2.2. The Winding Configuration of FSPM
In the winding configuration design of the 6/5 FSPM, the feasibility of the three-phase winding was verified first. The
K value in Equation (3) was a positive integer, to confirm the combination of slot number and pole number was a suitable choice.
where
Np is pole number, and GCD is the highest common factor.
The angle of the
kth slot was obtained by Equation (4) and introduced into the phase offset expression, as shown in Equation (5).
where
q is any integer. In the case of the 6/5 FSPM, when
q was equal to 2, the valid phase offset
was obtained as 4.
Finally, the coil span slot number
S* was calculated as 1 by Equation (6). The meaning of
S* = 1 is that the coil of 6/5 FSPM was a concentrated winding configuration.
After confirming the concentrated winding method, the winding configuration was established and is shown in
Table 2. The electrical angles were sequentially increased by, and according to, the winding slot number. The in and out slots of the even-numbered slot coils were reversed to eliminate the 180° electrical angle caused by the permanent magnet. Then, 360° simplifications and 180° simplifications were executed respectively. Finally, the two slots closest to 0° were selected to form a complete A-phase winding. The A-phase winding number was added with
K0 and 2
K0 to obtain the slots numbers of B-phase and C-phase, respectively.
2.3. The Magnetic Analysis and Winding Turns of FSPM
The equivalent magnetic circuit analysis was performed to calculate the output performance of the motor after deciding the input FSPM parameters, which were used to derive the math model regarding the flux density of the air gap and the permanent magnet. This method is based on the magnetic field which is similar to the electric field, such as the voltage corresponding to the magnetomotive force, and the current corresponding to the magnetic flux density. In this paper, the magnetic flux density and FSPM output performance were analyzed preliminarily by ANSYS Maxwell software.
Figure 3 shows the flux route of FSPM, where
is the rotor magnetic reluctance,
is the stator magnetic reluctance,
is the air gap magnetic reluctance,
is the magnet magnetic reluctance, and
is the leakage magnetic reluctance. Since
and
are far less than the
, and for calculation convenience, these two reluctances were omitted, to simplify the flux route.
Equation (7) shows the definition of permeance (P), which is the inverse of magnetic reluctance. The flux route was transferred into Equation (8), based on Ohm’s Law and the Kirchhoff Circuit Laws.
where
is the magnet area,
is the air gap area,
is permeability,
is the air gap flux density,
is permanent magnet permeance,
is leakage magnet permeance, and
is the compensating coefficient (1.05–1.55). Since
is far less than
, it was omitted for calculation convenience.
The magnet flux density
was derived from the magnetic field
based on the BH curve, as shown in
Figure 4. The definition of permeance coefficient
is shown by Equation (9). The magnet field strength
was derived in Equation (10) by the Rowland’s Law and the definition of
, where
is vacuum permeability,
is relative permeability, and
is remanence.
The magnetic flux analysis needed to consider the winding turns and determine whether the design was within a reasonable range. Since the copper windings will directly affect the voltage waveform, coil self-inductance, and torque ripple of FSPM, it had to be calculated appropriately. Based on Equation (11), the total winding turns
were derived from the torque equation:
where
is the winding factor,
is the pole number, and
is the input current.
2.4. Proposed Modified Model Predictive Current Control
The control diagram of the proposed modified MPCC had the performance of fast response and simple principle. This model also had a nonlinear portion that can improve torque ripple, due to the doubly salient effect of the FSPM rotor structure [
3]. It consisted of back electromotive force (back-EMF) estimation, current prediction, and voltage vector, as shown in
Figure 5. The real-time control MCU (TI DRV8301-TMS320F28069) for algorithm implementation was used to achieve the control strategy, and 10 kHz was selected as the sampling frequency. The signals of the current and speed were output by the D/A converter. The experimental setup is shown in
Figure 6. Compared with the traditional MPCC [
26], the part of the cost function was replaced by the drive method of SVM, and the voltage model was proposed to obtain the voltage vector in this paper. When the final voltage vector output was obtained, the three-phase duty ratio could be easily calculated by SVM. Then, a six-bridge switch with three sets of PWM switches controlled three-phase current to the motor. In the feedback system, an incremental encoder was used to obtain the angle signal and calculate the angular velocity for the back-EMF estimation, current prediction, and speed PI controller.
Electrical torque was expressed as Equation (12), including reluctance torque (
Trs), cogging torque (
Tcog), and magnet torque (
Tpm).
Tpm is the PM torque produced by the interaction between the armature winding current and PM magnetic field,
Trs is the reluctance torque due to the magnetic reluctance variations with rotor positions, and
Tcog is the cogging torque generated by PM field energy alterations with rotor positions.
The definition of torque ripple
Tripple can be given by:
where
Tes_max,
Tes_min, and
Tes_avg are the maximum, minimum, and average values of electromagnetic torque.
The torque ripple could be improved by considering the effects of mutual inductance in the control. However, in many literatures [
25,
27,
28], the mutual inductance of FSPM was ignored, which may bring some defects to the accuracy of the model. Therefore, this paper considers the formula of the inductor [
26] in the control architecture. To simplify the theoretical analysis, some assumptions are given as follows: (1) iron saturation is negligible; and (2) eddy current and core loss have not been considered. Based on the assumptions mentioned above, the PM flux, inductance, and mutual inductance are supposed ideally sinusoidal. The mathematical equations of three-phase inductance can be expressed as:
where
Lo and
Li are the inductance initial value and amplitude, respectively.
In this paper, the mutual inductance of FSPMSM is considered as:
In the program operation, to effectively resolve the nonlinear factors and reduce the complexity of the calculation, the model of the FSPM was represented by the stationary coordinate system α-β. The total inductance of the motor winding (Equation (16)) was followed by using Clarke transformation and input to the model of FSPM. The model of FSPM could be derived by the coordinates of the complex vector, which were expressed as:
where
is the rotor flux vector;
Rs,
Ls,
us,
is,
ωγ, and
θγ are the stator resistance, inductance, stator voltage phasor, stator current phasor, rotor speed, and rotor angle, respectively.
A. Back Electromotive Force (Back-EMF) Estimation [28] Since the back-EMF could not be directly measured, it was necessary to estimate, using the voltage equation. Moreover, since the electrical time constant was more than the mechanical time constant, and the back-EMF was linear with the rotor speed (
ωγ), it could be assumed that the back-EMF was constant for several consecutive control periods. By letting
Ek =
in Equation (17), the back-EMF equation could be obtained as:
where
Tsc is the sampling period and
is the measured phase current. Similarly, the
E k−2 and
E k−3 could be obtained as:
Then, to avoid errors caused by the operation process,
Ek could be used as the average of back-EMF in the past several control cycles, as shown in Equation (21). A detailed analysis of the robustness of the back-EMF estimation was discussed. The average of E was used twice, three times, and five times in the past. An error percentage was used to compare its error percentage, as shown in Equation (22). From the previous tests, the error percentages of the average of 2, 3, and 4 times were found to be 92%, 98%, and 99%, respectively. Therefore, the average of back-EMF was determined to be used three times in the past as the formula.
where
e and
Ek’ are the error percentage and the previous step of back-EMF.
Finally,
Ek could be used as the average of back-EMF in the past three control cycles. In addition, one of the main advantages was that it avoids the precise machine parameters, rotor speed and rotor position [
31].
B. Current Prediction
There were various delays that caused an insufficient response in the controller, including sampling delays, filtering delays, and other factors. In the digital control implementation, the value of the command current vector at present could not be applied immediately, so the prediction of the transmitted current could obtain the value of the
k + 1 to achieve the best response. In the paper, compared to the traditional MPCC strategy [
26], the proposed current prediction was obtained in the stationary coordinate system α-β, and the torque ripple was effectively improved. By adjusting Equation (17), the current variation could be calculated as:
Then, the next predicted current was obtained as:
C. Voltage Vector Prediction
According to Equation (17), the voltage vector could be obtained during
k and
k + 1:
In the paper, the calculations of the reference current
by the PI controller and the predicted stator current
using Equation (24) were introduced to Equation (25). Then, the reference voltage vector was obtained using Equation (26) and could increase the response speed of the motor.
After obtaining the reference voltage vector, the control of the three-phase voltage was achieved by the driving mode of SVM. For the traditional MPCC, it used a non-zero voltage vector with a zero vector during the control period [
28]. Although the control switching frequency could be reduced, the control accuracy was insufficient, and the nonlinear FSPM could not be satisfied. In the proposed control strategy, the nonlinear prediction model was combined with the SVM driving method to reduce the torque ripple and further improve the response.