooperation with Scania CV. The algorithm is composed of three different parameters which affects the identification in different ways. The tool was able to identify bearing currents from various data and found differences between the number of bearing currents between different test runs of the motor. However, more development of the tool and the possibility to process different kinds of data like voltages inside the motor is needed to be able to find better patterns in the data.

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.

Wave energy is a promising renewable resource with a higher energy density than both wind and solar. Waves can travel thousands of kilometers with minimal energy loss, making them more reliable than the previously mentioned alternatives. A device that utilizes wave energy to generate electricity is calleda Wave Energy Converter. The converter studied in this thesis is a non-resonant point absorber, a floating device that absorbs energy through its displacement in the water. An incident wave approaching the converter combined with a latching strategy transforms the wave into a water jet, which emerges as a pulse wave and varies from zero to maximum velocity. The kinetic energy of the water jet gets converted to electricity through a Pelton turbine and a permanent magnet synchronous motor that acts as a generator. The thesis investigates three generator velocity control strategies and two deadtime strategies and aims to answer which strategy yields the best efficiency for the selected wave fields. The strategies strive to maximize the efficiency of the Pelton turbine while minimizing the frictional and electrical losses. The first velocity control approach relies on historical data and computes the average based on the previous wavefield. The second approach maintains a predetermined turbine velocity based on the average jet velocity of each incident wave. Lastly, the third strategy continuously adapts the speed during each jet pulse to maximize the Pelton turbine efficiency. The dead-time strategies refer to the approaches employed between waves. The first approach maintainsa constant generator velocity, reducing the necessary acceleration to match the next incident wave. The second approach freewheels the generator, allowing it to decelerate due to friction losses. During the deceleration, the generator draws no current, but as the next wave arrives it must instead accelerate. Consequently, drawing more current but during a shorter period. The results reveal that there is no significant difference between the two deadtime strategies, but there is a significant difference between the velocity control strategies. Furthermore, the results illustrate the effectiveness of the local averaging method and the adaptive control method, which result in the highest system efficiency. / Vågenergi är en lovande energiresurs som har högre energidensitet än både vind- och solkraft. Vågor kan färdas tusentals kilometer med minimal energiförlust,vilket gör dem mer tillförlitliga än de tidigare nämnda alternativen. En anordning som kan nyttja vågors energi för att generera elektricitet kallas för vågenergiomvandlare. Omvandlaren som studerats i detta arbete är en icke-resonant punktabsorbent,vilket är en flytande anordning som absorberar energi genom dess förflyttning i vattnet. När en kommande våg närmar sig omvandlaren transformeras vågen till en vattenstråle, som framträder som en pulsvåg och varierar mellan noll och maxhastighet, via en styrstrategi vid namn ”latching”. Den kinetiska energin från vattenstrålen omvandlas till elektrisk energi via en Peltonturbin och en synkronmotor som agerar som generator. Det här arbetet undersöker tre hastighetsstyrstrategier samt två mellantidsstrategier för generatorn, och ämnar besvara vilken som är den mest effektiva strategin för en uppsättning vågor. Målet med dessa strategier är att maximera effektiviteten hos Peltonturbinen medan friktions- samt elektriska förluster minimeras. Den första hastighetsstyrstrategin håller en konstant hastighetbaserad på ett medelvärde från ett tidigare vågfält. Den andra strategin hålleren konstant hastighet, vilken anpassas till varje inkommande våg. Den tredje strategin anpassar hastigheten kontinuerligt under pulsvågen för att maximera turbineffektiviteten. Med mellantidsstrategierna menas de styrstrategier som nyttjas mellan vattenpulserna. I den första mellantidsstrategin körs generatorn som motor och håller konstant hastighet, vilket minskar de nödvändiga accelerationerna för att möta kommande vågs referenshastighet. Den andra strategin låter generatorn frihjula, vilket gör att hastigheten faller på grund av friktionsförluster. Under hastighetsminskningen drar generatorn ingen ström, men den måste då istället accelerera när kommande våg anländer. Detta innebär att generatorn kommer att dra mer ström, men under en kortare period. Resultaten avslöjade att det inte var någon signifikant skillnad mellan de två mellantidsstrategierna och att det var en signifikant skillnad mellan hastighetsstyrstrategierna. Resultatet visade att de två metoderna med variabel hastighet gav högre systemeffektivitet än metoden med konstant hastighet.