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研究生：	黃成影 Huynh, Thanh Anh
論文名稱：	應用於電動車之永磁同步馬達性能分析與設計 Performance Analysis and Design of Permanent Magnet Motors for Traction Drives of Electric Vehicles
指導教授：	謝旻甫 Hsieh, Min-Fu 沈聖智 Shen, Sheng-Chih
學位類別：	博士 Doctor
系所名稱：	工學院 - 系統及船舶機電工程學系 Department of Systems and Naval Mechatronic Engineering
論文出版年：	2018
畢業學年度：	106
語文別：	英文
論文頁數：	161
中文關鍵詞：	牽引馬達、內藏型永磁同步馬達、永磁輔助同步磁阻馬達、同步磁阻馬達、弱磁控制、退磁、行車模式
外文關鍵詞：	Traction motor, IPMSM, PMa-SynRM, SynRM, field-weakening control, demagnetization, driving cycle
相關次數：	點閱：88 下載：7
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與內藏型永磁同步馬達 (Interior permanent magnet synchronous motors, IPMSM)相比，永磁輔助同步磁阻馬達 (Permanent magnet assisted synchronous reluctance machine, PMa-SynRM)具有類似於 IPMSM之轉子架構，但在轉子中利用較弱的磁鐵或少量的稀土磁鐵以降低成本。PMa-SynRM的轉子中較弱或較少的永久磁鐵導致對正轉矩較低，然而其具備較高的磁阻轉矩，因此本質上更像是同步磁阻馬達(SynRM)而非 IPMSM。本文主要研究嵌入轉子鐵心之永久磁鐵對 PMa-SynRM性能的影響，探討永久磁鐵之位置、尺寸、磁障層數等，對於轉矩成分、永久磁鐵磁交鏈、d-q軸電感、磁交鏈及功率因數上所產生的差異。此外，本研究亦將基於電動車(Electric vehicles, EV)動力馬達所需具備之恆功率速度範圍(Constant power speed range, CPSR)，與 IPMSM和 SynRM進行比較和評估。
PMa-SynRM與其他牽引馬達之間的綜合比較評估乃是一項挑戰，因為許多變量會影響馬達之性能。在本論文中，電磁鋼片特性對於 EV牽引馬達的影響是首要研究的項目。接著，本文進行永久磁鐵對於 IPMSM和 PMa-SynRM性能的影響探討。而在最大電流、電流相角和馬達溫度的作用下，本文就PMa-SynRM，針對不同位置或磁障層位置之永久磁鐵評估其退磁風險。此外，本文應用城市及高速公路兩種不同的行車模式(Driving cycles)來評估牽引馬達性能，並以兩顆IPMSM和一顆PMa-SynRM的 10 kW馬達為例進行分析，探討不同類型馬達在EV牽引應用之優劣，以做為牽引馬達設計之參考建議。最後，對該兩顆 IPMSM和一顆PMa-SynRM的原型機進行實驗以驗證設計與分析。

Comparing to an interior permanent magnet (PM) synchronous motors (IPMSM), permanent magnet assisted synchronous reluctance machine (PMa-SynRM) can be similar to IPMSM in rotor topologies but utilizes weaker PM (e.g., ferrite magnet) or smaller amount of rare-earth magnet in the rotor core to reduce motor cost. Weaker or less PM in the rotor core of PMa-SynRMs leads to smaller PM torque and thus reluctance torque dominates. Therefore, the PMa-SynRM is essentially more like a synchronous reluctance machine (SynRM) than the IPMSM. This dissertation primarily investigates the influence of PM embedded in the rotor core which significantly affects the properties of PMa-SynRM such as the torque components (i.e., mutual torque or reluctance torque), PM flux linkage, inductances/flux linkages on d-q axis, power factor due to the difference of PM positions, PM layers and PM sizes. Then, the performance of PMa-SynRM is compared with IPMSM and SynRM based on their constant power speed range (CPSR) capability for traction motors of electric vehicles (EVs).
The comprehensive comparison and evaluation between PMa-SynRM and other traction motors are a challenge because many variables can affect the performance of motors. In this study, the impact of thin electrical steel laminations on the performance motor for EV tractions is the first factor to investigate. The effect of PM in IPMSM and PMa-SynRM is also investigated. The demagnetization risk of the PM pieces at different position/layer of PMa-SynRM is then considered under the effect of maximum current, current phase angle, and motor temperature. Finally, two different driving cycles, one for urban and the other for highway driving are used for the evaluation of three10 kW traction motors, including two IPMSMs and one PMa-SynRM. The analysis results demonstrate the benefits and disadvantages of these motors for EV traction and provide suggestions for traction motor design.
Experimental studies on the prototypes of two IPMSM and one PMa-SynRM are conducted to validate the design and analysis.

摘要	I
Abstract	II
Acknowledgement	III
Contents	IV
List of Figures	VIII
List of Tables	XV
Nomenclature	XVII
Chapter 1　Introduction	1
1 Global EV Markets and Characteristics of EV Powertrains	2
1.1 EV Industry	2
1.2 Characteristics of EV Powertrains	3
2　Permanent Magnet Synchronous Motor	8
3　Research Motivation of the Thesis	10
4 Main Contribution of the Thesis	12
5 Thesis Outline	13
Chapter 2　Theoretical Background of Traction Motors	15
1　Mathematical Model of IPMSM	15
2　Mathematical Model of PMa-SynRM	17
3　Permanent Magnet Motors in Variable Speed Operations	19
4　Theoretical Background of Demagnetization	21
5　Summary	23
Chapter 3　Characteristics of Electrical Steel Materials and their Effect on Motor Performances	24
1 Characteristics of Electrical Steel Materials in Traction Motor	24
2 Material Combination for Traction Motor	26
3 Traction Motor Models for Analysis of Characteristics of Electrical Steel Materials	27
4　Analysis of Characteristics of Traction Motor with Electrical Steel Materials	29
4.1 Characteristic of Inductances and Torque Output of Traction Motor with Electrical Steel Materials	29
4.2 Characteristic of Iron Loss and Efficiency of Traction Motor with Electrical Steel Materials	32
4.3 Brief Summary for Electrical Steel Materials in Traction Motor	34
5 Motor Performance Analysis with Selected Materials Combination	34
5.1　Traction Motor Models	34
5.2　Saturation Effect in Traction Motor with Material Combination	36
5.3 Motor Performance with Material Combination	38
6　Summary	41
Chapter 4　Influence of PM on Performance of PMa-SynRM	44
1 Influences of PM Amount on PMa-SynRM	44
1.1　Models for Analysis	44
1.2 Analysis Results	46
1.3 Discussions	48
2 Influences of PM Arrangements on PMa-SynRM	50
2.1　Model for Analysis	50
2.2 Equivalent Magnetic Circuit Analysis	51
3 Case Study I: Analysis of Influences of PM Arrangements on PMa-SynRM	55
3.1 Influences of PM Position and Layer Number	55
3.2 Discussions for PM Position and Layer Number	61
4 Case Study II: The Effect of PM Sizes on PMa-SynRM	64
4.1 Influences of PM Thickness	65
4.2 Influences of PM Width	67
4.3 Discussions for PM Thickness and Width	68
5 Case Study III: Comparison of Constant Power Speed Range of Traction Motor	69
5.1 Hybrid Method for CPSR Computation	70
5.2 Results for CPSR Computation	71
6 Case Study IV: PMa-SynRM Performance with PM Arrangements	75
6.1 Results for PMa-SynRM Performance with PM Arrangements	75
6.2 Discussions for PMa-SynRM Performance with PM Arrangements	77
7 Summary	77
Chapter 5　Demagnetization Risk in Multilayer Magnets of PMa-SynRM	81
1 The Target Machine and Analysis Method	81
2 The Effect of Temperature on PMs in Motor Performance	82
2.1 The Motor Performance at No Load Condition	82
2.2 The Motor Performance at Load Condition	84
2.3 Discussions	88
3 Factors Affecting the Demagnetization	89
3.1 The Effect of Current Excitation to PM Flux Linkage	89
3.2 The Effect of Current Phase Advance to PM Flux Linkage	90
3.3 Discussions	91
4 Design Method to Avoid Demagnetization	92
5 Summary	94
Chapter 6　Performance Analysis for EV Traction Considering Driving Cycles	95
1 Target Traction Motor and EV	95
2 Performance Evaluation of Traction Motor	99
3 Driving Cycle Applications	102
4 Comparison of Motor Performance in Driving Cycles	107
5 Thermal Analysis with Driving Cycle	110
6 Pros and Cons of Traction Motors	115
7 Summary	116
Chapter 7　Experimental Study	118
1 The Traction Motor Prototype	118
2 Experiments in No-load Condition	119
2.1 Magnetic Flux Density Distribution on Rotor Surface	119
2.2 Back EMF Waveform	123
3 Experimental with Loading	126
3.1 Experiment Results for Power, Torque and Efficiency in Rated Operating Condition	126
3.2 Experiment Results for Power, Torque and Efficiency in Maximum Operating Condition	129
3.3 Experiment of Temperature	134
4 Summary	136
Chapter 8 Conclusions	138
References	140
Chapter 1	140
Chapter 2	143
Chapter 3	145
Chapter 4	147
Chapter 5	149
Chapter 6	151
Chapter 7	152
Appendix A. Winding Diagram	153
Appendix B. Manufacturing Motors	156
Appendix C. Experimental Setup	160
Publications List	161
 

                                    

References
Chapter 1
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[1.6] Wenye Wu, Xiaoyong Zhu, Li Quan, Yi Du, Zixuan Xiang, and Xuhui Zhu, “Design and Analysis of a Hybrid Permanent Magnet Assisted Synchronous Reluctance Motor Considering Magnetic Saliency and PM Usage,” IEEE Transactions on Applied Superconductivity, Vol. 28, No. 3, 2018.
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[1.24] Jung-Ho Lee, Young-Jin Jang, and Jung-Pyo Hong, “Characteristic analysis of permanent magnet-assisted synchronous reluctance motor for high power application,” Journal of Applied Physics, Vol. 97, No. 10, May 2005.
Chapter 2
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[2.4] Gianmario Pellegrino, Thomas M. Jahns, Nicola Bianchi, Francesco Cupertino, The Rediscovery of Synchronous Reluctance and Ferrite Permanent Magnet Motors - Tutorial Course Notes, Springer Briefs In Electrical and Computer Engineering, 2016.
[2.5] Alfredo Vagati, Michele Pastorelli, Giovanni Franceschini, and C. Petrache, “Design of low-torque-ripple synchronous reluctance motors,” IEEE Transactions on Industry Applications, Vol. 34, No. 4, pp. 758-765, July/August 1998.
[2.6] Jung-Ho Lee, Young-Jin Jang, and Jung-Pyo Hong, “Characteristic analysis of permanent magnet-assisted synchronous reluctance motor for high power application,” Journal of Applied Physics, Vol. 97, No. 10, May 2005.
[2.7] Nicola Bianchi, “Synchronous reluctance and interior permanent magnet motors.” In Proceeding of the IEEE Workshop on Electrical Machines Design, Control and Diagnosis (WEMDCD) Committees, pp. 75-84, 2013.
[2.8] Rajabi Moghaddam, “Synchronous Reluctance Machine (SynRM) in Variable Speed Drives (VSD) Applications,” Doctoral Thesis, the Royal Institute of Technology, Stockholm, Sweden, 2011.
[2.9] Wen Liang Soong, and Nesimi Ertugrul, “Field weakening performance of interior permanent magnet motors,” IEEE Transactions on Industry Applications, Vol. 38, No. 5, pp. 1251–1258, 2002.
[2.10] Paolo Guglielmi, Barbara Boazzo, Eric Armando, Gianmario Pellegrino, and Alfredo Vagati, “Permanent-Magnet Minimization in PM-Assisted Synchronous Reluctance Motors for Wide Speed Range,” IEEE Transactions on Industry Applications, Vol. 49, No. 1, pp. 31 – 41, January/February 2013.
[2.11] Eric Armando, Paolo Guglielmi, Gianmario Pellegrino, Michele Pastorelli, and Alfredo Vagati, “Accurate Modeling and Performance Analysis of IPM-PMASR Motors,” IEEE Transactions on Industry Applications, Vol. 45, No. 1, pp. 123 – 130, January/February 2009.
[2.12] Gianmario Pellegrino, Alfredo Vagati, and Paolo Guglielmi, “Design Tradeoffs between Constant Power Speed Range, Uncontrolled Generator Operation, and Rated Current of IPM Motor Drives,” IEEE Transactions on Industry Applications, Vol. 47, No. 5, pp. 1995 – 2003, September/October 2011.
[2.13] Gianmario Pellegrino, Alfredo Vagati, Paolo Guglielmi, and Barbara Boazzo, “Performance Comparison between Surface-Mounted and Interior PM Motor Drives for Electric Vehicle Application,” IEEE Transactions on Industrial Electronics, Vol. 59, No. 2, pp. 803 – 811, February 2012.
[2.14] Gianmario Pellegrino, Radu Bojoi, and Paolo Guglielmi, “Unified Direct-Flux Vector Control for AC Motor Drives,” IEEE Transactions on Industry Applications, Vol. 47, No. 5, pp. 2093–2102, September/October 2011.
[2.15] Wen Liang Soong, David Staton, and Timothy John Eastham Miller, “Design of a New Axially-Laminated Interior Permanent Magnet Motor,” IEEE Transactions on Industry Applications, Vol. 31, No. 2, pp. 358–367, March/April 1995.
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Chapter 3
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Chapter 4
[4.1] Hsiu-Fu Kuo, “Design and Analysis of Permanent-Magnet Assisted Synchronous Reluctance Motor,” Master thesis of Science in Systems and Naval Mechatronic Engineering, National Cheng Kung University, July 2017.
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[4.4] Paolo Guglielmi, Barbara Boazzo, Eric Armando, Gianmario Pellegrino, and Alfredo Vagati, “Permanent-Magnet Minimization in PM-Assisted Synchronous Reluctance Motors for Wide Speed Range,” IEEE Transactions on Industry Applications, Vol. 49, No. 1, pp. 31 – 41, January/February 2013.
[4.5] Alfredo Vagati, Michele Pastorelli, Giovanni Franceschini, and C. Petrache, “Design of low-torque-ripple synchronous reluctance motors,” IEEE Transactions on Industry Applications, Vol. 34, No. 4, pp. 758-765, July/August 1998.
[4.6] Won-Ho Kim, Kwang-Soo Kim, Seung-Joo Kim, Dong-Woo Kang, Sung-Chul Go, Yon-Do Chun, and Ju Lee, “Optimal PM Design of PMA-SynRM for Wide Constant-Power Operation and Torque Ripple Reduction,” IEEE Transactions on Magnetics, Vol. 45, No. 10, pp. 4660-4663, October 2009.
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[4.13] Rajabi Moghaddam, “Synchronous Reluctance Machine (SynRM) in Variable Speed Drives (VSD) Applications,” Doctoral Thesis, the Royal Institute of Technology, Stockholm, Sweden 2011.
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[4.16] Gianmario Pellegrino, Alfredo Vagati, and Paolo Guglielmi, “Design Tradeoffs between Constant Power Speed Range, Uncontrolled Generator Operation, and Rated Current of IPM Motor Drives,” IEEE Transactions on Industry Applications, Vol. 47, No. 5, pp. 1995 – 2003, September/October 2011.
[4.17] Laurent Jolly, Mohammed Abdul Jabbar, and Liu Qinghua, “Optimization of the Constant Power Speed Range of a Saturated Permanent-Magnet Synchronous Motor,” IEEE Transactions on Industry Applications, Vol. 42, No. 4, pp. 1024 – 1030, July/August 2006.
[4.18] Liu Qinghua, “Analysis, Design and Control of Permanent Magnet Synchronous Motors for Wide-Speed Operation,” Ph.D. dissertation, National University of Singapore, 2005.
[4.19] Gianmario Pellegrino, Radu Bojoi, and Paolo Guglielmi, “Unified Direct-Flux Vector Control for AC Motor Drives,” IEEE Transactions on Industry Applications, Vol. 47, No. 5, pp. 2093–2102, September/October 2011.
[4.20] Piergiorgio Alotto, Massimo Barcaro, Nicola Bianchi, and Massimo Guarnieri, “Optimization of Interior PM Motors with Machaon Rotor Flux Barriers,” IEEE Transactions on Magnetics, Vol. 47, No. 5, pp. 958 – 961, May 2011.
Chapter 5
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[5.4] Thanh Anh Huynh, and Min-Fu Hsieh, “Comparative Study of PM-Assisted SynRM and IPMSM on Constant Power Speed Range for EV Applications,” IEEE Transactions on Magnetics, Vol. 53, No. 11, pp. 1-6, 2017.
[5.5] David Díaz Reigosa, Daniel Fernandez, Tsutomu Tanimoto, Takashi Kato, and Fernando Briz, “Permanent-Magnet Temperature Distribution Estimation in Permanent-Magnet Synchronous Machines Using Back Electromotive Force Harmonics,” IEEE Transactions on Industry Applications, Vol. 52, No. 4, pp. 3093 – 3103, July/August 2016.
[5.6] David Díaz Reigosa, Daniel Fernandez, Hideo Yoshida, Takashi Kato, and Fernando Briz, “Permanent-Magnet Temperature Estimation in PMSMs Using Pulsating High-Frequency Current Injection,” IEEE Transactions on Industry Applications, Vol. 51, No. 4, July/August 2015.
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[5.10] Won-Ho Kim, Kwang-Soo Kim, Seung-Joo Kim, Dong-Woo Kang, Sung-Chul Go, Yon-Do Chun, and Ju Lee, “Optimal PM Design of PMA-SynRM for Wide Constant-Power Operation and Torque Ripple Reduction,” IEEE Transactions on Magnetics, Vol. 45, No. 10, pp. 4660-4663, October 2009.
Chapter 6
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[6.3] Xiangdong Liu, Hao Chen, Jing Zhao, and Anouar Belahcen, “Research on the Performances and Parameters of Interior PMSM Used for Electric Vehicles,” IEEE Transactions on Industrial Electronics, Vol. 63, No. 6, pp.3533-3545, 2016.
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[6.5] Thanh Anh Huynh, and Min-Fu Hsieh, “Performance Evaluation of Interior Permanent Magnet Motors Using Thin Electrical Steels,” IEEJ Journal of Industry Applications, Vol. 6, No. 6, pp. 422-428, 2017.
[6.6] David Díaz Reigosa, Daniel Fernandez, Tsutomu Tanimoto, Takashi Kato, and Fernando Briz, “Permanent-Magnet Temperature Distribution Estimation in Permanent-Magnet Synchronous Machines Using Back Electromotive Force Harmonics,” IEEE Transactions on Industry Applications, Vol. 52, No. 4, pp. 3093 – 3103, July/August 2016.
[6.7] Xibo Yuan, and Jiabin Wang, “Torque Distribution Strategy for a Front- and Rear-Wheel-Driven Electric Vehicle,” IEEE Transactions on Vehicular Technology, Vol. 61, No. 8, pp. 3365-3374, 2012.
[6.8] Thanh Anh Huynh, and Min-Fu Hsieh, “Comparative Study of PM-Assisted SynRM and IPMSM on Constant Power Speed Range for EV Applications,” IEEE Transactions on Magnetics, Vol. 53, No. 11, pp. 1-6, 2017.
[6.9] Enrico Carraro, Mattia Morandin, and Nicola Bianchi, “Traction PMASR Motor Optimization According to a Given Driving Cycle,” IEEE Transaction on Industry Applications, Vol. 52, No. 1, pp. 209-216, 2016.
Chapter 7
[7.1] Thai Hao Nguyen, “Design of 10kW Interior Permanent Magnet Motor for EV Traction,” Master thesis of Science in Systems and Naval Mechatronic Engineering, National Cheng Kung University, July 2016.

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