Beruflich Dokumente
Kultur Dokumente
Zoltan Cendes
Camegie Mellon University, Pittsburgh, PA
Ab~tra~t-This paper shows an effective way of coupling finite We refer to these as “basis fhctions” for the device. To
element analysis to system simulation tools. By creating evaluate these functions analytically, one needs an
equ~valentcircuit models for electromechanical devices, and expression for the stored magnetic coenergy, W’, in terms of
using electrical analogs for mechanical subsystems, it is I and x. Then the force and flux linkages can be calculated
possible to perform accurate parametric design studies. The
from
method is ideally suited to such problems as energy delivery in
a pulse transformer, and transient motion and current
waveforms in an actuator. f =- awf
I. BACKGROUM) ax
Finite element analysis has typically been coupled to (4)
circuit simulators using time-stepped field solutions [ 1,2].
This approach can be very accurate, but it involves long
The force and flux linkage appear in differential equations
simulation times that may discourage parametric studies,
involving the position and coil current, respectively
especially in system-level simulation.
A behavioral model for an electromechanical device can
be extracted from a set of parametric finite element d 2x
f ( I , x ) = m- (5)
solutions. Once the model has been developed, it can be dt2
used in a series of system simulations using SPICE [3] or
Saber [4],varying the electrical circuit and mechanical load
parameters without re-running the field solutions. Typically, dt
the system simulations run much faster than the parametric v = V,,, - rI (7)
or time-stepped field solution, which is the main advantage
of this method. Another advantage is that the models can be These three equations describe the dynamic behavior of
more widely used and distributed, without the need for a the simple system in Figure 1, including the nonlinear
finite element solver and detailed geometry and materials conversion of magnetic and mechanical energy. If the
information. coupling field is electric rather than magnetic, the basis
11. STATE-SPACE
APPROACH
functions become
nonlinear resistor, using a V-I characteristic to match the Saber offers some advantages over SPICE for this
speed-torque curve. application:
The new "B source" component in Berkeley SPICE 3F5
provides considerable modeling flexibility for nonlinear Saber uses piecewise linear soluti
electrical and mechanical loads. Unlike previous versions of SPICE uses the continuous Newton Raphson algorithm.
SPICE that provided only polynomial nonlinear dependent Saber includes an extensive library of mechanical
sources, the B source can include more general expressions. components.
However, it is not a replacement for the multi-dimensional The differentiating circuits in Figures 2 and 3 are not
piecewise linear component developed here, because of the required because Saber can solve the coupling equations
various hazards in fitting analytical expressions to numerical directly.
values.
V. EXAMPLES
TABLEI
MECHANICAL
ANALOGS The first example is a linear actuat
axisymmetric with a stroke of 0.0127 m, 12500 turns, and
Rotational Translational Electrical SS430 material in the armature and stop. Parameters of
z [N-in] F [NI 1 [AI interest are the time to closure, and the waveshape of the coil
o [rads] w [&SI v [VI current, which may be used for electronic sensing. Fig
J [kg-m2] m [kg1 C[Fl shows the laboratory test current waveshape, along
K [N-&rad] K [N/m] 1K r1m simulation results using the finite-element derived model,
D [N-m-s/rad] D [N-s/ml 11R [1/a] and a simpler electromagnet model based on magnetic
Power = zo Power = Fw Power = IV circuit analysis. The simpler model provides a reasonable
e=lo+oa x = Iw+xo v, = i v + vno estimate of the time to closure, but is not as good at
simulating the total coil current waveshape. The finite-
Using the electrical analogs, a force output from the element derived model required 121 separate field solutions,
piecewise linear source can be applied as a current to a varying the core position and coil current as parameters.
capacitance representing the device mass. To provide the The second example is a pulse transformer, which is
position input, it is necessary to integrate the voltage across required to deliver a specified energy to a nonlinear load.
the capacitor, which may be done with SPICE components. This transformer has a C core, 0.023 m thick, with a turns
Given the coil flux linkages, a back emf is generated by ratio of 12700/140. A circuit model in the form of Figure 5
differentiating the flux. Figure 2 shows the necessary SPICE was derived from finite element solutions. T
components for a linear actuator corresponding to Figure 1. the magnetizing inductance, L,forty-one separate field
If the device is based on the electric rather than the magnetic solutions were performed, varying the primary coil current
field, Figure 3 shows the necessary SPICE components. as a parameter with the secondary current set to zero. This
Examples in the following section were run in both our simulates the laboratory open-circuit test.
modified SPICE, and the commercial Saber simulator. While the parametric field solutions for
for the leakage inductances, it is much
I I
Fig. 2. SPICE components for a magnetic field device. Fig. 3. SPICE components for an electric field device
1685
Fig. 4. Coil currents in a linear actuator. Model MI9 Core Composite Core
Magnetic Circuit 60.2 mJ 42.4 mJ
obtain leakage inductances from a simulated bucking test E A Model 53.9 mJ 34.5 mT
[7]. Equal and opposite amp-turns are applied to each Measurement -50.0 mJ (production req.) 32.4 mJ
TO.~*CIO
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I \
0.5*C12
0.5*C20rp‘
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