dq axis Modeling of Permanent

Magnet Synchronous Machines

Dr. Lakshmi Varaha Iyer, PhD

NEED FOR PMSM MODEL ?
Variable speed drives are converter-fed from finite sources and are therefore have limitations:

• Battery voltage and current -> cost, cabling, power density, cooling
• Converter voltage and current->cooling, cost, power density, continuous and transient performance,
losses, capacitor sizing, bus bar sizing etc.

Hence, the need to evaluate the dynamics of converter-fed variable speed drives to assess the
adequacy of the converters for a given machine and their interaction to determine the excursions of
currents in the converter and machine.

The dynamic model could be put to use in the design to evaluate the instantaneous effects of varying
voltages/currents, stator frequencies and torque disturbance on the machine and drive systems.
Analyze efficiency, losses, drive cycle system efficiency, parameter changes due to temperature
variation, etc.

Battery Converter PMSM

NEED FOR 2-AXIS PMSM MODEL ?
• The dynamic model of the permanent magnet
synchronous machine (PMSM) is derived using a two-
phase motor in direct and quadrature (hereafter
referred to as dq) axes.

• This approach is desirable because of the conceptual

simplicity obtained with only one set of two windings on
the stator. The rotor has no windings, only magnets

• The magnets are modeled as a current source or a flux

linkage source, concentrating all its flux linkages along
only one axis.

• Constant inductance for windings is obtained by a

transformation to the rotor by replacing the stator
windings with a fictitious set of dq windings rotating at
the electrical speed of the rotor.
REAL-TIME MODEL OF A TWO-PHASE PMSM
The following assumptions are
made to derive the dynamic
model:
1. The stator windings are
balanced with sinusoidally
distributed magnetomotive
force (mmf).
2. The inductance versus
rotor position is sinusoidal.
3. The saturation and
parameter changes are
neglected.
WHY TRANSFORMATION ?
• Note that in the salient pole PMSMs, the inductances are rotor position dependent.
• Then the solution of such equation becomes cumbersome in spite of the greater availability of the
computational power and moreover, the equations in their present form do not provide insight into
machine dynamics.
• If the rotor position dependency is eliminated by transformation, then the equations may become
manageable to obtain fundamental results such as equivalent circuit, block diagram, transfer
functions, and, most of all, the steady-state equations and a phasor diagram.
• They are crucial to the understanding of the machine and its performance both in its steady state and
dynamic operation.
• The next step is to obtain by a transformation the stator voltage equations without the rotor
position-dependent terms.
TRANSFORMATION TO ROTOR REFERENCE FRAMES
• For example, consider for the purposes of control, that it is desirable to have the system variables as
dc quantities although the actual variables are sinusoidal.
• This could be accomplished by having a reference frame revolving at the same angular speed as that
of the sinusoidal variable.
• As the reference frames are moving at an angular speed equal to the angular frequency of the
sinusoidal supply, the differential speed between them is reduced to zero, resulting in the sinusoid
being perceived as a dc signal from the reference frames.
• Then, moving to that plane, it becomes easier to develop a small-signal equation out of a nonlinear
equation as the quiescent or operating point is described only by dc values which then leads to the
linearized system around an operating point.
• Therefore, looking at the entire system from the rotor, i.e., rotating reference frames, the system
inductance matrix becomes independent of the rotor position, thus leading to the simplification and
compactness of the system equations.
• Such advantages are many when using the reference frames.
THREE-PHASE TO TWO-PHASE TRANSFORMATION
• Assuming that each of the three-phase windings has T1 turns per
phase, and equal current magnitudes, the two-phase windings
will have 3T1/2 turns per phase for mmf equality.
• The d- and q-axes mmfs are found by resolving the mmfs of the
three phases along the d- and q-axes.
• The common term, i.e., the number of turns in the winding, is
canceled on either side of the equations leaving the current
equal.
• The q-axis here is assumed to be lagging behind the a-axis by
θr. The relationship between dqo and abc currents is
THREE-PHASE TO TWO-PHASE TRANSFORMATION
• The current io represents the imbalances in the a, b, and c phase currents and may be recognized as
the zero sequence component of the current. Equation 3.28 can be expressed in a compact form by

and the transformation from abc to qdo variables is

TRANSFORMATION TO ROTOR REFERENCE FRAMES
• Substituting the equations, the PMSM model in rotor reference frames is obtained as

where ωr is the rotor speed in electrical radians per second.

• This equation is in a form where the voltage vector is equal to the product of the impedance matrix
and the current vector, with an additional component due to the motional emf of the rotor flux linkages.
• Note that the impedance matrix has constant inductance terms and is no longer dependent on
the rotor position
 dq axis modeling – Summary
• Why Reference Frame theory ?
• Machine inductances vary as a function of rotor speed/position
• Coefficients of differential (voltage) equations are time varying
• Reduce the complexity of differential equations
• dq axis under rotor reference frame for PMSM

[1] P. C. Krause, O. Wasynczuk, and S. Sudhoff, Analysis of Electric Machinery and Drive Systems, Wiley-IEEE Press, 2002.
dq model of PMSM - Summary
NUMERICAL - 1
NUMERICAL - 1

In steady state with sinusoidal input conditions, p = jωs, which is the angular frequency of the input
voltages in the actual stator and in the rotor reference based stator windings. Then by solving the stator
currents in the rotor reference frames using phasors, the currents obtained as are
NUMERICAL - 1
• In steady state, the derivatives of the q- and d-
axes currents are zero in the rotor reference
frames. Currents are found as:
 TORQUE EQUATION OF SYNCHRONOUS MACHINES

S. Morimoto et al, “Optimum Machine Parameters and Design of Inverter-Driven Synchronous Motors for Wide Constant Power Operation” In proceedings of IEEE, 1994.
PHASOR DIAGRAM
STEADY-STATE EQUIVALENT CIRCUITS OF PMSM WITHOUT
CORE LOSSES
(a) Dynamic stator q-axis equivalent circuit.

(b) Dynamic stator d-axis equivalent circuit.

(c) Zero sequence equivalent circuit

Dynamic equivalent circuits of PMSM neglecting core losses.

EQUIVALENT CIRCUITS
• Equivalent circuits are valuable for system studies, especially concerning faults, and can be adapted
to incorporate core losses arising from hysteresis and eddy currents in iron laminations.

• While each variable influencing core losses affects the component differently, a simplified model
using equivalent resistors represents core losses in steady-state equivalent circuits, aiding efficiency
studies and optimal torque operation.

• The insertion of the core loss resistors in the q- and d-axes equivalent circuits demonstrates that the
currents consumed by them are lost for torque generation in the machine and is hence, a drain on
the efficiency.

• Therefore, a neglect of the core losses will lead to an optimistic efficiency prediction and also to an
overrating of the machine by not considering the thermal derating that should be accounted for
together with these additional losses.
STEADY-STATE EQUIVALENT CIRCUITS OF PMSM WITH
CORE LOSSES

(a) Steady-state q-axis equivalent circuit

(b) Steady-state d-axis equivalent circuit

Rotor design vs/ dq axis Inductances
• Regardless of the manner of mounting the PMs on the
rotor, the basic principle of operation of the PM AC
machine is same.
• An important consequence of the method of mounting
the rotor magnets is the difference between direct
and quadrature axes inductance values.
• The rotor magnetic axis is called direct axis and the
principal path of the flux is through the magnets.
• Consider the permeability of high flux density PMs is
almost that of the air. This results in the magnet
thickness becoming an extension of air gap by that • By rotating the magnets from the aligned
amount. position by 90°, the stator flux sees the
interpolar area of the rotor containing only the
• The stator inductance when the direct axis or magnets iron path and the inductance measured in this
are aligned with the stator winding is known as direct position is referred to as quadrature axis
axis inductance. inductance.
Interior vs. Surface PM Machines
Inductances in both IPMSM and SPMSM
D and Q axis Inductances in IPMSM
• Inductance is derived from device dimensions, • Considering only the air gap and magnet
air gap length and number of turns as: reluctance dominant (as the relative permeability of
air is one and that of the high-grade PM is
approximately one) the ratio of the direct axis and
quadrature axis reluctances is derived as

• it is inferred that with the magnet thickness usually

greater than that of the air gap length by many
times, the direct axis reluctance is much higher
than the quadrature axis reluctance in IPMSM.
D and Q axis Inductances in SPMSM
• Inductance is derived from device dimensions, • Considering only the air gap and magnet
air gap length and number of turns as: reluctance dominant (as the relative permeability of
air is one and that of the high-grade PM is
approximately one) the ratio of the direct axis and
quadrature axis reluctances is derived as

• it is inferred that with the magnet thickness usually

greater than that of the air gap length by many
times, the direct axis reluctance is equal to the
quadrature axis reluctance in SPMSM.
Ld=Lq
 Effect of Equivalent Circuit Parameters on Machine Output

m Ld Lq Lq/Ld

S. Morimoto et al, “Optimum Machine Parameters and Design of Inverter-Driven Synchronous Motors for Wide Constant Power
Operation” In proceedings of IEEE, 1994.
Numerical Problem
A Permanent Magnet Synchronous Machine (PMSM) running at 400
rpm has the following parameters:
Poles = 8
Ld = 35 mH
Lq=85 mH 3P 3P
Id = -7.77 A Te = [iqs 0 ] +
'
[( Ld − Lq )iqs ids ]
4 4
Iq=13.33 A
PM flux linkage = 0.65 Wb T

Calculate the Magnet Torque Component (Nm), Reluctance Torque

Component (Nm), Total Torque (Nm), Output Power (kW)

Note : Convert mH to Henry when using in the Torque equation

Numerical Problem
A Permanent Magnet Synchronous Machine (PMSM) running at 400
rpm has the following parameters:
Poles = 8 3P 3P
Ld = 35 mH
Te = [iqs '
0 ] + [( Ld − Lq )iqs ids ]
4 4
Lq=85 mH
Im=Iph/pk = 15.55A; Iph/rms = 11A
PM flux linkage = 0.65 Wb T
Current angle (Gamma) = 30 deg Gamma Im Im_cal
(deg) (Apk/ph) Id (A) Iq (A) (Apk/ph)
Calculate id, iq, Magnet Torque Component (Nm), 90 15.55 -15.55 0.004 15.55
Reluctance Torque Component (Nm), Total Torque (Nm), 30 15.55 -7.77 13.46 15.55
0 15.55 0 15.55 15.55
Output Power (kW)
Id= - Im Sin (Gamma in radians)
Note : Convert mH to Henry when using in the Torque equation Iq=Im Cos (Gamma in radians)
Im = Sqrt (Id2+Iq2)
REFERENCES
• R. Krishnan, Permanent Magnet Synchronous and Brushless DC Motor Drives, CRC Press, 2010
• Papers published by Dr. Lakshmi Varaha Iyer, Dr. Kaushik Mukherjee, and Dr. Narayan Kar
• W. L. Soong and T. Miller, “Field-weakening performance of brushless synchronous AC motor drives,” in Proceedings of
Fifth European Conference on Power Electronics and Applications, 1993, pp. 303-310 vol.5.
• 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 Transactions on Industry Applications, vol. 26, no. 5, pp. 866-
871, Sept.-Oct. 1990.
• W. L. Soong and T. Miller, "Theoretical limitations to the field-weakening performance of the five classes of brushless
synchronous AC motor drive,“in Proceedings of Sixth International Conference on Electrical Machines and Drives
(Conf. Publ. No. 376), 1993, pp. 127-132.
• T. M. Jahns, G. B. Kliman and T. W. Neumann, "Interior Permanent-Magnet Synchronous Motors for Adjustable-Speed
Drives," IEEE Transactions on Industry Applications, vol. IA-22, no. 4, pp. 738-747, July 1986.
• S. Morimoto, M. Sanada, Y. Takeda and K. Taniguchi, "Optimum machine parameters and design of inverter-driven
synchronous motors for wide constant power operation," in Proceedings of IEEE Industry Applications Society Annual
Meeting, 1994, pp. 177-182 vol.1.
Derivation of 2-Axis Model
Voltage Equations
REAL-TIME MODEL OF A TWO-PHASE PMSM
• A two-phase PMSM stator with windings and rotor with PMs is
shown in Figure .
• The windings are displaced in space by 90 electrical degrees
and the rotor winding is at an angle θr from the stator d-axis
winding.
• It is assumed that the q-axis leads the d-axis to an anti-
clockwise direction of rotation of the rotor.
• Note that θr is the electrical rotor position at any instant
obtained by multiplying the mechanical rotor position by pairs
of electrical poles.
• The d- and q-axes stator voltages are derived as the sum of
the resistive voltage drops and the derivative of the flux
linkages in the respective windings as:
where p is the differential operator, d/dt
vqs and vds are the voltages in the q- and d-axes
windings
iqs and ids are the q- and d-axes stator currents
Rq and Rd are the stator q- and d-axes resistances
λqs and λds are the stator q- and d-axes stator flux
linkages
REAL-TIME MODEL OF A TWO-PHASE PMSM
• The stator winding flux linkages can be written as the sum of the flux linkages due to their own
excitation and mutual flux linkages resulting from other winding current and magnet sources. Note
that the rotor flux linkages have a component along the quadrature and direct axes as the rotor flux
linkages are assumed to be concentrated along the axis on the instantaneous rotor position. Then the
q and d stator flux linkages are written as:

where θr is the instantaneous rotor position. The windings are balanced and therefore their resistances
are equal and denoted as Rs = Rq = Rd. The d and q stator voltages can then be written in terms of the
flux linkages and resistive voltage drops as:
REAL-TIME MODEL OF A TWO-PHASE PMSM
• The various inductances are explained as follows. Lqq and Ldd are the self-inductances of the q-
and d-axes windings, respectively.
• The mutual inductances between any two windings are denoted by L with two subscripts where
the first subscript denotes the winding at which the emf is measured due to the current in the
other winding indicated by the second subscript.
• For example, Lqd is the mutual inductance between the q- and d-axes windings measured on the
q-axis winding with a current in the d-axis winding. The symmetry of the q- and d-axes windings
ensures that Lqd and Ldq are equal.
• The inductances in a Permanent Magnet Synchronous Motor (PMSM) are influenced by the rotor
position. Specifically, for the d-axis inductance, when the rotor is at zero position, aligning the
magnets with the d-axis stator winding, the inductance is at a minimum (denoted as Ld). As the
rotor moves counterclockwise, the inductance increases until reaching 90 electrical degrees,
where it is at its maximum (denoted as Lq). This position, known as the quadrature position,
features the d-axis flux path encountering only the iron in the rotor and air gaps, resulting in
maximum d-axis inductance. The self-inductances of the q- and d-axes windings are modeled as
cosinusoidal functions, considering the physical relationship with rotor position.
REAL-TIME MODEL OF A TWO-PHASE PMSM
Hence the self-inductances of the q- and d-axes windings are written in terms of the maximum
winding inductances at the q and d positions and the rotor position as

This representation gives, for instance, Ldd at θr = 0 as Ld and θr = 90° as Lq, as reasoned in the
discussion. They then are compactly represented as

where L1 and L2 are given as

REAL-TIME MODEL OF A TWO-PHASE PMSM
• The mutual inductance between q- and d-axes windings is zero in a cylindrical and smooth rotor,
where the flux from one winding doesn't link with the other at a 90° displacement.
• However, in a PM machine with internal magnets causing rotor saliency, there is partial coupling at
0 and 90 deg rotor position, with maximum coupling occurring at a rotor position of -45°, where the d-
axis primarily links its flux with the q-axis winding. Therefore, assuming a sinusoidal variation, the
mutual inductance between q- and d-axes windings is given by

• Substituting the self- and mutual inductances in terms of the rotor position into the stator voltage
equations will result in a large number of terms that are rotor position dependent.
REAL-TIME MODEL OF A TWO-PHASE PMSM
• The final machine equations then are

• The third term exists because of saliency, i.e., when Lq ≠ Ld. In surface mount magnet machines, the
inductances are equal and, therefore, L2 is zero and the third term in the above equation vanishes.
Also disappearing in the matrix’s second term are the position-dependent terms, resulting in a simple
expression for surface mounted magnet machines in stator reference frames. It is then given by
STEADY-STATE TORQUE CHARACTERISTICS
• A salient pole PMSM is considered in order to generalize the steady-state characteristics of the machine.
A set of balanced polyphase currents is assumed to be the input to the stator windings and is given by

• By using the inverse of the transformation matrix Tr , the stator currents in the rotor reference frames are
obtained as

• Substituting these into the torque expression, the air gap torque is obtained as
where δ is termed the
torque angle as it
directly influences the
air gap torque
STEADY-STATE TORQUE CHARACTERISTICS
• For a typical machine, the air gap torque and its individual components are shown in Figure 3.5 as a
function of the torque angle when the stator current phasor is maintained at 1.29 p.u.
• The stator current phasor is the resultant of the quadrature and direct axes currents and its
magnitude is given by the peak value of the d and q currents, Im.
• The sum of the synchronous (Tes) and reluctance torques (Ter) yields the air gap torque and note that
its peak is at a torque angle/load angle greater than 90°.
MODELS IN FLUX LINKAGES
• The dynamic equations of the PMSM in • The electromagnetic torque as a function of the
rotor reference frames can be flux linkages is obtained by substituting the stator
represented using flux linkages as currents in terms of the flux linkages and is
variables. The stator and rotor flux derived as
linkages in rotor reference frames are
defined as

where the saliency ratio is defined as

• The q- and d-axes stator voltages in

terms of these flux linkages in the rotor
reference frames are as follows:
The second part of the torque expression
conveys a better understanding of the
machine as the air gap torque is the
resultant of the interaction between the d-
axis flux linkages and q-axis current in the
windings and vice versa.