The PMSM SH model defines the Inductance Matrices Ld and Lq within a three-dimensional table stored in an RTT motor model file. Because the tables are three-dimensional rather than two-dimensional, the PMSM SH model can provide higher fidelity than the PMSM BLDC model. Please see Permanent Magnet Synchronous Machine Models Comparison for a comparison of the PMSM SH and PMSM BLDC models.
Configuration Page
In the System Explorer window configuration tree, expand the Power Electronics Add-On custom device and select Circuit Model >> PMSM SH to display this page. Use this page to configure the PMSM SH machine model.
This page includes the following components:
| Machine Model Settings | |
| Name | Specifies the name of the machine model. |
| Description | Specifies a description for the machine model. |
| Motor Configuration | |
| Model File | Specifies the path to the 3D Motor Model file on disk. Refer to JMAG-RT RTT File Generation Recommendations for details regarding the file format. The following standards are supported:
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| Enable | Enables the motor to execute. By default, the first PMSM SH instance is enabled, however, it is recommended to disable unused motors for an optimal timestep. |
| Solver Timestep (s) | The timestep at which the machine model executes Every Ts, new outputs are computed by the FPGA machine model. By default, this is set to the minimum achievable timestep. |
| Input Mapping Configuration | |
| Use the Input Mapping Configuration to route signals to the Voltage Phase A, Voltage Phase B, and Voltage Phase C inputs of the machine model. Available routing options may vary depending on the selected Hardware Configuration. | |
Group | Specifies the group that will be routed to the input voltages of the machine. The available routing options are defined by the selected Hardware Configuration, however it is typical to see the following options by default:
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Element | Specifies the index of the measurement in the group that has been selected as the input voltage of the machine. |
Section Channels
This section includes the following custom device channels:
| Channel Name | Symbol | Type | Units | Default Value | Description | |||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Current Phase A | Ia | Output | Ampere | 0 A | Phase A current measured at the stator | |||||||
Current Phase B | Ib | Output | Ampere | 0 A | Phase B current measured at the stator | |||||||
Current Phase C | Ic | Output | Ampere | 0 A | Phase C current measured at the stator | |||||||
| Average Voltage Phase A | Va,avg | Output | Volts | 0 V | Averaged Phase A voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159 Hz
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| Average Voltage Phase B | Vb,avg | Output | Volts | 0 V | Averaged Phase B voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159 Hz | |||||||
| Average Voltage Phase C | Vc,avg | Output | Volts | 0 V | Averaged Phase C voltage measured at the stator. The voltage is processed through a low-pass filter with a cutoff frequency of 159 Hz | |||||||
| Three Phase Active Power | P | Output | Watts | 0 W | Three-phase instantaneous active electrical power in Watts See Power Equations for more information on how this is calculated. | |||||||
| Three Phase Reactive Power | Q | Output | Volt-ampere reactive | 0 var | Three-phase instantaneous reactive electrical power in vars See Power Equations for more information on how this is calculated. | |||||||
| Direct Stator Current | Id | Output | Ampere | 0 A | Direct-axis stator current in the reference frame aligned with the rotor For a description of the DQ-transform used to compute this value, see D-Q Transform | |||||||
| Quadratic Stator Current | Iq | Output | Ampere | 0 A | Quadrature-axis stator current in the reference frame aligned with the rotor For a description of the DQ-transform used to compute this value, see D-Q Transform |
Model Description
Permanent Magnet Synchronous Machines are common electrical machines in the the automotive and transportation industry. The PMSM is usually chosen because of its excellent power density (produced power over size or weight) or its capability to reach higher speed than others motor types. However, controlling a PMSM is usually more challenging when compared to other machine types. Since it is a synchronous machine, the controller must be aware of the rotor position at all times in order to properly control the torque. In addition, there is a chance of de-fluxing the magnet if the control is not stable, which would lead to a modification of the machine properties.
The following figures illustrate the equivalent circuits of the PMSM motor model in the abc-frame and in the D-Q frame.
Figure 1. Electrical Model for PMSM
Figure 2. Electrical Model for PMSM in the D-Q frame
where Labc are the phase inductances, Rabc are the stator resistances, Vabc are the instantaneous voltages across the stator windings, Vbemf,abc are the phase to neutral voltages induced by the electromotive forces, Vdq are the direct-axis and quadrature-axis stator voltages in the reference frame aligned with the rotor, Ldq are the direct-axis and quadrature-axis inductances of the machine, ωe is the electrical speed of the machine, and ψM is the permanent magnet flux linkage
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