IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

copper loss are large, because the iron core of the stator in the

Permanent-Magnet Synchronous Machine Steady

State
Pilicita Veloz Santiago David, EPN Student
Abstract In this paper a study is made to the permanent
magnet synchronous machine (PMSM), the analysis will be
performed in a steady state of the machine when operating in
motor mode and generator, respectively, a study of the
advantages and disadvantages of the machine will be made in
each mode, and the equivalent circuit and equations that
determine the parameters of the motor and generator is
displayed. Finally indicate the advantages that these types of
machine presented in front of synchronous machines, induction
and DC with their respective applications, in this paper the
methods of control is studied in order to boot the machine.
Index TermsPM (Permanent Magnet), PMSM (Permanent
Magnet Synchronous Machine), SM (Synchronous Machine)

I.

INTRODUCTION

small machine generally does not have annealing and the

resistance of the stator windings is comparatively large.[3]
Nevertheless, PMSM used widely in the industries such as
automobile, medical instruments, computer industries and etc.
There are three types of PMSM that are being used in the
industry:
1) Surface mounted: In this type of machines,
the PMSM are mounted inside of the rotor.
The simplicity of the buildings this rotor is
one the advantages of this type of machines.
2) Interior mounted: In this type of machine,
the PMSM materials are mounted inside of
the rotor. This method increases the
durability of the machine but has harder
manufacturing process.
3) Interior Transverse: In this type PM
materials are mounted in a way so that the
flux is distributed in the axial direction of
the machine rather than radial. This

HE Permanent Magnet Synchronous Machine

(PMSMs) are increasing applied in several areas such
as traction, automobiles, robotics and aerospace
technology.[1]
II. EQUIVALENT CIRCUIT MODEL OF THE PMSM
The advantage of SM (synchronous machine) over their
machines are their efficiency in higher power and their ability This paper present the traditional dq axis model of the
to control the terminal voltage and reactive power very easily. machine.
The disadvantages of them are their magnetic
A. St
field and the brushes, the magnetic field of the
r
machine is provided by an external DC source
u
through the machines brushes. [2]
ct
The DC exciting of the field winding in the
ur
SM can be provided by permanent magnet.
e
The advantage of PMSM are the elimination
of
of copper losses in the rotor winding, higher
efficiency, simpler construction, smaller size
and lower weight.[2]
The disadvantages of them are the high
price of the PMSM and the variation of the
PM characteristic with the time.
The machines can be used as motors or Fig. 1. Structure of the PMSM
generators, depending on the application in
which its use is required, as mentioned this
the Permanent Magnet Machine
machine is preferred by its characteristics.
PMSM can be designed which is smaller size but more
The across-sectional layout of a surface mounted permanent
efficient as compared to induction machine. Besides, PMs magnet motor is shown in Fig 1.
have been employed as an alternative to current carrying coils
for magnetic field excitation in synchronous machines for over
The stator carries a three-phase winding, which produces a
50 years. The lack of slip rings, brushes and field winding near sinusoidal distribution of magneto motive force based on
losses have always been viewed as distinct advantages over the value of the stator current. The magnets are mounted on
that of conventional wound field machines. However, when the surface of the motor. They have the same as the field
the machine size becomes small, the efficiency becomes low. winding in a synchronous machine except their magnetic field
This is mainly due to the reason that the iron loss and the
is constant and there is no control on it.

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

B. Equivalent dq0 model of the PMSM.
The equivalent circuit of the PMSM shown in Fig 2 and Fig
3 is similar to the one for the SM; it has the armature
resistance Rs , d and q axis leakage and mutual inductances
Is , Lmd and Lmq.[1]
The next figures shown the equivalent circuit in Q axis and
the D axis, the equivalent circuit can be used for analysis for
determine the respective parameters of the machine
The rotor magnet can be considered as a loop of constant
current source, i m located at the stator direct axis. Any
change in the magnetic flux of the rotor magnet will cause an
induced electromagnetic force, resulting in a circulating
current in the magnet. Essentially resistance
Rm
connected across the direct-axis
magnetization inductance Lmd shows this
effect.[2]
There is no leakage inductance in the field.
The permeability of the magnet material is
almost unity so the air gap inductance seen by
the stator is the same in direct and quadrature
axes and also no saturation will happen inside

d d
Vd Rs id q
dt
d f
Rm i m R m i f
dt
d q
Vq Rs iq d
dt
d
0
L s Lm Lm

L
L
0
f
m
m

Ls Lm
0
0
q

The magnet is modeled by a current source

to the resistance

i m parallel

Rm . This part of the circuit can be

modeled as a
thevenin
equivalent
circuit, so that
the direct axis
equivalent

Fig. 2. Equivalent Circuit Dq0 of the PMSM D axis.[1]

Fig. 5. D axis thevenin equivalent circuit of the PMSM

Fig. 3. Equivalent Circuit Dq0 of the PMSM Q axis.[1]

the machine.[4] Fig. 4 shows the demagnetization curve of the

magnet that can be divided into three regions by three lines,
called no-load, rated-load and excessive-load lines.
We always try to not enter the excessive load region;
otherwise the magnet is in danger of being damaged.
The equations for the dq0 model of the Permanent Magnet
Synchronous Machine are:[1]

Fig. 4. Demagnetization curve of the permanent magnet.

circuit of the machine will be the circuit shown in Fig. 5

This model is similar to the conventional equivalent circuit
of the synchronous machine, except there is no leakage
inductance on the field.
C. PMSM operates: Three-Phase Sinusoidal Model
Electrical System and Three-Phase Trapezoidal
Model Electrical System
The Permanent Magnet Synchronous Machine block
operates in either generator or motor mode. The mode of
operation is dictated by the sign of the mechanical torque
(positive for motor mode, negative for generator mode). The
electrical and mechanical parts of the machine are each
represented by a second-order state-space model.
The sinusoidal model assumes that the flux established by
the permanent magnets in the stator is sinusoidal, which
implies that the electromotive forces are sinusoidal.
The trapezoidal model assumes that the winding distribution
and flux established by the permanent magnets produce three
trapezoidal back EMF waveforms.[5]
The block implements the following equations.
1) Three-Phase Sinusoidal Model Electrical
System
These equations are expressed in the rotor reference frame
(qd frame). All quantities in the rotor reference frame are
referred to the stator.[5]

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

Lq
d
1
R
id
Vd
id
p m i q
dt
Ld
Ld
Ld

d
1
ia
(2v ab v bc 3R s i a p m (2 a b c ))
dt
3L s

L
p m
d
1
R
iq
Vq
i q d p m i d
dt
Lq
Lq
Lq
Lq

d
1
ib
(v ab v bc 3R s ib p m ( a 2b c ))
dt
3L s

Te 1.5 p[i q ( Ld L q )i d i q ]

d
d
d
i c ( i a
ib )
dt
t
dt
Te p ( a .i a b .ib c .i c )

The Lq and Ld inductances represent the relation

between the phase inductance and the rotor position due to the
saliency of the rotor.[5]
TABLE I
PARAMETERS OF EQUATION PMSM SINUSOIDAL MODEL
Symbol

L q , Ld
R

i q ,i d
V q ,V d
m

Definition
Q and D axis inductances.
Resistance of the stator windings
Q and D axis currents
Q and D axis voltages
Angular velocity of the rotor
Number of the pole pairs
Amplitude of the flux induced by
the permanent magnets of the
rotor in the stator phases.
Electromagnetic torque

T e2) Three-Phase Trapezoidal Model Electric

System
These equations are expressed in the phase reference frame
(abc frame). Note that the phase inductance Ls is assumed
constant and does not vary with the rotor position.[5]

III. PERMANENT MAGNET SYNCHRONOUS (PMS) MOTOR

AND PERMANENT MAGNET SYNCHRONOUS (PMS)
GENERATOR.
As mentioned above, the synchronous permanent magnet
machines can operate as a motor or generator depending on
the area in the graph torque vs speed, where this working, if
the torque is positive is working as a motor and if the torque is
negative, the machine is working as a generator.
A. Permanent magnet synchronous generator
1) Time domain analysis:
This model considers a winding for the field and two
damper windings for damping the oscillations of the machines
in transients. PMSG (Permanent Magnet Synchronous
Generator) dont have exciting winding and if they are
connected to the grid through power electronics converter,
they dont need damper winding. Therefore, the equations can
be simplified more.[2]
The Fig 6 shows the arrangement of the three phase
windings of the stator and PM rotor. The PM rotor is also
considered salient rotor so that we can extend the equation for
cylindrical as well.[1], [2]
The rotor has two axes. The axis that is aligned with rotor
and flux is called d-axis and the perpendicular axis to d-axis
called q-axis. The flux caused by PM is in the direction of the
d-axis. The angle between stator axis and d-axis is called
e . y m are the angle of stator mmf respect to q-axis
and stator axis respectively.
Following assumptions are also considered to model the
PMSG:
TABLE II
PARAMETERS OF EQUATION PMSM TRAPEZOIDAL MODEL
Symbol

Ls
R

i a , i b ,i c
V ab ,V bc
m

Te
a , b , c

Definition
Inductances of the stator windings.
Resistance of the stator windings
a, b and c phase currents
ab and bc phase to phase voltages
Angular velocity of the rotor
Number of the pole pairs
Amplitude of the flux induced by
the permanent magnets of the rotor
in the stator phases.
Electromagnetic torque
a, b and c phase electromotive

There is no damper winding.

The machine has two poles.
Saturation is negligible.
Eddy current and hysteresis losses are neglected.

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

Power losses are considered constant.
This paper we study the steady state behavior of the system,
the next equation represented to convert the parameters from
d-q axis back to stationary frame.

counter clockwise. The reference axis is selected to be the Aphase axis of the stator windings; the initial rotor position and
=0 deg. mech. is defined when stator A-axis and rotor N-pole
axis (d-axis) are in accordance.[6]
Permanent magnet generators (PMG's) or alternators
(PMA's) do not require a DC supply for the excitation circuit,
d e

v qs
Rs 0 iqs

qs
nor do they have slip rings and contact brushes. The future

dt d

ds
economics of PMA's or PMG's as they are sometimes called is
0 Rs ids
v ds

e dt
now largely controlled by China as they have the global
Where: e is the electrical angular velocity.
monopoly on neodymium material used to make the most
The last equation consist of two part, which is the transient powerful and also the most desirable types of magnets used
part and includes the derivation. We can ignore the derivation today. The flux density of high performance permanent
magnets is limited giving China an unfair advantage in setting
part.
the global price. A key disadvantage in PMA's or PMG's is
The load torque of the PMSG is derived by:
that the air gap flux is not controllable, so the voltage of the
3 P
Te ( )( ds i qs qs i ds )
machine cannot be easily regulated. A persistent magnetic
2 2
field imposes safety issues during assembly, field service or
Where P is the number of poles of the machines.
repair. High performance permanent magnets, themselves,
The Mechanical equation is.
have structural and thermal issues. Torque current MMF
d m
Tm Te B m J
vectorially combines with the persistent flux of permanent
dt
magnets, which leads to higher air-gap flux density and
Where B is the friction coefficient, m is angular eventually, core saturation. In this permanent magnet
velocity of the rotor, and T m is the mechanical torque that alternators the speed is directly proportional to the output
voltage of the alternator.[7]
is produced by wind turbine.
3) Application: Wind turbine
2
m s
The
PMS
Generator is used in the wind turbine, for
P
produces
energy
electrical.
The generator active and reactive power can be obtained
Self-excitation
brings about various benefits. One is the
by.
elimination of
3
Pg ( ds i ds qs i qs )
the
rotor
2
copper losses.
3
Hence PMSG s
Q g ( qs i ds ds i qs )
2
are
more
The last equations above express the steady
efficient
state behavior of the machine. However, to
compared
to
analyze the machine in the power system the
WRSG
s.
model given in Fig 7.[2]
Unlike WRSG
Our study considers the operating point of
no
external
the machine somewhere close to the nominal
power
supply
is
Fig. 7. Equivalent circuit to analyze generator in power system
value when flux weakening windings is not in
needed.
The
effect.[2]
maintenance is
eliminated
After all analyzes we can obtain the
since brushes
following equations.
and slip rings
as well as the
rotor windings
are removed.
Fig. 6. The configuration of the winding and PM in the PMSG.
The common
issue
with
WRSG
is
the
Rs
e

X d I qs
v qs
e m
relation between the frequency induced and the mechanical

e X b
I 0
speed of the rotor. When the wind speed changes, the rotor

ds
v ds
b q R s
speed and thereby the frequency of the induced voltage
The capital letter represent the parameters in the steady changes. However, in variable speed applications with PMSG
this is usually not of concern since the generator is connected
state. X d and X q are d and q axis reactance. b
to the grid through a converter that will adapt the frequency of
is the nominal speed of the generator.
the induced voltage to the grid frequency. One other
2) Steady-State Characteristics
consideration is that, unlike WRSG, the field provided by
The armature currents I and rotor positions along one pole
magnets is not controllable. Thus, it is not possible to regulate
pitch, are arbitrary selected. The rotation is supposeed to be
the voltage and the reactive power. In variable speed wind

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

systems, this is, usually, not an issue since the grid-sideconverter regulates the output voltage and the power factor is
determined by the grid. Lower maintenance requirements and
thus lower cost are the main reasons why PMSGs are
proposed with variable speed wind systems.[8]
Yet another issue that needs to be considered is the risk of
demagnetization of magnets due to the temperature rise; the
magnets can be partially or fully demagnetized. In partial
demagnetization the magnetic properties are weakened.
In full Permanent magnet synchronous motor
demagnetization magnetic properties are completely lost and
they require remagnetisation which is a tedious task and in
some cases impossible and a new rotor is required. Thus a
thermal study is suggested to guarantee that the magnet
working temperature is, in any conditions, preserved low.
Additionally, the partial demagnetization is usually a case
during a short circuit where some parts of the magnets are
exposed to high opposing magnetic fields. [8]
B. Permanent Magnet Synchronous Motor
1) Steady-state synchronous Model
Upon considering synchronous behavior of this system, it is
only a matter of setting the derivative terms to zero and
r = or s = 0. Due to i D =i Q=0 , in terms of and
the system equation in reduced order form is given as.
3V sin

r1 X q I d

X d r1 I q
3V cos 3 E o
Where is the torque angle. Therefore, can be easily
solved to get.
id
3
i 2
r

X
1
d Xq
q

V ( X q cos r1 sin ) E 0 X q

V ( r1 cos X d sin ) E 0 r1

Correspondingly, the torque can be reduced to:

Te P[( Lq Ld )i d i q Lmd i q i f ]

Te

3P E 0V
V2 1
1
[
sin
(

) sin( 2 )]
Xd
2 Xd
Xq

Te [Te1 sin Te 2 sin( 2 )]

where :
Te1

3P E 0V
Xd

Te 2

3P V 2 1
1
(

)
2 Xd
Xq

and P is pole pairs, V is per phase applied voltage. Compared

with a conventional synchronous motor, for which
X d > X q , the reluctance torque T e2 is reversed in
sign. It implies that at normal supply voltage, the total torque
can be negative between
=0 and = 0 as
indicated in Fig. 8, and since
=0 is generally an
unstable point, the no-load operation of a PM motor is at
= 0 .[9]
2) Steady-State Characteristic.
In the engineering practice, the intention of researchers,
producers and users is always focussed to an estimation,
analysis and evaluation of the electric machine behaviour. For
that purpose, it is requested to have available performance
characteristics, as accurate as possible.
The armature currents I and rotor positions along one pole
pitch, are arbitrary selected.
The rotation is supposed to be counter clockwise. The
reference axis is selected to be the A-phase axis of the stator
windings; the initial rotor position and =0 deg. mech. is
defined when stator A-axis and rotor N-pole axis (d-axis) are
in accordance. [6]
The PMSM is analysed at different operating conditions.
Numerical calculations of the most relevant electromagnetic
and

Substituting the last two equation obtain the overall torque

characteristic of a brushless PM synchronous motor. At this
stage, it is necessary to clarify one of the distinguishing
Ld < Lq Since
features of interior PM motors, that is,
permanent magnets usually have a relative permeability close
to that of the free space, for an interior-type PM motor the
magnet thicknesses appear as large-series air gaps in the d-axis
magnetic flux paths. The q-axis magnetic flux can pass
through the ferromagnetic pole pieces without crossing the
magnet and therefore the stator phase inductance is noticeably
higher with q-axis rotor orientation.[9]

Fig. 9. Magnetic flux density characteristic Bg=f(,I)

Fig. 8. Typical torque characteristic of an interior-type PM ac motor

electromechanical quantities, based on the FEM postprocessing results, are presented in the following subsections.
[6]
Magnetic flux density:

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

The flux density B is calculated from the basic relation used in
the definition and introduction of the magnetic vector potential
A, in the computations of the magnetic field with Finite
Element Method. The equation defining the link between A
and B is:
VxA B
Applying the numerical procedure for its solution in the airgap domain, magnetic flux density Bg per pair of poles is
computed. In Fig. 8, characteristics of the flux density, for
three typical armature currents I (zero, half of the rated and
rated) and different rotor positions along one pole pitch
(060 deg. mech.) of the motor are presented.

Magnetic Field Coenergy:

In linear magnetic field problems, the magnetic energy W
and the coenergy W' are equal. But, in the most cases, the
problem is non-linear, so the coenergy is computed by using:

Fig. 9. Magnetic co-energy characteristic W=f(,I)

W'

1
J . AdV
2 V

In fact, this quantity has no physical explanation, but it is

very useful for calculation of the electro-magneto mechanical
quantities when an energy concept is applied. [6]
For the quasi static model of the PMSM, electromagnetic
co-energy W' is calculated numerically from the following
expression:
1

W ' ( , I ) ( I , )
0

const
The magnetic coenergy is calculated in dependence of the
position of moving parts in the domain (the rotor) at arbitrary
selected armature current. The calculated characteristics are
presented in Fig. 10.
Electromagnetic Torque:
The knowledge of the static torque characteristics is very
important issue for carrying out analysis and evaluation of
behaviour of electric motors. For calculation, various

approaches exist. In theory, the torque is computed from the

field solution in a number of various ways. Three approaches
for calculation are in practical use: FluxCurrent Method, the
Maxwell Stress Method and Virtual Work Method. In this
paper, the energy concept for numerical calculation of torque
in the PMS Motor is applied.[6]
The electromagnetic torque Tem is effected by the variation
of the magnetic field coenergy in the air-gap domain, at virtual
displacement of the rotor, while the armature current is forced
to be constant.[6]
C. Applications
1) Speed Control of PM Motor
Many applications, such as robotics and factory automation,
require precise control of speed and position. Speed Control
Systems allow one to easily set and adjust the speed of a
motor. The control system consists of a speed feedback
system, a motor, an inverter, a controller and a speed setting
device. A properly designed feedback controller makes the
system insensible to disturbance and changes of the
parameters.[10]

2) Servo Motors
The permanent magnet motor drives have the following
advantages over the induction motor.[11]
The rare earth and neodymium boron PM machine
has a lower inertia when compared with an IM
because of the absence of a rotor cage; this makes for
a faster response for a given electric torque. In other
words, the torque to inertia ratio of these PM
machines is higher.[11]
The PM machine has a higher efficiency than an
induction machine. This is primarily because there
are negligible rotor losses in permanent magnet
machines; the rotor losses in the IM, however, can be
considerable, depending on the operating slip. This
discussion is applicable to constant flux operation.
The IM requires a source of magnetizing current for
excitation. The PM machine already has the
excitation in the form of the rotor magnet.
The need for magnetizing current and the fact that the
IM has a lower efficiency necessitates a larger rated
rectifier and inverter for the IM than for a PM
machine of the same output capacity.
The PM machine is smaller in size than an induction
motor of the same capacity. Hence, it is advantageous
to use PM machines, especially where space is a
serious limitation. In addition, the permanent magnet
machine weight less. In other words, the power
density of permanent magnet machines is higher.
The rotor losses in a PM machine are negligible
compared with those in the induction motor. A
problem that has been encountered in the machine
tools industry is the transferal of these rotor losses in
the form of heat to the machine tools and work

IEE584-2015B Electric Machine- NATIONAL POLYTECHNICAL SCHOOL

pieces, thus affecting the machining operation. This
problem is avoided in permanent magnet machines.
IV. CONCLUSIONS
At present large industries, need every day to improve their
processes, ie efficiency, the development of induction
machines and synchronous throughout history, some
improvements and increased efficiency, similarly obtained
happened with the development of permanent magnet
synchronous machine, though not in all applications one
machine will be superior, highly dependent on the application
in which the use of each machine is required, fundamental
knowledge about these machines are the same as only thing
that varies is the adaptation to the application that is given,
much depends on the designer.
It should be recognized that the PMSM has many
advantages over traditional machines, the PMSM has a higher
than an induction machine efficiency. This is mainly because
there is negligible losses in the rotor permanent magnet
machines; rotor losses in the IM, however, can be
considerable, depending on the operating slide. This
discussion is applicable to the operation of constant flux.
REFERENCES
[1] A. M. G. A. B. Dehkordi y T. L. Maguire, Permanent
Magnet Synchronous Machine Model for Real- Time
Simulation. 2010.
[2] Integration of Permanent Magnet Synchronous
Generator Wind Turbines Into Power Grid. ProQuest,
2008.
[3] Kazumi Kurihara, Steady-State and Transient
Performance Analysis of Permanent-Magnet Machines
Using Time-Stepping Finite Element Technique, en
Finite Element Analysis New Trends and Developments,
vol. I, United State of America, 2012, pp. 118218.
[4] Yung-kang Chin, A PERMANENT MAGNET
SYNCHRONOUS MOTOR FOR AN ELECTRIC
VEHICLE - DESIGN ANALYSIS, ROYAL
INSTITUTE OF TECHNOLOGY SWEDEN, Stockholm,
2004.

[5] Mathworks, Permanent Magnet Synchronous Machine.

United State of America: Mathworks Inc., 2012.
[6] G. C. Lidija Petkovska, Steady State Performance
Evaluation of a Permanent Magnet Synchronous Motor
Based on FEA. Karpos II b.b, 2012.

Fig. 9. Magnetic co-energy characteristic W=f(,I)

[7] Permanent magnet synchronous generator, Wikipedia,

the free encyclopedia. 05-dic-2015.
[8] NIMA MADANI, Design of a Permanent Magnet
Synchronous Generator for a Vertical Axis Wind
Turbine, Royal Institute of Technology, Stockholm,
Sweden, 2011.
[9] R. M. Azizur y Z. Ping, Analysis of Brushless
Permanent Magnet Synchronous Motor, IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol.
VOL. 43, nm. NO. 2, p. 12, abr-1996.
[10] C. A. Enrique, MODELING AND SIMULATION OF
PERMANENT MAGNET SYNCHRONOUS MOTOR
DRIVE SYSTEM, UNIVERSITY OF PUERTO RICO
MAYAGEZ CAMPUS, Puerto Rico, 2006.
[11] P. Pillay y R. Krishnan, Application Characteristics of
Permanent Magnet Synchronous and Brushless dc Motors
for Servo Drives, IEEE TRANSACTIONS ON
INDUSTRY APPLICATIONS, vol. VOL. 21, nm. NO. 5,
p. 11, oct-1991.