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Streszczenie..W artykule porwnano i ewaluowano rne metody eksperymentalne dla okrelenia parametrw maszyn synchronicznych z
magnesem trwaym. Metody te bazuj na numerycznym cakowaniu, analizie prdowych odpowiedzi czasowych, oraz analizie harmonicznej
poczonej obliczaniem fazorw i impedancji. Wyniki przedstawiane w artykule pokazuj, e parametry dwuosiowego modelu silnika mog by
wyznaczone z wystarczajc dokadnoci nawet wtedy, kiedy trjfazowy silnik zasilany jest z pojedynczego z krokowo zmiennego napicia.
(Okrelanie parametrw trjfazowej maszyny synchronicznej z magnesem trwaym przy uyciu jednofazowego rda napicia)
Keywords: permanent magnet synchronous machine, experimental methods, controlled voltage source, parameters.
Sowa kluczowe: maszyna synchroniczna z magnesem trwaym, metody dowiadczalne, rdo ze sterowanym napiciem, parametry
u [V]
shown in Fig. 1.a). In this position the d-axis inductance can 0
be determined from the measured changing voltage and
-5
responding current. Different voltage wave forms can be
applied. If sinusoidal supply voltage is applied when rotor is -10
slowly moved using and external source of torque, the rotor 0.1 0.15 0.2 0.25 0.3 0.35 0.4
position with maximal current value, corresponding to the
one shown in Fig. 1.d), can be determined. After locking the 4
rotor in this position, the q-axis inductance can be 2
determined from the measured changing voltage and
i [A]
responding current in the same way as in the d-axis. The 0
applied sinusoidal and stepwise changing supply voltages
and responding currents are shown in Fig. 2. -2
-4
i 0.1 0.15 0.2 0.25 0.3 0.35 0.4
a) A
10
Ra , L a 5
u [V]
V u Rb, Lb 0
Rc, Lc -5
-10
0 0.5 1 1.5 2
b) ia 5
A
V ua
i [A]
Ra, La 0
Three- a
phase
b
controlled Rb, Lb
c
voltage Rc, Lc -5
source n
ic 0 0.5 1 1.5 2
A
t[s]
ib V uc Fig.2. Measured sinusoidal and stepwise changing voltages u and
A
responding currents i
V ub
Methods of determining parameters of permanent
magnet synchronous machine
c) d) This paper presents four different methods for
d determining parameters of PMSM. They are based on
measurements of applied voltages and responding currents.
In all methods applied voltages with variable amplitudes,
q d different wave forms and low constant frequency are used.
All results are presented in the form of (i) characteristics.
The (i) characteristics are determined by considering
q voltage equation (1) and Faraday's law by numerical
Fig.1. Schematic presentation: a) single-phase voltage source integration, by Fourier analysis and calculation of
supplied stator winding, supply and sensors; b) three-phase voltage impedances and by analyzing the current time-response.
source supplied stator winding, supply and sensors; c) rotor
position for determined d-axis inductance; d); rotor position for
The reference voltages are sinusoidal or stepwise
determined q-axis inductance changing. Their amplitudes change while the frequency is
kept constant. The same methods are applied on measured
In order to confirm methods for determining PMSM time behaviors of currents and voltages in the cases of
parameters based on the tests with single-phase voltage single-phase and three-phase voltage supply.
source, the tested PMSM is supplied also with the three- Method I: Applied sinusoidal voltage and responding
phase voltage source (Fig. 1. b)). It is composed of three current are measured. The measurements are performed at
linear amplifiers controlled in the d-q reference frame. variable amplitudes (1 - 7 V) and constant frequency (10
During the tests, d-axis is first aligned with the magnetic Hz) of supply voltage. The first method is based on
axis of the phase a winding by supplying this winding with numerical integration described by (3):
DC voltage. In the given position the rotor is locked for all
t
tests. The tests are performed in the d-q reference frame by
supplying the tested machine with stepwise changing and (3) t u Ri d 0
sinusoidal voltages (Fig. 2.) as in the case of single-phase 0
d [Vs]
Method III: The third method can be applied only for 0
sinusoidal voltages with constant frequency. The METHOD II
measurements are performed at variable amplitudes (1 - 7 -0.05
V) and constant frequency (10 Hz) of supply voltage. It is
based on Fourier analysis combined with calculation of -0.1
phasors and impedances. Considering only the
fundamental harmonic components, expressions (4), -0.15 METHOD IV
defined below, can be used to determine the (i)
characteristic. The flux linkage is calculated using the -0.2
-6 -4 -2 0 2 4 6
R.M.S. (root-mean-square) values of voltage and id [A]
responding currents (4):
Fig.4. d(id) characteristics for d-axis determined with single-phase
voltage supply
U P 1
(4) Z ,R 2, L Z 2 R 2 , 2 LI
I I 2 f Fig. 5. shows the comparison of d(id) characteristics
determined by the four methods for q-axis in the case of
where Z is the impedance, U and I are the R.M.S. value of three-phase voltage supply. In this case the q-axis current
measured voltage and current, P is the active power, R and equals zero. The results obtained by the methods II to IV
L are the ohmic resistance and the inductance. are close, while the results obtained by the method I differs
Method IV: This method can be applied only for a bit more due to the extremely high sensitivity to the
stepwise changing voltage. The measurements are incorrect values for ohmic resistance.
performed at variable amplitudes (1 - 7 V) and constant
frequency (1.43 Hz) of supply voltage. The inductances L 0.2
and (i) characteristics are determined from the time METHOD III
constant (5) of current time-response. The current time 0.15
response is treated as a response of first order element
(Fig. 3). After the change, the applied voltage and 0.1
responding currents must reach the steady-state. Their METHOD I
quotient is used to determine the resistance R required in 0.05
(5). The time constant is determined form the measured
d [Vs]
L -0.05
(5) L R , i Li
R
-0.1 METHOD II
-0.15
U
t
U
i 1 e
t i 0.632
R R -0.2
-6 -4 -2 0 2 4 6
id [A]
Fig.5. d(id) characteristics for d-axis determined with three-phase
voltage supply, iq = 0