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LD 13 025
1 6
Experimental Identification of Fundamental Modeling for Non-salient PM-type Synchronous Actuators
Yuta Yamamoto (The University of Tokyo), Taichi Nakamura (West Japan Railway Company)
Ryuji Watanabe, Yasuhiro Takada, Takafumi Koseki (The University of Tokyo), and Yasuaki Aoyama (Hitachi Research Laboratory)
Electric propulsion system in marine industry has been one of the attractive solutions for energy saving and
reducing running costs. Transverse flux-type machine (TFM) has been developed as a direct-drive propulsion motor called for high torque at low speed and high reliability without gearbox simultaneously. This manuscript describes experimental verification of performance on the TFM, which authors have proposed, in accordance with classical and systematic theory of synchronous machinery. Furthermore, comparison of characteristics identified between numerical study based on finite element method (FEM) and experiment is also conducted. Ultimately, the problems of the proposed motor are clarified for new prototype model design.
V ,
(Transverse flux-type motor, TFM, direct-drive motor, DDM, ship propulsion, permanent magnet synchronous machine, PMSM, new V-curve, load test, equivalent circuit, finite element method, FEM)
1.
, . , ,
. , , IMO
, 2013 1 EEDI(1), CO2
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(2) (3). ,
,
, FEA
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2.
2 1
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1 , , , 2 , .
Ra
E0
Is
Xs
R X 1
Fig.1 Procedure for model identification of non-salient type synchronous machine (SM).
2 6
Idc
Vuv
IdcIuvw
(a) DC voltage drop test
Vuv0v000uvw
uvw
uvuvvvww
(b) No-load test
uvw
u
w
uvvuvvvvww
IsIsII
(c) Three-phase short-circuit test
2 Fig.2 Experiments to identify model of SM.
A.
, ,
, .
B.
, If , E0
, If – E0 . C.
, If , Is , If – Is .
B C E0,n, Is,n
Zs , , A,
Xs , . 2 2
PMSM , ,
. ,
, . 12 ,
PMSM .
, Ke Kt
. 2 3 2. 2
3 . , 3 , V, E0
, Ra, Xs
, ia Ia
√3 , , ,
. , ia d-q.
3.
3 1 ,
(3) . 41 .
d, q (4)
. , , β
FEA , .
Ra Xs
V E0
ia
3
Fig.3 Equivalent circuit model of Non-salient type SM.
4 3
Fig.4 Structure of proposed synchronous actuator and 3-D element mesh for finite element analysis (FEA).
(757,194 elements, 195,648 nodes)
3 6
1Table 1 Specification of proposed synchronous actuator
Symbol Item FEA value
2p Pole Number 50 poles Ra Armature Resistance 7.58 Ω Ld, Lq d, q-axis Inductance 142 mH Ke Back EMF Coefficient 0.208 Vs/rad Kt Torque Coefficient 5.20 Nm/A f Rated frequency 35 Hz PF Power Factor 0.646 J Current Density 5.0 Arms/mm2
τcog Cogging to Output Torque Ratio 2.4 % τ Torque density 5.7 Nm/l
3 2 5
. , 270 rpm, 10 Nm, DDM . DDM
DC. ,
, .
, DDM, SUS T
,
, . , , Ra=8.06Ω
, . A.
6 , DDM.
DD , , 7
Nr E0 , , Ke Ke
p Kt .
Ke =ϕ f =E0ω=E0pωm
=E0
p ⋅2π Nr60
~ 0.191Vs / rad. ....... (1)
Kt =Tiq= pKe ~ 4.78Nm / A ..................................... (2)
, (1), (2) φf, ω, ωm, p, T, iq , , , ,
, , q . B. (5)
8 , 3A.
Is . ,
5
Fig.5 Experimental setup for basic model identification.
6
Fig.6 Configuration in no-load EMF test.
0 60 120 180 240 3000
30
60
90
120
150
Rotating speed Nr [rpm]
Ope
n-ci
rcui
t lin
e vo
ltage
E0 [
Vrm
s]
7
Fig.7 No-load line voltage with respect to speed.
8
Fig.8 Configuration in three-phase short-circuit test.
, , ,
, . ,
4 6
, . ,
, , Is .
Is ~1.80Arms ........................................................ (3)
, Ks , 1.29, .
, Zs, Xs, Ls ,
Zs =E0Is=KeωIs~ 23.3Ω ........................................... (4)
X s = Zs2 − Ra
2 ~ 21.9Ω ........................................... (5)
Ls =X s2π f
~ 99.6mH ................................................ (6)
. 2 FEA .
, , , Ra, Ls, Ke
FEA , . ,
. , PMSM , ,
, , .
, 2 , ,
. ,
, , ,
. , 10%
. , ,
, . , ,
, .
2 FEA
Table 2 Comparison of FEA with experimental value. Item FEA value Experiment Error
Armature resistance 7.58 Ω 8.06 Ω 5.96 % d, q-axis Inductance 142 mH 99.6 mH 42.6 % Back EMF Coefficient 0.208 Vs/rad 0.191 Vs/rad 8.17 % Power Factor 0.646 0.757 14.7 %
4.
4 1 , . ,
, . ,
. , 9 . ,
V δ . .
, δ , V, I
V-I V . ,
, ,
, , .
, δ ≥0 , E0 = E0 e j0 , ia ,
ia =Ve jδ − E0e
j0
Ra + jX s ...................................................... (7)
. 10 d-qπ/2 rad. d-q .
id =X s cosδ − Ra sinδ( )V − X sE0
Ra2 + X s
2 .............................. (8)
iq =Ra cosδ + X s sinδ( )V − RaE0
Ra2 + X s
2 ............................... (9)
Ra Xs
V = Ve jδ E0 = E0 e j0
ia
V
9
Fig.9 Equivalent circuit for motor operation. q-axis
d-axis
ia
id
iqβ
ii
βiqqiββ
aaaββ
iaaiiββββ
ii
δ
βββφV
Raia
E0Xsia δ
Raaiaaaa
10
Fig.10 Phasor diagram for motor operation.
5 6
Pc Q >0Pi, Qi .
Pi = Re Via( ) = VRa2 + X s
2RaV + X s sinδ − Ra cosδ( )E0{ } (8)
Qi = Im Via( ) = VRa2 + X s
2X sV − X s cosδ + Ra sinδ( )E0{ } (9)
, φ , .
Pi =Via cosϕ ......................................................... (10)
, Po ,
Po = Pi − Raia2 ......................................................... (11)
, T ωm Po , , q . η , (10) (11)
T =Poωm
= Ktiq ........................................................ (12)
. , , , .
, , ,
, (12) q, d
. , d, qβ , (8) δ ,
φ δ–β , . 4 2 11 14
. , DDM,
. ,
, .
11
Fig.11 Configuration in load test for generator operation.
12
Fig.12 Experimental setup for load test of generator.
uuu v w
Ifg Va=VfIamIfm
VinVinininnVVV Iin
T
Pinn
inVV
Pout
13
Fig.13 Configuration in load test for motor operation.
14
Fig.13 Experimental setup for load test.
, , DDM,
(DCM) (SG) MG . , , DDM
, , DDM .
, , . ,
, PMSM d,q,
, , ,
. ,
, 50Vrms, 80Vrms 2 . , DDM , , MG
. ,
, , . 15, 16, – . 15 ,
. , 16.
, , ,
, ,
V–I , , , d
6 6
, , .
17, 18 , 16
. , ,
, d , . , .
, 50Vrms , , , ,
16 , , . , 80Vrms ,
, , . ,
, .
5.
,
. ,
. , , FEA ,
,
. ,
. , 4 ,
, .
(6), , ,
.
( ) International Maritime Organization: “Emission from fuel used
for international aviation and maritime transport”, Subsidiary Body for Scientific and Technical Advice (SBSTA 35) (2011)
( ) H. Weh et al.: “New Permanent Magnet Excited Synchronous Machine with High Efficiency at Low Speeds”, in Proc. IEEE Elect. Mach. Conf. (1988)
( ) T. Nakamura et al.: “A low-speed high-torque permanent magnet synchronous motor – Reducing cogging torque and eddy current loss – ”, Journal JSAEM, Vol.20, No.2, pp.410-415 (2012)
( ) PM dq DVol.113, No.1 pp.1330–1331 (1993)
( ) JEC–TR21001 (2006)
( ) S.M. Husband et al.: “The Rolls-Royce transverse flux motor development”, IEEE Elect. Mach. Drives Conf., Vol. 3, pp.1435-1440 (2003)
0 10 20 30 40 50 600
0.5
1
1.5
2
2.5
3
3.5
Arm
atur
e cu
rren
t [A
rms]
Terminal voltage [Vrms]
Calculation Measurement PF 1.00lagging leading lagging leading 0.80 0.60 0.40 0.20
15
Fig.15 Load characteristics of generator.
0 10 20 30 40 50 60 70 80 90 1000
1
2
3
4
Arm
atur
e cu
rren
t [A
rms]
Terminal voltage [Vrms]
Calculation Power angle δ [deg] 0 15 30 45 60 75 90
Heavy load
Measurement Vin [Vrms] 50 80
16 V
Fig.16 New V-curve for load characteristics of motor.
0 0.5 1 1.5 2 2.5 30
0.5
1
1.5
2
d-axis current id [A]
q-ax
is c
urre
nt i q
[A]
50Vrms80Vrms
17
Fig.17 Locus of current vector in motor operation.
0 15 30 45 60 75 9002468
10
Torq
ue T
[Nm
]
Current phase β [deg]
50Vrms80Vrms
18
Fig.18 Torque with respect to current phase.
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