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329
N OMENCLATURE
Te
b
Po
Vo
r
Tep
Teb
Tem
Con
Ns
Electromagnetic torque.
Base speed.
Number of pole pairs.
DC-bus voltage.
Maximum speed.
Peak torque in continuous mode.
Continuous torque at base speed.
Maximum torque developed over (0 - b ).
Stator connection (, Y ).
Number of stator slots.
Manuscript received July 15, 2013; revised October 16, 2013; accepted
December 17, 2013. Date of publication January 9, 2014; date of current
version April 4, 2014. This work was supported in part by Concordia
University, in part by the Natural Sciences and Engineering Research Council
of Canada, in part by Hydro-Qubec, and in part by Connect Canada.
Recommended for publication by Associate Editor J. O. Ojo.
S. M. Taghavi is with the Department of Electrical and Computer Engineering, Concordia University, Montreal, QC H3G 1M8 Canada (e-mail:
s_tagh@encs.concordia.ca).
P. Pillay is with the Department of Electrical and Computer Engineering,
Concordia University, Montreal, QC H3G 1M8 Canada, and also with the
University of Cape Town, Cape Town 7701, South Africa (e-mail: pillay@encs.concordia.ca).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/JESTPE.2014.2299235
ns
q
Vph
Kvo
B1gm
B1dm
B1qm
o
Dro
L s
Ld
Lq
Rs
co
ir
lf
lc
s
Kfill
J
Aco
Pco
Wco
Wir
Pir
Pmec
Dri
Dso
Dsi
L
s
As
y
g
Kc
Ks
Kdm1
Kqm1
Kw1
Ky
2168-6777 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
330
Ldm
Lqm
Lm
q
t
is
Pmo
Idm
Iqm
P
e
Em
Rcr
Rcs
Vd
Vq
Id
Iq
dm
qm
d
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 2, JUNE 2014
HE WORLDWIDE trend in reducing fossil fuel consumption and air pollution refers to more applications
of electric motor drives in automotive industry, particularly
ac drives as traction. Recent advantages of high quality magnetic materials, power electronics, and microcontrollers have
contributed to new energy efficient and high performance electric drives that use new electric motor technologies. In general,
electric motors in power train applications need to meet major
requirements that can be summarized as follows [1][3]:
1) high torque and power density;
2) high torque at low and high power at high speed;
3) wide speed range;
4) fast dynamic response;
5) high efficiency;
6) reliability and robustness.
The synchronous reluctance solution represents a possible
alternative to ac drives [4]. This machine can be applied
to many applications where permanent magnet synchronous machines (PMSM) and induction machines (IM) are
used. Some of its characteristics such as high efficiency
and fast dynamic response are also dominant in traction
applications.
In principle, the synchronous reluctance machine (SynRM)
is similar to the traditional salient pole synchronous motor
but does not have an excitation winding in the rotor. In this
machine only the rotor is constructed by barriers and segments
(Fig. 1). The main advantage of the SynRM relies on the
absence of rotor copper losses that permits continuous torque
that can be higher than an IM of the same size. The other
important features of the SynRM are as follows [5], [6]:
1) the rotor is potentially less expensive than both PMSM
and IM due to cancelling cage, winding, and magnets
from its structure;
Fig. 1.
331
TABLE I
I NITIAL D ATA
Fig. 2. Flow diagram of the sizing procedure consists of initial data, assigned
parameters, torque profile, and FEA.
Fig. 3.
332
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 2, JUNE 2014
TABLE III
D ESIGNED S PECIFICATIONS
Fig. 4.
A. Initial Data
(1)
L qm = L m K qm
L dm + L s
Ld
Then; =
=
Lq
L qm + L s
(2)
(3)
(5)
= T
em
K
Ld
B1dm 2 Po 2 1 K qm1
K
+
K
(1
)
c
s
Lq
dm1
Dro = 2Po
L =
(6)
where the parameters are defined in Table II.
In the above-mentioned equations, it is illustrated that the two
key parameters are Kdm1 and Kqm1 . Since the flux leakage
is unknown, it may be necessary to assume the leakage
inductance (L ) is approximately equal to the q-axis magnetizing inductance (Lqm ). This assumption helps to simplify the
solution process. It means that even if the actual Lqm is higher
than the calculated one the torque and machines performance
will remain approximately the same [17]. Therefore, it is still
on the safe side of the design.
Considering this assumption along with substituting the
assigned saliency ratio ( = 10) in (3) gives K dm1 /K qm1 = 19
and then Kdm1 = 0.95. These two key parameters can be
substituted again into (4)(6) that consequently give the slot
pitch and the rotor outer diameter. On the other hand, the
machine pole pitch, pole pitch to air gap ratio, and stack aspect
ratio give the air gap and stack length, respectively.
The reason behind assigning the saliency ratio of 10 is
that, from the machine performance point of view, this value
is at the boundary of the two rotor types [axially laminated
anisotropic (ALA), transversally laminated anisotropic (TLA)]
(Fig. 1). Previously, it was reported in [19] and [20] that the
saliency ratio higher than 10 can be mostly achieved by ALA
rotor, whereas the TLA rotor presents 10. However, the
333
. (7)
K w1 = sin
q sin
K y Where; q =
6
6q
3(2P o )
A. Ampere-Turns Per Slots
The flux in machines magnetic circuit is deemed to be
proportional to the resultant ampere-turns. The magnetic
loading is arranged such that the machine operates in the
linear portion of the magnetization characteristic. Therefore,
the major part of the exciting ampere-turns is used to maintain
the proper flux density across the air gap. Equations (8)(10)
show approaches to obtain the d, q, and total ampere-turn/slot,
respectively, [17]
B1dm g K c (1 + K s )
3 2o q K w1 K dm1
Ld
n s Iqm = (n s Idm )
Lq
n s Im = (n s Idm )2 + (n s Iqm )2
n s Idm =
(8)
(9)
(10)
334
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 2, JUNE 2014
Fig. 5. Typical geometry and dimensions of the stator slot (a) and wedge
area (b).
.
s =
3q
As =
(11)
(12)
B1gm
.
Bss
(16)
Now, all the parameters that are required to calculate the stator
geometry are found (Fig. 5). Therefore. the stator inner and
outer diameter can be found using
Dsi = Dro + 2g
Dso = Dsi + 2(h s1 + h s2 + h s + h ss ).
(17)
(18)
(21)
J
n s Im
(22)
where lc = 2 L + l f . Therefore, this can be expressed as
phase resistance as
Rs = 3.292 103 (n s )2 ().
(23)
C. Machine Inductances
For uniform air gap, the magnetizing inductance can be
expressed as
L m = 6o L
(Po q K w1 n s )2
.
2 Po g K c (1 + K s )
(24)
(25)
To simplify the solution process, the q-axis magnetizing inductance is considered equal to the leakage inductance. However,
it is always smaller. Therefore, the dq axis inductances of
the machine can be expressed as
L dm + L qm
L d = L dm + L s =
L q = L qm + L s
= 2L qm
L d = 7.3211 104 (n s )2 (H)
L q = 7.3211 105 (n s )2 (H).
(26)
335
Fig. 6.
Fig. 7.
6
K vo Vo .
(27)
Vph =
Vph =
Vd2
Vph = 384.3
= 462.2 (V )
9.54
324
300
= 53.4 (A).
Im = 66.75
324
The maximum speed range, the corresponding phase current,
and its d q components can be expressed as follows (the
results are included in Table III):
Vrph 2 3Po L d L q
r
=
(30)
b
be
2L d L q Tem
Tem L q
b
Idph =
3Po L d L q L d r
Ld
Iqph = Idph
Lq
(31)
Vd = be L q Iqm + Rs Idm
Vq = be L d Idm + Rs Iqm
2
(Electrical Speed)
be = b Po
60
(29)
(28)
Vq2 .
cos =
Te i
.
3Po Vrph Im
(32)
336
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 2, JUNE 2014
TABLE IV
PARAMETERS C OMPARISON
(33)
(34)
2
Wir = Wt s + W ys stator total iron weight.
The iron losses can be calculated as follows:
Pir = Wt s (P2 )60H z + W ys (P1.7 )60H z
B max 2 f 2
Where: PB max
. (35)
= (P1.5 )60H z
1.5
60
Since, the base speed is 1800 r/m at 60 Hz, considering the assigned data, Bts = 2B1gm and Bss = 1.7B1gm
and M15 specifications as well (P1.5 )60H z = 7.063 W/kg
(P2 )60Hz = 12.56 W/kg and (P1.7 )60Hz = 9.07 W/kg, which
leads to the machine iron losses at base speed (the results are
included in Table III).
VII. P ROPOSED M ETHOD VALIDITY AND E VALUATION
The dimensions, electrical, and magnetic parameters of a
45 kW SynRM were identified based on the proposed sizing
methodology. To validate and confirm the designed machines
size as well as evaluation of its performance a comparison
with a previously examined machine with the same characteristics as well as the 2-D FEA using designed parameters are
performed, as described below.
A. Comparison of the Designed and Examined Machines
The performance of a 45-kW SynRM with the same characteristics, e.g., rated power, maximum torque, pole pairs,
and number of stator slots has been examined and reported
previously in [21]. Table IV shows the tested machines
specifications (reference machine) compared with the parameters of the machine, which is designed using analytical
and FE method trough the sizing algorithm. The volume ratio
of two machines, Vratio = 15.7/15.9, indicates the size of
the designed machine is extremely close to the reference
machine (Vratio = 0.987). Furthermore, 2-D, i.e., stator outer
Fig. 8.
337
Fig. 11. Torque-current profile of the proposed SynRM with different air
gap lengths.
Fig. 10. D-axis flux density and distribution at base speed (continuous mode).
(/2 + = + i). This gives ( ) and leads to the torque characteristic while considering the rotor angle, which can
be obtained through FEA ( = 10 when i = 32 electrical).
If the ( ) is required, it can be calculated as: = /232+10
therefore, = 68. Compared with ( ), (i) is easier to be
controlled during the FEA simulation because, information of
the d- and q-axis parameters are not required. As it is shown in
Fig. 9, the machine equipped with the proper rotor is capable
of developing assigned torque (300 nm) at the base speed
with low ripple (<12%). This situation is compatible with
the intermediate mode of operation in required torque profile
(Fig. 3). Since the machine is supposed to operate at low
speed with maximum torque, the dominant loss would be the
stator copper loss that imposes a high temperature shock to the
stator winding. In traction applications, an advanced cooling
system, which is composed of a coolant such as water-glycol
can transfer heat from stator body sufficiently and regulate the
temperature at its rated.
These results confirm that the SynRM, which is characterized by the proposed algorithm is capable of meeting the
torque profile.
Fig. 11 shows that the performance of the SynRM is
sensitive to air gap length. To achieve a higher T/A (torque per
ampere), a shorter air gap length is required. However, higher
air gap length is limited by the converter rating because the
machine needs to draw more current at the same torque. In this
figure, the designed SynRM is able to satisfy the desired torque
envelope (Fig. 3) with air gap length of 0.6 mm.
As it was previously mentioned, from traction application
point of view, the maximum developed torque at base speed
and the maximum output power at maximum speed are two
crucial operating points.
Fig. 12 shows the machine input power characteristic
beyond the maximum speed (1800 1.85 = 3300 rpm,
b = 1800 rpm). According to (30), the speed range is
1.85 within which a constant power operation using vector control technique is expected. Low speed range of the
SynRM compared with PMSM, which is due to reduction of
both saliency ratio and power factor beyond designed maximum speed (3330 rpm), causes considerable power reduction.
Therefore, to deliver output power of 45 kW at maximum
338
Fig. 12.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS, VOL. 2, NO. 2, JUNE 2014
Fig. 13.
Fig. 16.
Saliency ratio of the proposed SynRM versus phase current
characterized at two different rotor positions.
339
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