Beruflich Dokumente
Kultur Dokumente
T. Busch, G. Henneberger
DEPARTMENT OF ELECTRICAL MACHINES (IEM)
AACHEN INSTITUTE OF TECHNOLOGY (RWTH)
Schinkelstrasse 4
D-52062 Aachen, Germany
Phone: +49 241 80 9 7636 / Fax: +49 241 80 9 2270
e-mail: thomas.busch@iem.rwth-aachen.de
Keywords
Electrical Machines, Modelling, Permanent magnet motors, Machine tool drives, Transversal flux
motors
Abstract
After a brief introduction, several examples of the use of Finite-Element models for Electrical
Machines are described by means of research works carried out at the Department of Electrical
Machines (IEM), Aachen Institute of Technology (RWTH), Germany. Static torque calculations with
large Finite-Element models are as well presented as transient calculations of eddy currents [1].
Another topic is a calculation procedure to determine the mechanical and acoustic behaviour of
electrical machines [2]. Finally a coupled simulation to calculate the dynamic behaviour is outlined,
where two-dimensional Finite-Element calculations are coupled with physical machine models.
Introduction
The development of electromagnetic devices as machines, transformers, heating devices and other
kinds of actuators confronts the engineers with several problems. For the design of an optimized
geometry and the prediction of the operational behaviour an accurate knowledge of the dependencies
of the field quantities inside the magnetic circuit is necessary. The losses in the device have to be
calculated for the construction of a suitable cooling system. If the noise has to be taken into account,
the acoustic behaviour has to be predicted.
The physical correlations like the Maxwell equations are well known for many years, but the
analytical calculation methods forced a lot of neglect and simplifications. Corrections factors
were determined by practical experience to consider miscellaneous effects. Upcoming in the
seventies of the last century, the Finite-Element Method (FEM) is today state-of-the-art for
the calculation of structural-dynamic, thermal and, of course, electromagnetic problems. With
the improvements of the performance of personal computers and workstations the models
have become three-dimensional with the number of elements increasing. The bandwidth of
possible applications is advancing steadily and research projects are opening up new
perspectives for the development of electrical machines.
Static and transient Finite-Element calculations of the electric and magnetic field enable the designers
to optimize well known electro-magnetic devices with regard to the torque-to-mass ratio and the
dynamic, thermal and acoustic behaviour. Furthermore, the Finite-Element method approves, the
development and optimisation of new devices without the necessity of extensive prototyping.
In this paper the design of new machines is demonstrated for a spherical motor and a transverse flux
machine as well as the optimisation of well known machines with new tools. Here, a claw-pole
alternator and a permanent-magnet synchronous machine are acoustically and electrically simulated.
γrot
ϑrot
rotor sphere ϕ
• Preparation of a Finite-Element model of one stator pole with its nearest neighbours and
appropriate rotor magnets
Five different spherical Finite-Element models were created to investigate the thrust forces caused by
a current injection to one pole in the model. The models consist of 7 up to 9 poles and differ in the
positions of the neighbouring poles, which surround the pole carrying the current. Fig. 2 shows the
model in case that this pole is located at the border of the stator sphere.
The thrust forces have been computed with a solver package developed at the institute [5]. Fig. 3
shows the calculated ϕ- and ϑ-components of the thrust force of the spherical motor. They result from
the difference of a calculation at a current of 4 A and a calculation at 0 A, so they do not include the
cogging forces.
It is assumed, that the generated thrust force of one stator pole only depends on the position of this
pole above the permanent magnets in the rotor and not on the positions of the neighbouring poles. The
total torques of the spherical motor are calculated by multiplying the thrust-force contributions of each
pole with the corresponding distance between the pole and the pivot axle. Therefore, the thrust-force
characteristics, which were calculated with the FE-models are approximated with trend functions
depending on the pole position and the current. Fig. 4 shows the total torque around the normal axis Tϕ
depending on the rotation about the normal axis ϕ and the declination of the normal axis ϑ at a current
of 3 A. Using this calculation method, various stator-pole arrangements were investigated concerning
the achievable torques.
80 Nm
70 Nm
60 Nm
50 Nm
40 Nm
Flux density
winding
yoke
windings
yokes
air-gaps
flux concentrator
permanent magnets
Figure 6: Geometry of the magnetic circuit and complete machine layout
The complete machine consists of three phases. In contrast to conventional machines there is no
common rotating field in the three-phase design of a transverse flux machine, but only three
independent alternating fields which are electrically shifted by 120°. The necessary mechanical shift is
done in the rotor by shifting the complete rotor rings, consisting of the magnets and the powder-iron
parts, from one phase to the next. Accordingly, the stator cores in all phases can be arranged in line.
The complete arrangement of the active parts in the rotor is framed by a ring made of a non-magnetic
material to prevent high stray fluxes from one soft-magnetic piece to the other. The electric
conductivity of this material is high for using the ring as a damper to displace magnetic flux from the
carrier adjacent to the ring. The carrier itself is also made of a non-magnetic material with a good
electric conductivity.
yoke
non-magnetic ring
soft-magnetic pieces
and permanent magnets
Rotor movement
Another important point for the meshing of the model is the simulation of the rotor movement. The
applied technique permits the use of only one mesh for the complete transient calculation. This is
realised with a layer in the airgap between stator and rotor, which has exactly the same mesh in
equidistant spacing ∆x in the direction of movement. This equidistant spacing is depending on the
desired geometric step width from one time step to the next. The simplest strategy of producing this
meshed layer is to mesh only a part of the layer with the width ∆x and then copy this mesh in the di-
rection of movement. After every rotor position change of n ⋅ ∆x the positions of the nodes in the layer
are congruent again. Therefore, stator and rotor mesh are completely independent and they are shifted
against each other but it is not necessary to mesh the airgap region again. Only the constraints have to
be defined anew after each transient step.
Figure 8: Eddy-current density distribution in the permanent magnets and in the rotor ring
The extracted perceptions of the different loss mechanisms are used for the choice of suitable
materials, especially for the passive rotor parts, e.g. carriers and fixations. The convergence of the
transient calculation is strongly influenced by the resistivity of the eddy-current regions with the
presented approach. A steady state solution is reached after only a few periods because the transverse
flux machine is not a rotating-field but an alternating-field machine with a simple operation principle.
Calculation procedure
The calculation procedure has been presented in [9] for star-connected alternators and in [10] for delta-
connection. This procedure can be split into three blocks: the magneto-static computations, leading to
the magnetic forces on the stator metal, the structural-dynamic calculation of the relevant harmonics
and the acoustic simulation of the generator.
An edge-based static FE solver as described in [11] is utilised for each time step. The solver is driven
by a constant direct current in the rotor-excitation coil. A three-phase current is impressed into the
stator coils. The amplitude of the current and the load angle are functions of the generator speed. In
order to take saturation effects into account, they are determined in a model with q = 1 and compared
to measurements [12]. The magnetic forces are calculated in each static FE calculation based on the
flux-density distributions and the material data. Interpolation of different stator tooth positions leads to
30 time steps or 14 spectral modes for two stator-tooth pitches.
A node-based structural-dynamic FE solver is utilised for each relevant harmonic and alternator speed.
To increase the numerical accuracy, second order elements are used in the displacement solver. Fig. 11
shows the deformation of the claw pole alternator. In the case of the claw-pole alternator the relevant
harmonics are acoustic orders 5 and 6 or mechanical orders 30 and 36. Since these two orders lead
almost to the complete noise output, all other orders are neglected.
In a first step the torque of the machine is calculated analytically in SIMPLORER. In comparison to
this the estimation of the torque is replaced by a 2D Finite-Element calculation with FLUX2D. In
order to bring the two simulations into agreement, the inductance of the machine has to be
recalculated. For this the phasor diagram is approximatively calculated. Finally the simulations are
repeated.
In the case of a PMSM as an injection-pump drive a minimal start-up-time of 100 ms from 0 to 3500
rpm is required. The machine shown as a FE-model in Fig. 12 has an outer diameter of the stator of
120 mm. The rotor diameter is 34.5 mm. The length of the machine is 60 mm. As permanent magnet
material ferrit is used with a remanence of 0.35 T. The stator has a copper winding with 24 slots and
the rotor is symmetric so that there is no difference in the inductances of direct and quadrature axis.
The pole pair number is p = 2. The inertia of the rotor is calculated to J=1.1032 mWs3 . The stack
factor is kCu = 0.35.
Although the currents are about the same as without coupling the torque in the simulation is not any
longer smooth but undulating as shown in Fig. 14, an effect depending on the stator slots. The
reluctivity of the motor depends on the position of the rotor. If the reluctivity is lower the torque is
higher than at the point of higher reluctivity.
Conclusion
This paper presents four different examples of the way Finite-Element models are being used at the
Institute for Electrical Machines at Aachen Institute of Technology. The bandwidth of the applications
covers static torque and force calculations for new types of electrical machines, transient calculation of
eddy current losses, a procedure to determine the mechanical and acoustic behaviour of electrical
machines and coupled simulations to calculate the dynamic behaviour of electrical machines.
Depending on the requirements the Finite-Element models are either 2D or 3D and more or less
extensive. Regarding the ongoing improvements of the performance of personal computers and
workstations these examples are showing, that the complexity of the applications of Finite-Element
models will increase further on.
References
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machines with time stepping procedures, COMPEL, Vol. 20, Number 1, 2001, pp. 152-166
[2] Kaehler, C.; Henneberger, G.: Calculation of the mechanical and acoustic behaviour of a clow pole
alternator in double and single star connection, 4th International symposium on advanced
electromechanical motion systems (Electromotion proceedings), Vol. 2, 2001, pp.553-558
[3] Weck, M.; Reinartz, T.; Henneberger, G.; De Doncker, R.: Design of a spherical motor with three
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[8] Blissenbach, R.; Henneberger, G.: New design of a transverse flux machine for a wheel hub motor in a
tram, Proc. PCIM, Intelligent Motion, 1999, pp. 189-194
[9] Ramesohl, I.; Bauer, T.; Henneberger, G.: Calculation procedure of the sound fields caused by
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r r r
[11] Albertz, D.; Henneberger, G.: On the use of the new edge based A, A − T formulation for the calculation
of time-harmonic, stationary and transient current field problems, IEEE Transactions on Magnetics,
Vol. 36, 2000, pp. 818-822
[12] Küppers, S.: Numerische Verfahren zur Beredchnung und Auslegung von Drehstrom-
Klauenpolgeneratoren, Dissertation, Institut für Elektrische Maschinen, RWTH Aachen, 1996
[13] Ramesohl, I.; Kaehler, C.; Henneberger, G.: Influencing factors on acoustical simulations including
manufacturing tolerances and numerical strategies, 9th International Conference on Electrical Machines
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