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grator, either digital or analog, should be used. However, PWM control does not need any integrators. REFERENCES
[1] F. Ertl, J. W. Kolar, and F. C. Zach, Basic considerations and topologies of switched-mode assisted linear power amplifiers, in Proc. IEEE APEC96, vol. 1, 1996, pp. 207213. [2] K. Nielsen, PEDECA Novel pulse referenced control method for high quality digital PWM switching power amplification, in Proc. IEEE PESC98, vol. 1, 1998, pp. 200207. [3] Z. Lai and E. M. Smedley, A new extension of one-cycle control and its application to switching power amplifiers, IEEE Trans. Power Electron., vol. 11, pp. 99105, Jan. 1996. [4] G. Carrara and S. Gardella, A new multilevel PWM method: A theoretical analysis, IEEE Trans. Power Electron., vol. 7, pp. 497505, May 1992. [5] V. Agelidis and M. Calais, Application specific harmonic performance evaluation of multicarrier PWM techniques, in Proc. IEEE PESC98, 1998, pp. 172178. [6] Y. F. Liu et al., A novel three-phase multilevel voltage source converter, in Proc. IPEMC, vol. 1, 2000, pp. 231238.

Fig. 6. Output waveform under one-cycle control.

Loss Minimization in Vector-Controlled Interior Permanent-Magnet Synchronous Motor Drives

Christos Mademlis and Nikos Margaris
Fig. 7. FFT result of PWM output.

AbstractAn efficiency optimization method for vector-controlled interior permanent-magnet synchronous motor drives is presented. Based on theoretical analysis, a loss minimization condition that determines the optimal -axis component of the armature current is derived. Selected experimental results are presented to validate the effectiveness of the proposed control method. Index TermsAdjustable-speed drives, efficiency optimization, interior permanent-magnet (PM) motor, loss minimization.

I. INTRODUCTION Improvement of permanent-magnet (PM) motor efficiency is a most important priority, hence, several control methods have been proposed in order to reduce the loss of PM motor drives and improve their performance. This can be realized by an online control of the d-axis component of the stator current (Id ). In surface PM motor drives, copper loss is minimized by keeping the d-axis component of the stator current equal to zero (Id = 0) [1], [2]. Thus, a maximum torque-per-ampere current control is accomplished. Since the Id = 0 control prevents the demagnetization of the PM, it is often employed in interior PM motor drives. However, in Id = 0 control method the reluctance torque is not produced. Contrarily, reluctance torque can be produced by controlling the Id current according to load conditions. Thus, the Id current that provides maximum torque-per-ampere current ratio in interior PM motor drives, is a function of the Iq current and opposes the excitation field of the PM [1][4].

Fig. 8.

FFT result of one-cycle output.

2) One-cycle is better than PWM control in tracing transient waveforms. Through the experiments, one-cycle control shows its better performance than PWM control in the dynamic response. There exists shorter delay between reference signal and output than that in the PWM control. 3) One-cycle is more general than PWM control. One-cycle control can approximate arbitrary waveforms that can be dc, ac, or those strange waveforms without any regulation such as transient fault voltages in power systems. PWM control depends on the modulation signal requiring specific consideration. The generality of one-cycle control is also tightly connected to its high-speed response. 4) One-cycle is more complex than PWM control in hardware. To realize the algorithm of one-cycle control, a high-speed inte-

Manuscript received February 2, 2001; revised April 16, 2002. Abstract published on the Internet September 13, 2002. The authors are with the Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, 54006 Thessaloniki, Greece (e-mail: mademlis@eng.auth.gr; margaris@eng.auth.gr). Digital Object Identifier 10.1109/TIE.2002.804990

0278-0046/02$17.00 2002 IEEE

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(a)

Fig. 1.

Optimal vector-controlled interior PM synchronous motor drive. (b)

A method for both copper and iron loss minimization of an interior PM motor based on flux-weakening control is presented in [5]. However, the proposed condition is complex and cannot be easily implemented. Finally, a control method for efficiency improvement of PM motors, by keeping power factor equal to unity, is described in [6]. However, although the real to apparent power ratio (kW/kVA) of the PM motor is maximized, power losses are not minimized. In this letter, a loss minimization method for vector-controlled interior PM synchronous motor drives is presented. From the theoretical analysis, a condition that specifies the optimal d-axis component of the stator current for minimizing interior PM motor losses is derived. The existence of the loss minimum in interior PM motors and the fact that the minimum loss operating points satisfy the optimal Id current condition are experimentally verified. The block diagram of the optimal PM motor drive is shown in Fig. 1. The loss model controller (LMC) measures the speed (!r ) and the Iq current and specifies the optimal Id current by means of the optimal efficiency condition. II. BASIC EQUATIONSLOSS MODEL Fig. 2(a) and (b) shows the d- and q -axes equivalent circuits, respectively, of the interior PM synchronous motor in a synchronously rotating reference frame [7]. The equivalent circuits are given in the per-unit system and referred to balanced steady-state operation. Effects of iron and stray losses are ignored. The phasor diagram in a synchronously rotating dq reference frame is illustrated in Fig. 2(c). In the figure, the Id current is negative (demagnetizing current) and results in field weakening. The d- and q -axes components of the magnetizing current are given, respectively, by

(c) Fig. 2. (a) d-axis per-unit equivalent circuit. (b) q -axis per-unit equivalent circuit. (c) Phasor diagram of interior PM synchronous motor.

where is the saliency ratio

Xmq =X

md

> 1:

(5)

The electrical losses of a PM synchronous motor that can be minimized by flux weakening are copper, iron, and stray-load losses. Iron losses are due to hysteresis and eddy currents, and are given by the following formula [1], [8]:

PF e

 2  = cF e !e 8m = cF e !e

0 If

2 + Id 2 + 2 Iq

(6)

Imd
and

= If + Id
0

(1)

Stray-load losses arise on the copper and iron of the motor, due to the nonuniform current distribution and the distortion of the magnetic flux by the load current, respectively. Stray-load losses are given by [9], [10]

Imq

= Iq :

Pstr
(2)

2 2 = cstr !e Is :

(7)

The electrical losses, expressed in d-q axes components, are given by,

Since the magnetic permeability of the PM is close to air, the q -axis reactance (Xmq ) of the interior PM motor exceeds the d-axis reactance (Xmd ) [1]

Pl

2 2 2 = PCu + PF e + Pstr = a(Id + Iq )+ b (If + Id )2 + 2 Iq

0

(8)

where
2 a = rs + cstr !e

Xmq > Xmd :

The electromagnetic torque of the motor Te is given by [1]

(3) and (4)

(9)

Te

= Xmd If Iq 0 ( 0 1)Xmd Id Iq
0

 2 b = cF e !e Xmd :

(10)

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TABLE I 3.4-kW INTERIOR PM MOTOR PARAMETERS

Fig. 3. Power loss versus I current in a 3.4-kW interior PM motor drive (experimental results).

III. LOSS MINIMIZATION CONDITION The loss minimization condition at steady state (Te and !e constant) with respect to Id is given by
(a)

@Pl = 0: @Id T ;! Using (8), condition (11) is satisfied when

0 Id (a + b) + bIf

(11)

(12) @Id Since the electromagnetic torque is kept constant, it is deduced that

@Iq 2 + (a + b )Iq = 0:

@Te = 0: @Id ! From (4) and (13), we obtain ( 0 1)Iq @Iq = 0 : @Id If 0 ( 0 1)Id
Substituting (14) in (12) yields
2 Id

(13)

(14)
(b) Fig. 4. Performance of optimal PM motor drive with LMC. (a) I current and input power. (b) I current and stator voltage (experimental results).

0 Id

0 If

0 b ) 0 ( 0 1)(a + b)
(a + 2b

02 2 2 bIf + Iq ( 0 1)(a + b ) ( 0 1)(a + b) = 0: (15)

The solution of (15) is as follows:

Id
where

Gd

a + b (2 0 ) 6 a+b

Gd

a + b a+b

2 a + b + Iq a+b

(16)

solution Id is acceptable. The second derivative of Pl with respect to Id 2 2 @ 2 Pl 2 (a + b )( 0 1) = 2(a + b) + 6Iq (19) 2 2 0 @Id T ;! If 0 ( 0 1)Id is always positive. Therefore, the loss minimization of the interior PM motor is obtained from the Id current, as given by

Gd

0 If : 2 ( 0 1)

(17)

Id

Gd

Substituting (16) in (4) and after some algebraic operations, the electromagnetic torque for the two solutions of (15) is respectively given by a + b 0 Te = Xmd If Iq 2 (a + b)

a + b (2 0 ) a+b

Gd

a + b a+b

2 a + b + Iq a+b

: (20)

The parameters of the proposed controller, required for the implementation, are obtained from the motor model and determined experimentally [11]. IV. EXPERIMENTAL RESULTS The existence of the loss minimum is experimentally verified. Fig. 3 shows the loss reduction versus d-axis current, measured in a 3.4-kW interior PM synchronous motor. For the points noted by asterisk, the loss minimization is achieved and these operating points satisfy the

2 17

2 (a + b)(a + b 2 )( 0 1)2 Iq 1 + 4 02 : (18) If (a + b )2

From (18), it is evident that the solution Id results in negative electromagnetic torque and, therefore, it is rejected. On the contrary, the

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second solution (Id ) of condition (16). Note that the loss minimum curves are smooth and flat around the minimum. The parameters of the interior PM motor are given in Table I. Fig. 4(a) and (b) illustrates the performance of the suggested LMC. Although the optimal Id current is a priori known from (20), the Id command decreases at a low rate in order to avoid strong armature current and torque disturbances. V. CONCLUSION In this letter, a loss minimization method for vector-controlled interior PM synchronous motor drives has been presented. Based on the motor loss model, a condition to obtain the optimum value of the Id current for accomplishing loss minimization of interior PM synchronous motor drives was derived. The suggested controller uses the signals of the rotating speed and Iq current, and the optimal Id current is specified by means of the loss minimization condition. Experimental results, taken from a three-phase 3.4-kW interior PM motor, were presented to confirm the high performance of the drive. REFERENCES
[1] S. A. Nasar, I. Boldea, and L. E. Unnewehr, Permanent Magnet, Reluctance and Self-Synchronous Motors. Boca Raton, FL: CRC Press, 1993.

[2] S. Morimoto, Y. Takeda, T. Hirasa, and K. Taniguchi, Expansion of operating limits for permanent magnet motor by current vector control considering inverter capacity, IEEE Trans. Ind. Applicat., vol. 26, pp. 866871, Sept./Oct. 1990. [3] T. M. Jahns, G. B. Kliman, and T. W. Neumann, Interior permanentmagnet synchronous motors for adjustable-speed drives, IEEE Trans. Ind. Applicat., vol. IA-22, pp. 738747, July/Aug. 1986. [4] B. J. Chalmers, L. Musaka, and D. F. Gosden, Variable-frequency synchronous motor drives for electric vehicles, IEEE Trans. Ind. Applicat., vol. 32, pp. 896903, July/Aug. 1996. [5] S. Morimoto, Y. Takeda, and T. Hirasa, Loss minimization control of permanent magnet synchronous motor drives, IEEE Trans. Ind. Electron., vol. 41, pp. 511517, Oct. 1994. [6] Y. Nakamura, T. Kudo, F. Ishibashi, and S. Hibino, High-efficiency drive due to power factor control of a permanent magnet synchronous motor, IEEE Trans. Power Electron., vol. 10, pp. 247253, Mar. 1995. [7] P. C. Krause, Analysis of Electric Machinery. New York: McGrawHill, 1986. [8] V. B. Hosinger, Performance of polyphase permanent magnet machines, IEEE Trans. Power App. Syst., vol. PAS-99, pp. 15101518, July/Aug. 1980. [9] S. A. Nasar, Handbook of Electric Machines. New York: McGrawHill, 1987. [10] J. K. Gieras and M. Wing, Permanent Magnet Motor Technology: Design and Applications. New York: Marcel Dekker, 1997. [11] F. Fernndez-Bernal, A. Garca-Cerrada, and R. Faure, Determination of parameters in interior permanent-magnet synchronous motors with iron losses without torque measurement, IEEE Trans. Ind. Applicat., vol. 37, pp. 12651272, Sept./Oct. 2001.