Beruflich Dokumente
Kultur Dokumente
2, 2004
Translated from Denki Gakkai Ronbunshi, Vol. 123-D, No. 4, April 2003, pp. 392–400
KATSUMI YAMAZAKI
Chiba Institute of Technology, Japan
(2)
2. Calculation Method
where A is the magnetic vector potential, Js is the stator
current density, Jr is the rotor current density, n is the
2.1 Outline of calculation method reluctivity, vs and is are the stator voltage and current, Rs is
the stator winding resistance, and Φs is the linkage flux of
Figure 1 shows the outline of the procedure used to the stator winding.
calculate the losses. The procedure consists of two steps. Using Eqs. (1) and (2), the nonlinear time-stepping
First, the electromagnetic field analysis of the induction finite element analysis considering the nonlinear magnetic
motor is carried out by using nonlinear time-stepping finite characteristics of the core and the movement of the rotor is
element analysis considering the nonlinear magnetic char- carried out. As a result, the primary copper loss W1 and the
acteristics of the core and the harmonics caused by rotor secondary copper loss W2 are obtained as follows:
movement. At this step, the eddy currents and hysteresis
phenomena in the stator and rotor cores are neglected (3)
because it can be assumed that their effect on the total
electromagnetic field is relatively small. From this step of
the finite element analysis, the copper losses of the stator
and the rotor are obtained with consideration of the harmon- (4)
ics. Next, in the second step, the iron loss considering the
harmonics is calculated from the time-series data of the
stator and the rotor flux density at each point in the motor where T is the analysis period.
as obtained in the first step. The details of the first step of As mentioned before, the eddy currents and hystere-
the finite element analysis and the second step of the iron sis phenomena in the stator and the rotor cores are neglected
loss calculation are described below. in the finite element analysis because it can be considered
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that their effect on the total electromagnetic field is rela- It can be considered that the first term on the right-
tively small. This approximation corresponds to neglect of hand side of Eq. (5) is obtained from Eq. (6) with the
the iron loss current in the equivalent circuit of the induction following approximation [19]:
motor. In this case, the primary current may be slightly
underestimated when the primary voltage is given.
(7)
(9)
(6)
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Table 1. Specifications of analyzed motors
Fig. 2. Determination of amplitudes of major and minor mittees of IEE Japan, namely, the Research Committee on
hysteresis loops. Electromagnetic Field Analysis for the Virtual Engineering
of Rotating Machines (1998–1999) and the Research Com-
mittee on Electromagnetic Field Analysis for Three-Di-
mensional CAE of Rotating Machines (1999–2001). The
stators of all models are identical. Two types of the solid
Figure 2 shows the outline of the method of determin- rotors were built, without slots and with 34 slots. They were
ing Bijmr, Bm
ij
θ. The result of Eq. (9) includes not only the loss made from S45C carbon steel. The overhang at the ends of
due to the major hysteresis loop but also the losses of the the solid rotors from the stator was 4 mm. In addition, two
minor loops. This method does not require a Fourier trans- types of die-cast aluminum cage rotors were built, without
formation or an eddy current loss calculation. Only the local skew and with one rotor slot pitch skew. The core material
maximum and minimum in the time variation of the flux of the cage rotors was 50A1300, identical to the stator core.
density at each finite element need be stored in the computer The core length was 42 mm, also the same as the stator. In
memory. addition, the stator and the rotor core were built by laser cut
processing. The stator lamination was fixed only with bolts,
3. Analyzed Motors and Application of Proposed without using a frame.
Method
3.2 Application of combined 3D–2D finite
3.1 Specification of analyzed motors element method
Figure 3 shows the cross-sectional dimensions of the As mentioned in Section 2.2, the nonlinear time-step-
analyzed motors. Table 1 gives the specifications. The ping finite element method considering the harmonics and
motors are the induction motor K-models and the solid rotor the nonlinear magnetic characteristics of the core should be
induction motor models which have been studied by com- applied to calculate the primary and secondary copper
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Table 2. Coefficients of iron loss
(11)
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Fig. 6. Experimental and calculated speed–current Fig. 7. Experimental and calculated speed–loss curve.
curve.
Fig. 8. Flux distribution, time variation of flux density, and loss distribution of solid rotor induction motor without slot.
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mechanical loss of the analyzed motors is 3.2 W, which is sinusoidal. In particular, the variation at the stator teeth is a
relatively small in proportion to the total loss because the nearly radial alternating field. On the other hand, the vari-
analyzed motors are small four-pole machines. Although ation at the rotor surface includes time harmonics caused
the calculated results for the solid rotor with slots and for by stator slot ripple due to the movement of the rotor. In this
cage induction motors at low speed slightly overestimate case, the locus of the flux density shows a harmonic rota-
the total loss compared with the measured results, the other tional field. The harmonics rapidly decrease from the sur-
results agree well with the measured results. Thus, the face to the inside of the rotor, where the magnetic field is
validity of the calculation method is verified. almost a DC field at synchronous speed. As a result, the
losses concentrate on the rotor surface.
4.2 Space and time variation of flux density On the other hand, in the case of the solid rotor with
and loss distribution slots in Fig. 9, time-harmonic magnetic fields also appear
at the stator because of the movement of the rotor slot due
Figures 8 to 11 show the space and time variation of to the rotation of the rotor. These harmonics are especially
the flux density and the loss distribution at the stator and marked at the stator surface, where the locus of the flux
rotor when the rotor is at synchronous speed. They show all density reveals complex variation. The harmonics caused
cases of the solid rotor with and without slots and the cage by stator slot ripple also appear at the rotor surface, and also
rotor with and without skew. in the case of the solid rotor without slots in Fig. 8. The
In the case of the solid rotor without slots in Fig. 8, losses concentrate at the rotor surface, including the sides
the variation of the flux density at the stator is nearly of the slots.
Fig. 9. Flux distribution, time variation of flux density, and loss distribution of solid rotor induction motor with slot.
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Fig. 10. Flux distribution, time variation of flux density, and loss distribution of cage rotor induction motor without skew.
The results for the cage rotor without skew in Fig. 10 neglecting the harmonics are also plotted for comparison.
also show time harmonics at the stator and the rotor core The experimental iron loss defined by the classical electric
near the air gap because of slot ripple. The losses also machine theory is
concentrate at the rotor surface. In addition, the figure
shows the generation of the harmonic secondary currents (12)
induced by stator slot ripple at the rotor conductor. The
currents concentrate at the surface due to the skin effect.
where Wnoload is the total no-load loss.
In the case of the cage rotor with skew in Fig. 11, the
The iron loss defined by Eq. (12) includes not only
harmonic secondary currents decrease compared with the
the losses generated at the core but also the harmonic
cage rotor without skew in Fig. 9 because of the effect of
secondary copper losses generated at the rotor conductor.
the skew. As a result, the loss density at the rotor conductor
The experimental and calculated results of each mo-
decreases. The figure shows the generation of the rotor core
losses not only at the surface but also relatively deep inside, tor in Fig. 12 show good agreement, verifying the validity
because of the deep penetration of the harmonic magnetic of the proposed calculation method. Among the calculated
field. This effect can be attributed to a decrease in harmonic results, the case of the cage rotor with skew shows the
secondary currents, which produce a reaction field against largest calculation error, with a calculated value 14% less
the slot harmonics. than the experimental result. It can be considered that this
Figure 12 shows the experimental and calculated iron error is caused by neglect of the inter-bar currents in the
losses at synchronous speed. The results calculated while calculation.
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Fig. 11. Flux distribution, time variation of flux density, and loss distribution of cage rotor induction motor with skew.
71
The results for all motors indicate a large contribution (2) The rotor losses are generated by slot harmonics
of rotor losses to total iron losses. This can be explained by even when the rotor is at synchronous speed. In this case,
the results shown in Figs. 8 to 11, which reveal relatively the losses concentrate particularly at the rotor surface.
large harmonic losses of the rotors even at synchronous (3) The iron loss defined by the classical electric
speed. The results calculated without consideration of the machine theory includes harmonic secondary copper losses
harmonics underestimate the losses by 40 to 70% as shown generated at the rotor conductor.
in Fig. 12 because they do not consider rotor losses. (4) When the iron loss is calculated without consid-
Let us discuss the components of the rotor losses. In eration of these losses generated in the rotor core and at the
the case of the solid rotor, the components are the harmonic conductor, the results often underestimate the losses com-
eddy current and the hysteresis losses generated in the S45C pared with the experimental results.
carbon steel. On the other hand, in the case of the cage rotor,
the components are eddy currents and hysteresis losses in Further work is required in order to develop a more
the 50A1300 electromagnetic steel sheet and harmonic accurate general-purpose calculation method which takes
secondary copper losses generated in the aluminum of the account of the stress of the core and includes material
rotor conductor. When the rotor is skewed, the harmonic modeling based on the vector magnetic properties. Further
secondary copper losses decrease, but the losses of the work is also required in order to calculate the inter-bar
electromagnetic steel sheet increase. This effect of the skew currents of the cage rotors with skew.
can be explained by the results shown in Fig. 11. In the case
of the skewed rotor, the reaction field against the slot
Acknowledgments
harmonics decreases because of the decrease in harmonic
secondary currents. As a result, the harmonic magnetic
I thank the members of the Research Committee on
fields penetrate deeply into the rotor core.
Advanced 3D Electromagnetic Field Analysis for Rotating
Next, let us consider the stator losses. In the case of
Machines, IEE Japan, for providing valuable advice, mate-
the solid rotor without slots, the calculated stator loss
rials, and measurement data.
neglecting the harmonics is almost identical to the result
The content of this paper is derived from papers
obtained when considering the harmonics. For the other
presented at the Joint Technical Meeting on Static Appara-
motors, the calculated results neglecting the harmonics
tus and Rotating Machinery, numbers SA-01-32, RM-01-
underestimate the stator losses by 10 to 20%. This result
100 and the Technical Meeting on Rotating Machinery,
can be explained by Fig. 8. In the case of the solid rotor
RM-01-142, of IEE Japan.
without slots, the time variation of the flux density at the
stator is almost sinusoidal. On the other hand, the variations
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AUTHOR
Katsumi Yamazaki (member) received his M.E. degree in electrical engineering from Waseda University in 1989. From
1989 to 1992, he worked in the Medical Engineering Laboratory of Toshiba Corp. From 1992 to 1997 he was a research associate
in the Department of Electrical, Electronic and System Engineering, Teikyo University. In 1997, he became a lecturer in the
Department of Electrical Engineering, Chiba Institute of Technology, and has been an associate professor since 1999. He is
mainly engaged in the electromagnetic field analysis of rotating machines. From 1996 to 1998 he was an adjunct lecturer at
Utsunomiya University. He received a paper presentation award of IEE Japan in 1998. He holds a D.Eng. degree.
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