PM-Synchronous Motors

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Permanent Magnet (PM) based EV Motors
 PM-Trapezoidal flux based Synchronous Motor
 PM-Sinusoidal flux based Synchronous Motor

Fig: PM-BLDC Motor

Fig: PMSM Motor

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PM-Trapezoidal flux based Synchronous Motor

Fig: PM-BLDC Topology

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Fig: Back EMF and Current waveforms

Fig: Power output of PM-BLDC Motor

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 Switching schemes of PM-BLDC Motor
 Two phase 120º conduction scheme

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 Switching schemes of PM-BLDC Motor
 Three phase 180º conduction scheme

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Permanent Magnet Sinusoidal flux based Motor
(PMSM)

Fig: Exploded view of PMSM

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Classification
of PMSM

Fig: PMSM Topologies inner rotor (a) surface

mounted (b) surface inset (c) interior radial (d)
interior circumferential

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 For the surface-mounted topology, the PMs are simply glued on the rotor surface using epoxy adhesive,
thus offering the advantage of simplicity of manufacture. Since the permeability of PMs is near to that of air,
the effective air-gap is the sum of the actual air-gap length and the radial thickness of the PMs. Hence, the
corresponding armature reaction field is small and the stator winding inductance is low. However, since the
d-axis and q-axis stator winding inductances are nearly the same, its reluctance torque is almost zero. In
addition, there is a possibility that the PMs may fly apart during high-speed operation.
 For the surface-inset topology, the PMs are inset on the rotor surface. Thus, the q-axis inductance becomes
higher than the d-axis inductance, hence producing an additional reluctance torque. In addition, since the
PMs are inset in the rotor, it can offer better mechanical integrity than the surface-mounted one to withstand
the centrifugal force at high-speed operation.
 For the interior-radial topology, the PMs are radially magnetized and buried inside the rotor. Compared
with the surface-inset one, this topology enables the PMs well protected from flying apart, thus further
improving the mechanical integrity for high-speed operation. Also, because of its d–q saliency, an additional
reluctance torque is generated. Differing from the surface-inset one this interior-radial topology adopts linear
PMs that are easier for insertion and are easily machinable.
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 For the interior-circumferential topology, the PMs are circumferentially magnetized and buried inside the
rotor. It takes the definite advantage that the air-gap flux density can be higher than the PM remanence, the
so-called flux-focusing or flux-concentration. In addition, it holds the merits of good mechanical integrity
and additional reluctance torque. However, because of significant flux leakage at the inner ends of PMs, a
nonmagnetic shaft or collar is generally required, which may degrade the torsional stiffness of the rotor
shaft.

 The above-mentioned inner-rotor PM synchronous machine topologies can readily be extended to the
outer-rotor ones. The principle of operation of the outer-rotor PM synchronous machine is the same as the
inner-rotor counterpart. The outer-rotor machine topology is particularly preferred to in-wheel drive because
the corresponding outer rotor has a large radial diameter which can accommodate a large number of PM
poles, hence offering low-speed high-torque direct-drive capability.

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Permanent Magnet (PM) based EV Motors

 Size Comparison of high and low speed motors

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 On the basis of the same current rating of the power devices for the two types of PM brushless machines, their
current amplitudes are both equal to the current rating, Ip. Hence, the ratio of their power outputs (PM BLDC power to
PM synchronous power) can be easily deduced as
2𝐸𝑚𝐼𝑝
𝑃𝑜𝑤𝑒𝑟 𝑟𝑎𝑡𝑖𝑜 = = 1.33
3
2 𝐸𝑚𝐼𝑝𝑐𝑜𝑠∅
which indicates that the PM BLDC machine can offer at least 33% higher power capability than the PM synchronous
machine.
 On the basis of the same copper loss of the armature windings for the two types of PM brushless machines the current
amplitude of the PM synchronous machine is Ip, whereas the current amplitude of the PM BLDC machine becomes
√(3/2) Ip. Hence, the corresponding ratio of their power outputs is given by
2𝐸𝑚√(3/2)Ip
𝑃𝑜𝑤𝑒𝑟 𝑟𝑎𝑡𝑖𝑜 = = 1.15
3
2 𝐸𝑚𝐼𝑝𝑐𝑜𝑠∅
which indicates that the PM BLDC machine can offer at least 15% higher power density than the PM synchronous machine.
Therefore, the PMBLDC machine can offer higher power density and hence higher torque density than the PM
synchronous machine by at least 15% or 33%.

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Motor Torque at zero speed

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System Model of PMSM

Fig: System Dynamics of PMSM

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Fig: Circle diagram of PMSM

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Fig. Torque speed capabilities of PMSM for flux weakening Fig: Voltage and current limits of PMSM for flux weakening

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Fig: Power in PMSM Motor

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 PM-less Motors

CoE for EVRT, DTU, Delhi 19

Switched Reluctance Motors(SRM)

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Switched Reluctance Motors(SRM) Topology

Do
hs

Dro
yr

lg
Dsh

D
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 Switched Reluctance Motors(SRM) (Cont.)
Do

hs
History of SRM

Concept first introduced in 1838 by W.H. Taylor.

First Successful high performance SR motor drive in 1980 by

Lawrence and Stephenson.
D
Doubly Salient Singly Excited Motor.

Preferred for low-cost, light weight variable speed applications yr

Dro

[1].
Dsh

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 Why SR motors ?
1. Simple in Construction and economical.

2. High Torque/weight ratio [2]**.

3. Adjustable Starting Current & Torque***.

4. Can be used for extremely high speed applications, even under high operating temperature conditions.

5. Operate at higher efficiency**.

6. Capable of operating in all 4 quadrants of a drive system****.

7. Capable of providing output characteristics of Induction-motor and DC motor drives****.

*** - Refer Operating Modes **** - Refer Variation of torque w.r.t. 𝜭 ***** - Refer T v/s ω Characteristics
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Construction
• Primary Components

 STATOR & Stator Winding

 Laminated salient stator stack core.

 Diametrically opposite concentric

stator windings over the poles
connected in series to form one
stator phase.

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Construction (Cont.)
 ROTOR

 Laminated Ferromagnetic Salient stack core.

 No Rotor Windings.

Advantages:
(a) Preferred for light weight applications.
(b) Low rotor inertia & fast speed response.
(c) No rotor copper loss; High Efficiency [3].

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Operating Principle
Variable Reluctance Torque
The magnetic flux flowing into a magnetic circuit A
always have a tendency to flow through the path of
least reluctance. C’ B
Rotor tries to align the stator and rotor poles,
providing path of least reluctance to the air gap
flux.
After a certain delay, the dc supply is switched to B’ C
the nearest stator pole winding, due to which rotor
and stator poles get unaligned again [9]. A’

Fig. : Operation of SR Motors

(Source: mit.edu)
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Fig:Magnetic field distribution in aligned position Fig: Magnetic field distribution in unaligned position
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Electromagnetic Torque (𝑇𝑒 )
Consider an 8/6 Single phase Switched reluctance motor. Where,

Part A: Torque Expression 𝜭 is rotor pole angular position

As the rotor rotates, the varying magnetic air gap flux L is the stator winding self-
Inductance (also function of 𝜭)
Ø 𝛳 = 𝐿𝑖
Energy stored in the stator winding i is the stator input current
1 2
𝐸𝑙 = 𝐿𝑖
2
Electromagnetic Torque developed [9],[6]
𝜕𝐸 𝟏 𝝏𝑳
𝑻𝒆 = 𝜕𝛳𝑙 = 𝟐 𝒊𝟐 𝝏𝜭 …(1)

Observation: torque developed varies with the rotor position and square of stator current.
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Equivalent Circuit
The voltage across the machine :
𝑑Ø
v = ir +N
𝑑𝑡
Neglecting resistance drop,
𝑑Ø
v = N = Edc
𝑑𝑡
𝐸𝑑𝑐
i.e. Ø = ‫׬‬ 𝑑𝑡
𝑁
𝑑𝑡
t  ωt, then d(ωt) 
𝜔
𝐸
𝑑𝑐 𝑑𝑐 𝐸
Ø = ‫𝜔𝑁 ׬‬ 𝑑 𝜔𝑡 = ‫𝜔𝑁 ׬‬ 𝑑 𝛳
where ,

Ø is the flux linkage with the winding. Fig : Equivalent Structure of SR Motor
N is the no. of turns in the stator winding.
i is the stator winding current
r is the stator winding resistance 29
At steady state speed [5]:
𝑑𝑐𝐸
∅ = 𝑁𝜔 𝛳
Observation : lux linked to the winding is proportional to the angular
position of the rotor.
𝑁∅
𝐿=
𝑖
Substituting Ø,
𝐸𝑑𝑐 𝛳
𝑖 = 𝜔𝐿
Observation: The rate of change of stator current :
𝑑𝑖 𝐸𝑑𝑐
=
𝑑𝛳 𝜔𝐿
Observation: Final expression of torque developed:

Substituting the expression for current (3) into (1):

𝑇𝑒 = 𝑘𝑡 𝑖 2
1 𝜕𝐿
where kt = Torque Coefficient = 2 𝜕𝛳
𝐸𝑑𝑐 𝜃 2
𝑇𝑒 = 𝑘𝑡 𝜔𝐿 30
Mechanical Power Output

The Mechanical Power Output of the machine can also be determined as:

𝑃𝑚 = 𝑇𝜔

= 𝒌𝒕 𝒊𝟐 𝝎
Substituting (3):
𝑬𝒅𝒄 𝜽 𝟐 𝟏
𝑷𝒎 = 𝒌𝒕 ∗ …(6)
𝑳 𝝎

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Operating Modes
(1) Chopping Mode (Constant Torque Mode)
 In this mode, the speed of the motor is lower than the base speed
(ωb).

𝒅𝒊 𝑬𝒅𝒄
𝒅𝜭 = , at low speed, will be very high.
𝝎𝑳

limiting the input current into a narrow band with reference current iref
by chopping input voltage at high frequency.

𝒅𝑳
With constant i and :
𝒅𝜭
𝟏 𝝏𝑳
Te = 𝟐 𝒊𝟐 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕
𝝏𝜭

Observation : Ripples in Torque generated.

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(2) Advance angle control Mode (Constant Power Mode)

Mode for speed greater than base speed.

𝑑𝑖 𝐸𝑑𝑐
Advance Angle : with low 𝑑𝛳 = 𝝎𝐿 , input voltage is
initiated by an advance angle to build up stator current.
Starting current and Torque is adjustable in this mode.

Increasing advance angle to compensate for increase in speed to

make power constant:

2
𝐸𝑑𝑐 𝜃𝑜 1
𝑃𝑚 = 𝑘𝑡 ∗ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐿 𝜔

𝜃𝑜 cannot be increased beyond 𝜃𝑜𝑚𝑎𝑥 as beyond that negative torque

region exist. The speed at this angle is marked as 𝜔𝑝 .

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(3) Falling Power Mode (Constant T𝝎𝟐 Mode)

Mode is for very high speed (ω > ωp).

In this mode:
2 𝐸𝑑𝑐 𝜃𝑜 2
T𝜔 = 𝑘𝑡 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐿

Power output keeps on falling until a critical speed ωc.

Above this speed, the possibility of mechanical damage [9].

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Torque v/s Speed Characteristics

Observation: Torque speed characteristics at low speed

(Constant Torque mode) can be used in
place of armature voltage control use of
DC Motors for constant torque load.

Observation: Torque speed characteristics at high speed

(Constant Power Mode) is equivalent to
constant power torque speed
characteristics of induction motors at
high speed [9].

Fig. : Torque Speed Characteristics of SR Motor

depicting all modes of operation 35
Disadvantages of SR Motors

1. High Torque Ripple*

2. Need of Power Converters to excite.

3. Encoder Required**.

4. High Acoustic noise due to variations in MMF [8].

5. High Windage Losses due to saliency of rotor.

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Applications of SR Motors

1. Transportation Systems : Railways; Two-wheeled

Electric Vehicles [3].

2. Commercial Applications : Air Compression

systems; Blowers [4].

3. Daily Use Appliances : Washing Machines; food

processors; weaving machines [3].

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References
1) D. Mohanraj, J. Gopalakrishnan, B. Chokkalingam and L. Mihet-Popa, "Critical Aspects of
Electric Motor Drive Controllers and Mitigation of Torque Ripple— Review," in IEEE
Access, vol. 10, pp. 73635-73674, 2022, doi: 10.1109/ACCESS.2022.3187515.
2) M. Abdalmagid, E. Sayed, M. H. Bakr and A. Emadi, "Geometry and Topology Optimization of
Switched Reluctance Machines: A Review," in IEEE Access, vol. 10, pp. 5141-5170,
2022, doi: 10.1109/ACCESS.2022.3140440.
3) E. Bostanci, M. Moallem, A. Parsapour and B. Fahimi, "Opportunities and Challenges of
Switched Reluctance Motor Drives for Electric Propulsion: A Comparative Study," in IEEE
Transactions on Transportation Electrification, vol. 3, no. 1, pp. 58-75, March 2017, doi:
10.1109/TTE.2017.2649883.
4) X. Xue, K. W. E. Cheng, and Z. Zhang, ‘‘Model, analysis, and application of tubular linear
switched reluctance actuator for linear compressors,’’ IEEE Trans. Ind. Electron., vol. 65,
no. 12, pp. 9863–9872, Dec. 2018, doi: 10.1109/TIE.2018.2818638

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References
5) P. Azer, B. Bilgin and A. Emadi, "Mutually Coupled Switched Reluctance Motor: Fundamentals,
Control, Modeling, State of the Art Review and Future Trends," in IEEE Access, vol. 7, pp. 100099-
100112, 2019, doi: 10.1109/ACCESS.2019.2930895.
6) G. Fang, F. P. Scalcon, D. Xiao, R. P. Vieira, H. A. Gründling and A. Emadi, "Advanced Control of
Switched Reluctance Motors (SRMs): A Review on Current Regulation, Torque Control and
Vibration Suppression," in IEEE Open Journal of the Industrial Electronics Society, vol. 2, pp. 280-301,
2021, doi: 10.1109/OJIES.2021.3076807.
7) Omar Ellaban, Haitham Abu-Rub, “Switched Reluctance Motor Converter Topologies: A Review”,
IEEE Transaction 2014
8) Masachika Kawa, Kyohei kiyota, “ Acoustic Noise Reduction of a High Efficiency Switched Reluctnce
Motor for Hybrid Electric Vehicles with ovel current waveform”, IEEE Transaction 2017
9) R. Krishnan, “Switched Reluctance Motor Drives: Modeling, Simulation, Analysis, Design, and
Applications”, in C.R.C Press - USA, 2011.
10) J. W. Ahn. (2005, June). Switched Reluctance Motor. [Online]. Available: http://www.intechopen.com
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 Synchronous Reluctance Motor

CoE for EVRT, DTU, Delhi 40

Advantages of Synchronous Reluctance Motor

Fast torque
No conduction High torque dynamics Accurate
losses in rotor density owing to less speed control
rotor inertia

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Synchronous Reluctance Motor vs Induction Motor

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Comparison of different motors

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Types of Rotor Design

Fig: Possible rotor design for a SynRM: (a) Simple salient pole (SP) rotor, (b) Axially laminated anisotropy(ALA) rotor, (c) Transversally laminated anisotropic
(TLA) rotor

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Types of Rotor Design

Fig: Possible rotor design for a SynRM: (a) Segment Type (b) Axially laminated anisotropy(ALA) type

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 Working Principle
 Reluctance concept in which the rotor rotates due to
flux variation in order to fulfill the minimum
reluctance path.
 An anisotropic rotor is placed in a magnetic field with
a defined direction, the reluctance torque is produced.
This torque is due to the interaction of the non-uniform
magnetic reluctance in both d and q axes of the
anisotropic rotor and the magnetic field.So torque is
dependent on the difference of Ld and Lq for certain
stator currents.
 A key parameter is ‘saliency ratio’ which is equal to
Ld/Lq.

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Working Principle

Fig: Cross section of an anisotropic rotor placed in a magnetic field

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Working Principle

Fig: Phasor Diagram

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Torque vs saliency ratio

Fig: For different saliency ratio

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Power Factor vs saliency ratio

Fig: For different saliency ratio

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Operating Limits of SyR Motor

Fig: For different modes of operation

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 Electromagnetic Torque in SyR Motor

CoE for EVRT, DTU, Delhi 52

Electromagnetic Torque in SyR Motor

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Thankyou

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