energies

Article
Modeling for Three-Pole Radial Hybrid Magnetic
Bearing Considering Edge Effect
Huangqiu Zhu, Shuling Ding * and Jintao Jv
School of Electrical and Information Engineering, Jiangsu University, 212013 Zhenjiang, China;
zhuhuangqiu@ujs.edu.cn (H.Z.); jujintao1989@163.com (J.J.)
* Correspondence: d673674965@163.com; Tel.: +86-511-8878-0088

Academic Editor: Jihong Wang

Received: 29 March 2016; Accepted: 29 April 2016; Published: 6 May 2016

Abstract: In order to overcome the shortcoming of magnetic bearings whereby general mathematical
models of the radial suspension forces cannot be accurately established, a mathematical model
considering the edge effect is set up. The configuration, operation principle and flux distribution
features of a three-pole radial hybrid magnetic bearing (HMB) are analyzed in this paper.
The magnetic field division method is employed to calculate the permeance of different regions
around the end portion of poles. The total permeance of a single pole is composed of the permeance
of the regions. Then, an accurate mathematical model of the radial suspension forces considering the
edge effect is deduced by the equivalent magnetic circuit method. From the modeling procedures,
it can be seen that the edge effect calculation is only related to the configuration and parameters of the
magnetic poles, and is isolated with the other configurations and parameters of the three-pole radial
HMB, therefore, the mathematical model is proved universal for calculating different suspension
forces of hybrid magnetic bearings. A finite element analysis (FEA) simulation and three-pole radial
HMB experiments are performed. The error between the theoretical calculation values and the
FEA simulation values of the suspension forces is less than 5%, and the error between theoretical
calculation value and experimental value of suspension forces is less than 7%. The comparison
between the results of the theoretical calculation, FEA simulation and experiments has verified that
the established mathematical model can accurately calculate the suspension forces.

Keywords: magnetic bearing; hybrid magnetic bearing (HMB); edge effect; radial suspension force;
mathematical model

1. Introduction
In flywheel energy storage systems (flywheel systems for short), electrical energy is stored by using
a motor which spins the flywheel to converting the electric energy into kinetic energy. To increase
the energy storage capacity of flywheel systems, the moment of inertia and rotational velocity of
the flywheel should be increased. The moment of inertia can be increased by adjusting the mass
distribution which may require stronger materials. The rotational velocity can be increased by using
magnetic bearings.
Magnetic bearings are contactless bearings, which exploit electromagnetic force to keep a rotor free
to rotate at the equilibrium position. Due to the advantages of high speed, no friction, high precision
and long service life [1–5], magnetic bearings play an important role in electric drives working under
high speed, vacuum and clean conditions. They have been applied in rotating machinery applications
like motorized spindles, agile satellites and flywheel systems [6–12]. The most common configurations
for radial magnetic bearings are eight-pole type and four-pole type [13]. However, those types of
magnetic bearings are activated by power amplifiers which account for the major cost of magnetic
bearings. Therefore, this limits the application of magnetic bearings in industrial fields. For magnetic

Energies 2016, 9, 345; doi:10.3390/en9050345 www.mdpi.com/journal/energies

Energies 2016, 9, 345 2 of 15

bearings, the poles of the stator are wound with coils. Once the coils are excited, currents flow through
coils, which leads to copper loss. Furthermore, iron losses of the poles are also generated. In order to
design compact and cost-effective magnetic bearings, ones with three poles are proposed. There are
two types of three-pole magnetic bearings that have been researched. One is activated by two power
amplifiers [14]. Two poles of this kind of three-pole magnetic bearings are activated by one power
amplifier and the remaining pole is activated by the other power amplifier. The other kind of three-pole
magnetic bearings is activated by a three-phase power inverter [15]. In this paper, a three-pole radial
hybrid magnetic bearing (HMB) activated by a three-phase power inverter is studied. It employs a
radial stator with three poles. Compared with HMBs equipped with eight poles or four poles, the
number of poles of a three-pole HMB is reduced, thus the total losses can be decreased. Furthermore,
due to the compact structure of magnetic bearings, the majority of the inner space of the stator is
occupied by poles and coils, leaving little space for heat dissipation and sensor installation. A magnetic
bearing with three poles has more heat dissipation space and sensor installation space than one
with eight poles or four poles, therefore three-pole magnetic bearings have higher heat dissipation
efficiency and lower sensor installation difficulty [16]. Meanwhile, the electrical and control schemes
of three-phase power inverters are universal and they have been widely used in AC-drive applications.
Therefore, inverter-fed three-pole radial HMBs can be both cost-effective and easy to control.
A relatively accurate mathematical model is needed to calculate the suspension force of magnetic
bearings so that the precision of its control system can be improved [17]. Present modeling methods
include the virtual displacement method, Maxwell tensor method and the conventional equivalent
magnetic circuit method. In [18], a mathematical model of radial suspension forces was established by
the virtual displacement method based on research on magnetic circuits and the permeance of each part
of an axial hybrid magnetic bearing. However, the virtual displacement method is computationally
intensive. In [17], a mathematical model of a three-pole radial HMB based on the Maxwell tensor
method was established by direct derivation of the suspension forces. Since the method did not
involve the configuration and magnetic circuits of the magnetic bearings, the model has the advantage
of universality. In [19], the equivalent magnetic charge method was adopted to model the passive
magnetic bearing (PMB), and the equivalent magnetic circuit method was employed to model the
HMB. It focused on decoupling control among the variables and designing a linear controller for the
magnetic bearing. One of the disadvantages in the above modeling methods is that eddy current
effects, leakage and edge effects are all ignored. However, the presence of eddy current effects, leakage
and edge effects can lead to significant discrepancies between theoretical predictions and experimental
performance. The eddy currents induced in magnetic bearings will cause a power loss in the system.
Furthermore, they will cause a phase lag and a decrease in the magnitude of the magnetic forces.
Leakage and edge effects affect the precision of suspension forces. For those defects, several researchers
have studied the aforementioned neglected factors [20–22].
This paper shows that the explicit consideration of the edge effect improves the prediction of the
suspension force. In [23], a magnetic circuit model of an axial HMB was presented by considering
the edge effect of the gap magnetic flux. A magnetic field division method was applied to calculate
the permeance of each magnetic flux tube. Then a mathematical model of the radial suspension force
and axial suspension force was deduced by the virtual displacement method. However, the model
was established in a two-dimensional magnetic bearing, and could only be used in the situation that
the displacement in the radial direction far less than the thickness of the permanent magnet. In [24],
extended circuit theory was employed to study a three degree-of-freedom magnetic bearing, and
the feasibility of the mathematical model established by authors was improved. However, the total
permeance of edge regions and the permeance of the frontal region are supposed to be connected in
series rather than in parallel according to the theory of electrical appliances.
A mathematical model considering edge effects is established in this paper. Configuration,
operational principle and flux distribution features of the three-pole radial HMB are analyzed.
The magnetic field division method is adopted to calculate the permeance of different regions around
Energies 2016, 9, 345 3 of 15
Energies 2016, 9, 345 3 of 15

the end portion

regions. Finally,ofan
theaccurate
pole, then the total permeance
mathematical model ofofthea single
radialpole is composed
suspension forcesof the permeance
considering of
edge
the regions. Finally, an accurate mathematical model of the radial suspension forces
effects is established by the equivalent magnetic circuit method. The universality of the established considering edge
effects is established
mathematical modelby is the equivalent
concluded magnetictocircuit
according method.
the edge Thefeatures.
effect universality
The of the established
experiments and
mathematical
simulations of amodel is concluded
three-pole radial HMB according to thetoedge
are performed effect
verify features.
the validity The
of the experiments
established and
model.
simulations of a three-pole radial HMB are performed to verify the validity of the established model.
2. Configuration and Operational Principle
2. Configuration and Operational Principle
The three-pole radial HMB is fed with a three-phase power inverter so that electromagnets
The electromagnetic
produce three-pole radialforces HMBto is control
fed with thea stable
three-phase powerofinverter
suspension so The
the rotor. that electromagnetic
electromagnets
produce
forces areelectromagnetic
perpendicular to forces to control
the surface therotor
of the stable
andsuspension
point to theofstator.
the rotor. The electromagnetic
The suspension forces are
forces
generated by the difference of magnetic forces among three magnetic poles, and it can be adjustedare
are perpendicular to the surface of the rotor and point to the stator. The suspension forces by
generated
transformingby the
the difference
input signals.of magnetic forces among three magnetic poles, and it can be adjusted by
transforming the input signals.
2.1. Configuration and Flux Path of Three-pole Radial HMB
2.1. Configuration and Flux Path of Three-pole Radial HMB
Figure 1 shows the configuration and flux path of the three-pole radial HMB. In Figure 1, it can
Figure 1 shows the configuration and flux path of the three-pole radial HMB. In Figure 1, it can be
be seen that the three-pole radial HMB has two symmetrical stators. Each stator has three poles, and
seen that the three-pole radial HMB has two symmetrical stators. Each stator has three poles, and the
the three poles are uniformly spaced at 120° intervals. The two symmetrical coils are connected in
three poles are uniformly spaced at 120˝ intervals. The two symmetrical coils are connected in series
series to form a phase, and three phases are in a star connection. A ring-shape permanent magnet
to form a phase, and three phases are in a star connection. A ring-shape permanent magnet connects
connects two stators. An axial magnetized permanent magnet ring provides bias flux flows through
two stators. An axial magnetized permanent magnet ring provides bias flux flows through stators,
stators, air gaps and rotor, as shown by the dashed lines. Bias flux produces magnetic forces to
air gaps and rotor, as shown by the dashed lines. Bias flux produces magnetic forces to suspend the
suspend the rotor at the equilibrium position without disturbances and gravity. The control coils
rotor at the equilibrium position without disturbances and gravity. The control coils supply control
supply control flux as the solid line shows. When the input current is positive, the control flux
flux as the solid line shows. When the input current is positive, the control flux strengthens the bias
strengthens the bias flux so that the electromagnetic force becomes stronger (biased magnetic forces
flux so that the electromagnetic force becomes stronger (biased magnetic forces and control magnetic
and control magnetic force are collectively called electromagnetic force in the following context).
force are collectively called electromagnetic force in the following context). When the input current
When the input current is negative, the control flux weakens the bias flux so that the electromagnetic
is negative, the control flux weakens the bias flux so that the electromagnetic force becomes weaker.
force becomes weaker. Electromagnetic forces from three poles cooperate to stabilize the rotor. There
Electromagnetic forces from three poles cooperate to stabilize the rotor. There is no coupling between
is no coupling between the control flux and bias flux due to the different flux paths. In order to
the control flux and bias flux due to the different flux paths. In order to facilitate the description, the
facilitate the description, the three poles are marked as A, B and C.
three poles are marked as A, B and C.

Y Permanent
X magnet Frontal
area

B Control
C Flux

Bias
rotor flux
A
Control coil

Stator yoke

Figure 1. Configuration and flux path of the three-pole radial HMB.

Figure 1. Configuration and flux path of the three-pole radial HMB.
2.2. Control Principle of Three-pole Radial HMB
2.2. Control Principle of Three-pole Radial HMB
The control system is a displacement-current double closed-loop feedback control system which
The control
comprises system
controller, is a displacement-current
three-phase double
power inverter and closed-loop
displacement feedback
sensor control
modules. system
Figure which
2 shows
comprises
the control controller,
process. three-phase power inverter and displacement sensor modules. Figure 2 shows
the control process.
Energies 2016, 9, 345 4 of 15
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Energies 2016, 9, 345 4 of 15

Displacement sensor
Displacementsensor
Displacement sensor
Displacement sensor
Current sensor

Uy - Currentsensor
Current sensor
U y*
* -
+ PID Fy
* ib i
Uy - Controller Force / + * Current sensor b
* -
Uy + PID Fy current i ib -
* *
ic ibC B
Force / c++
Controller transfo CRPWM
Ux - ** B
Ux* + - Fx* current iaic + - iaic C
PID mer CRPWM
Ux Controller transfo - * A
Ux* + - PID Fx* mer
ia ia
Controller A
Figure2.2.Control
Figure Controlblock
block diagram
diagram of of three-pole
three-poleradial
radialHMB.
HMB.
Figure 2. Control block diagram of three-pole radial HMB.
The radial position signals of the rotor are differentially detected by eddy current displacement
The radial
sensors.
position signals of the rotorcompared
are differentially detected by eddy current displacement
TheThen,
radialthe differential
position signals signals
of theare with the detected
rotor are differentially referencebyvalues. Through
eddy current the signal
displacement
sensors.
processingThen, the
circuit,differential
the signals
difference is are compared
transferred to PID with the
controller reference
to obtainvalues.
signals Through
representing the signal
the
sensors. Then, the differential signals are compared with the reference values. Through the signal
processing
forces. circuit, the
The controller difference is transferred to PID controller to obtain signals representing the forces.
processing circuit, thetransforms
difference is force signals into
transferred to PID three phase to
controller current
obtainsignals
signalsby force-current
representing the
Thetransformation
controller transforms
and 2/3 force signals transformation.
coordinate into three phaseThen, current thesignals
three by force-current
phase currents transformation
are taken as
forces. The controller transforms force signals into three phase current signals by force-current
and 2/3 coordinate
reference currentsand transformation.
and2/3
compared withThen,the the
input three phase
currents ofcurrents
the are taken as reference currents
transformation coordinate transformation. Then, the electromagnets.
three phase currents The input are currents
taken as
andarecompared
detected with
by the
eddy input
current currents
sensors. of the
Then, electromagnets.
the PWM signals Theareinput currents
obtained
reference currents and compared with the input currents of the electromagnets. The input currents and are
used detected
to by the
activate eddy
current sensors.
three-phase Then,
power the
inverter.PWM signals
Furthermore, are theobtained
desired and used
currents to
can
are detected by eddy current sensors. Then, the PWM signals are obtained and used to activate the activate
be the
generated three-phase
and the power
desired
inverter.
suspensionFurthermore,
three-phase forces
power the desired
caninverter.
be produced. currents can
Furthermore, thebe generated
desired and can
currents the be
desired suspension
generated and theforcesdesired can
be produced.
suspension forces can be produced.
3. Mathematical Model Based on Edge Effect
3. Mathematical
3. Mathematical Model
Model Based
Basedon onEdge
EdgeEffect
Effect
3.1. Edge Effect
3.1. 3.1.
EdgeEdgeEffect
Effecteffect depicted in Figure 3 indicates that a small part of flux, which is produced by
The edge
The
coils andedge
The edgeeffect
permanent depicted
effectmagnets,
depicted inflows
Figure
in 3 3indicates
through
Figure the edge
indicates that aasmall
regions.
that smallThepartfluxof
part flux,
ofgenerateswhich
flux, which isis produced
produced
an attractive force byby
between
coils and the
permanentrotor and stator,
magnets, which
flows will
through cause the the
edgetotal electromagnetic
regions. The flux
coils and permanent magnets, flows through the edge regions. The flux generates an attractive force force to
generates be stronger
an than
attractive it
force
deduced
between
between thebythethe
rotor conventional
andand
rotor stator, equivalent
which
stator, which will magnetic
willcause
causethe circuit
thetotal method which only
totalelectromagnetic
electromagnetic considers
force
force to be
to the flux flows
be stronger
stronger thanitit
than
through
deduced
deduced the
by the frontal
by the region.
conventional
conventional equivalent
equivalent magnetic
magneticcircuitcircuitmethod
methodwhichwhich only considers
considersthe theflux
fluxflows
flows
through
throughthe the
frontal region.
frontal region.
Edge Frontal area
Pole 60
area 0.1mm 0.2mm
Edge
Magnetic density/mT

Edge Frontal area

Pole Frontal region 5060
0.1mm 0.2mm 0.3mm
region
Edge area
Magnetic density/mT

0.4mm
4050
Frontal region region 0.3mm
3040 0.4mm

2030
1020
010
Rotor 0 0.8 1.6 2.4 3.2 4
Arc length/mm
00
Rotor 0.8 1.6 2.4 3.2 4
(a) Arc length/mm
(b)

Figure 3. (a) Schematic(a) diagram of the edge effect. (b) Relationship between (b)the edge effect flux
density
Figure distribution and the length of the
the air gap.
Figure 3. (a)3.Schematic
(a) Schematic diagram
diagram of theofedge edge
effect.effect. (b) Relationship
(b) Relationship between
between theeffect
the edge edge flux
effect flux
density
density distribution and the length
distribution and the length of the air gap.of the air gap.
Figure 3a shows a schematic diagram of the edge effect. Figure 3b implies that the edge effect
becomes stronger
Figure as the
3a shows length of air
a schematic gap gets
diagram larger.
of the edgeIfeffect.
neglected,
Figurethe
3b edge effect
implies thatwill
the lead
edgetoeffect
an
Figure
increased 3a shows a schematic diagram of the edge effect. Figure 3b implies that the edge effect
becomes calculation
stronger aserror. Therefore,
the length of airit gap
is significant
gets larger.to take the edge effect
If neglected, into effect
the edge consideration
will leadintothe
an
becomes stronger
modelling
increased process asofthe
calculation length
magnetic
error. of air gap
bearings,
Therefore, isgets larger.
itespecially for to
significant Iftake
large neglected,
electric the
drives.
the edge edge
effect intoeffect will leadintothe
consideration an
increased
Thecalculation
modellinggeneral error.
method
process toTherefore,
of magneticcalculate it is significant
edge
bearings, to
effects is tofor
especially takeempirical
select
large the edgedrives.
electric effect[25].
value intoHowever,
consideration in the
the value
modelling
selection process
is of
difficultmagnetic
and totallybearings,
depends especially
on the for
structurelargeof electric
the drives.
magnetic bearings,
The general method to calculate edge effects is to select empirical value [25]. However, the value which makes it
The general method to calculate edge effects is to select empirical value [25].
selection is difficult and totally depends on the structure of the magnetic bearings, which makes it However, the value
selection is difficult and totally depends on the structure of the magnetic bearings, which makes it
Energies 2016, 9, 345 5 of 15

Energies 2016,
Energies 2016,9,
9,345
345 55of
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15

application-specific, i.e. the method can only applied to a specific type of bearing. Thus, an efficient
application-specific, i.e.
application-specific, i.e. the
the method
method can can only
only applied
applied to to aa specific
specific type type of of bearing.
bearing. Thus,
Thus, an
an efficient
efficient
method is direly needed to evaluate the influence of edge effects.
method is
method is direly
direly needed
needed to to evaluate
evaluate the the influence
influence of of edge
edge effects.
effects.
In Figure 4, pole A is taken as an example to show the flux distribution of the edge effect.
In Figure
In Figure 4, 4, pole
pole A A isis taken
taken as as an
an example
example to to showshow the
the flux
flux distribution
distribution of of the
the edge
edge effect.
effect. The
The
Thedashed
dashedlines,lines,which
whichactually
actuallydodonot notexist,
exist,areareused
usedtotodistinguish
distinguishdifferent different edge
edge
sub-regions.
sub-regions. In
In this
this
dashed lines, which actually do not exist, are used to distinguish different edge sub-regions. In this
three-dimensional
three-dimensional figure, figure, it can
figure, itit can be
can be seen
be seen that
seen that edge
that edge flux
edge flux is
flux is distributed
is distributed symmetrically
distributed symmetrically
symmetrically with with regard
with regard
regard to to
thethe
to the
three-dimensional
polepolecentre.
centre.According
According totothethemagnetic
magneticfield fielddivision method
division method
method [26],[26], the
[26], theflux fluxaround
aroundthe thepole
poleis is divided
divided
pole centre. According to the magnetic field division the flux around the pole is divided
into seven
intoseven
into sub-regions
sevensub-regions (asymmetrical
sub-regions(asymmetrical
(asymmetricalparts parts are
partsare not
arenot involved
notinvolved
involvedin in calculation).
incalculation).
calculation).As As Figure
AsFigure 4 shows,
Figure44shows,
shows,regionregion
region
1 represents
11 represents
represents thethefrontal
the frontal
frontal region
region
region ofof
ofthe
thepole,
the pole,whose
pole, whosepermeance
whose permeance is
permeance is
is GG
G111;;;regions
regions222and
regions and6,
and 6,6, whose
whose
whose permeance
permeance
permeance
G2G
areare
are and
G andG6,G6,areareshaped
shaped like
likea aquarter
quarter of
of aa cylinder;
cylinder; regions
regions 33 and
and
2 and G6, are shaped like a quarter of a cylinder; regions 3 and 7 are the same as a quarter of
2 77 are
are the
the same
same asas
a a quarter
quarter ofof
aa a
hollow cylinder,
hollow cylinder,
hollow whose
cylinder, whose permeance
whose permeance
permeance are are G
are GG and
and G
333 and G ; region
G777;; region 4 is
region 4 is 1/81/8
1/8 of of
of the the sphere,
the sphere,
sphere, whosewhose permeance
whose permeance
permeance is is is
G4 Gand
G and
44 andregion
region
region 5 5is 1/8
5 is
is 1/8of
1/8 ofthe
of thehollow
the hollow sphere,
hollow whosepermeance
sphere, whose
sphere, permeanceis
permeance GG
isisG 55..5 .

XX Pole A
A
Pole
YY

ll
77
2θ
2θ 55 66
δδ00 11 44
33 22

Figure 4.Region
Figure4.4.
Figure Regiondivision
Region of the
division of
division theedge
edgeflux.
edge flux.
flux.

3.2.
3.2.3.2. Modeling
Modeling for
forfor
Modeling Three-poleRadial
Three-pole
Three-pole RadialHMB
Radial HMBBased
HMB Basedon
Based onEdge
on Edge Effect
Effect
Effect
TheThe
The three-pole
three-pole
three-pole radialHMB
radial
radial HMBisis
HMB isinvestigated
investigatedin
investigated in this
this paper.
paper. Cartesian
paper. Cartesian coordinates
Cartesiancoordinates are
coordinatesare used
used
are used and
and thethe
the
and
Y-axis
Y-axis
Y-axis coincides
coincides
coincides with
with
with the
thethe reverse
reverse
reverse direction of pole
directionofofpole
direction A. Pole
poleA.A.Pole B
PoleBBandand pole
andpole C
poleCCareare arranged
arearranged anticlockwise
arrangedanticlockwise
anticlockwise as
as Figure
as
FigureFigure
1 reveals.11 reveals.
reveals. A magnetic
A
A magnetic magnetic circuit
circuitcircuit considering
considering
considering edge effect
edge
edge effect effect
is is established
is established
established as Figure
as
as Figure Figure 55 shows.
5 shows. shows.
2θ and l
2θ
2θ and
and ll represent
represent the
the arc
arc and
and axial
axial length
length of
of the
the
represent the arc and axial length of the pole, respectively. pole,
pole, respectively.
respectively.

GAA
G Gs 1/2NI
Gs ΦA1
1/2NIAA Φ A1 GAA Gs
G 1/2NIAA Φ
Gs1/2NI ΦA2
A2

GBB
G Gs
Gs ΦB1
Φ B1 GBB Gs
G Gs ΦB2
Φ B2

1/2NIBB
1/2NI 1/2NI
GCC
G Gs
Gs G Gs 1/2NIBB
GCC Gs
ΦC1
1/2NICC Φ C1 ΦΦC2
C2
1/2NI 1/2NICC
1/2NI

Φ
Φ FFmm G00
G

Figure 5. Magnetic circuit considering edge effect.

Figure 5.
Figure 5. Magnetic
Magnetic circuit
circuit considering
considering edge
edge effect.
effect.

where
where
where GAAG
G ,, A
GG,BB,G
,G
GBC,CG C are
are
are thethe
the permeance
permeance
permeance of
thethe
of the
of frontal
frontal
frontal regions
regions
regions of of
of different
different
different poles;
poles;
poles; GSSGdenotes
G S denotes
denotes thethe
the total
total
total
permeance
permeance
permeance of ofthe
ofthe edge
the edge
edge regions;
regions;
regions; FF pmis
Fpm
pm isthe
is magnetomotive
themagnetomotive
magnetomotiveforce forceand
force anddecided
and decidedby
decided byby the
the
the material
material
material properties
properties
properties
of the
of of
the the permanent
permanent
permanent magnet;GG
magnet;
magnet; G
0 00isisthe
is theinner
the inner permeance
inner permeance of
permeance the
of the permeant
the permeant magnet.
permeantmagnet.magnet.Φ ΦΦindicates
indicates
indicates the
thethe flux
fluxflux
flows
flows
flows through
through
through different
different
different poles;
poles;
poles;A, A, A,C
B, B,are
B, CC are
are three
three three poles
poles in stators.
in the
poles in the stators.
the stators. 11 means
1 means means one
one one
of of stators
stators
stators
of and
and 2and 22
means
means
themeans
other.thethe other.
NIother.
A , NIBNI
NI , NI
A, CNI
, NIA ,
B, NI
are
B NI are magnetomotive
C are magnetomotive
magnetomotive
C forces
forcesforces produced
produced
produced by the by the
bycontrol control
the control coils
coilscoils of different
of different
of different poles.
The poles.
poles. The following
The
following following
assumptions assumptions
assumptions
are made arefor
are made
made for simplicity:
for
simplicity:simplicity:

(1) Arc(1)and
(1) Arc
Arcaxial
andlength
and axial of theof
axial length
length ofrotor are much
the rotor
the rotor larger
are much
are much than
larger
larger thethe
than
than arcarc
the and
arc axial
and
and lengths
axial
axial lengthsofof
lengths ofthe
thepoles
the polesso
poles
so the
the surface
so theof surface
surface of the
the rotor
of the rotor
and and
theand
rotor theare
poles
the poles are treated
treated
poles are treated
as flat;asthe
as flat;air
flat; thegap
the air gap
air gap related
related
related to the
to the
to the
samesame
pole
same
pole is
is uniform.
pole is uniform.
uniform.
(2) (2)shapes
(2)
The The shapes
The shapes of regions
of
of regions regions are standard.
are standard.
are standard.
Energies 2016, 9, 345 6 of 15
Energies 2016, 9, 345 6 of 15

(3) The (3)

eddy current
The effect iseffect
eddy current neglected.
is neglected.
(4) The permeability of the stator stator
(4) The permeability of the and the
androtor is infinite.
the rotor is infinite.

3.2.1.3.2.1. The Length

The Length fromfrom Pole
Pole to to RotorininEccentric
Rotor Eccentric Condition
Condition

Due Due to existence

to the the existence
of of
airair gaps,rotor
gaps, rotoreccentricity
eccentricity isis inevitable.
inevitable.It It
should be considered
should in thein the
be considered
modeling process. Air gaps are equally without eccentricity. When eccentricity happens,
modeling process. Air gaps are equally without eccentricity. When eccentricity happens, we take we take x x
as the eccentric length along the X-axis, and take y as the eccentric length along Y-axis. The eccentric
as the eccentric length along the X-axis, and take y as the eccentric length along Y-axis. The eccentric
angle α is expressed as follows [16]:
angle α is expressed as follows [16]:
α“  arctanpy{xq
 arctan( y / x) (1) (1)

The eccentricity
The eccentricity ratio
ratio ξ can
ξ can bebe calculatedas
calculated as follows:
follows:

a x2  y 2
  x 2 ` y2 (2)
ξ“ 0 (2)
δ0
Considering the rotor eccentricity, the length of air gap in the angle of ω can be expressed as
Considering
follows: the rotor eccentricity, the length of air gap in the angle of ω can be expressed
as follows:
 ()   0 (1   cos(   )) (3)
δpωq “ δ0 p1 ´ ξcospω ´ αqq (3)

3.2.2.3.2.2. Permeance
Permeance of Different
of Different Regions
Regions
The formula
The formula to calculate
to calculate permeancecan
permeance canbe
be written
written as:
as:
 S V
0 S0  µ002V
Gµ (4)
G“  “ 2av (4)
δav av δav
where δav is the average physical length of air gaps; S denotes the region of flux distribution; V is the
wherevolume
δav is the average
of flux physical
distribution; μ0 islength of air gaps;ofSvacuum.
the permeability denotes the region of flux distribution; V is the
volume ofFigure
flux distribution; µ0 is the
6 shows dimensions of permeability
the HMB, which of vacuum.
are needed in the calculation of the permeance
Figure 6 shows
of air gaps. R is dimensions of the HMB,
the length between which
the center of are needed
rotor and thein frontal
the calculation of the
face of pole; Rorpermeance
is the outerof air
radius of the rotor; 2θ is the arc length of the single pole; δ is the length
gaps. R is the length between the center of rotor and the frontal face of pole; Ror is the outer radius
0 of air gaps withoutof the
rotor; 2θ is the arc length of the single pole; δ0 is the length of air gaps without eccentricity; l iseffect
eccentricity; l is the axial length of the pole and m is the radial length considering the edge the axial
distribution. Here, m = 2δ0.
length of the pole and m is the radial length considering the edge effect distribution. Here, m = 2δ0 .

R 2θ
Ror m l
δ0
Gi

Figure 6. Dimensions of each part of the three-pole radial HMB.

Figure 6. Dimensions of each part of the three-pole radial HMB.

TakeTake
polepole
B asBan
as example,
an example,thethe
permeance
permeanceof of different edgeregions
different edge regionsare
are listed
listed as follows:
as follows:
The permeance of region
The permeance 1 can
of region 1 canbebewritten
writtenas:
as:

µ0S0 S  2Rθlµ
G1 
2 R l 0
0 (5)
G1 “ (5)
δav av δp30
 (30˝)q
“

where
˝ 30 is represents the angle between pole B and X-axis. It changes with relative position.
°
where 30 The
is represents thegap
minimum air angle between
length pole
of region B and
2 is δ(30˝°)X-axis.
and theItmaximum
changes with relative
is 1.57δ(30 position.
°). Thus, by the
˝
The minimum air gap length of region 2 is δ(30 ) and the maximum is 1.57δ(30 ). Thus, by the
graphing method, the average length is 1.22δ(30 ). The permeance of region 2 is listed as follows:
°
˝
graphing method, the average length is 1.22δ(30 ). The permeance of region 2 is listed as follows:

µ0 V 2Rθπµ0
G2 “ 2
“ (6)
δav 5.9536
Energies 2016, 9, 345 7 of 15

The permeance of region 3 is:

µ0 S 2Rθµ0
G3 “ “ (7)
δav π
The permeance of regions 4, 5, 6 and 7 can be obtained in the same way:
$ µ πδpω q
’
’ G4 “ 010.61
’
’
’
’
’
’
& G5 “ µ0 δpωq
’
’
(8)
’ µ0 πl
G6 “
’
’
’
’
’ 5.95
’
’
’
µ0 l
’
%
G7 “ π

Therefore, the total permeance can be deduced as follows:

ř
G “ G1 ` 2pG2 ` G3 q ` 4pG4 ` G5 q ` 2pG6 ` G7 q
2Rθµ l (9)
“ δpωq0 ` 1.7µ0 p2Rθ ` lq ` 5.2µ0 δpωq

In Figure 5, it can be seen that: Gs = 1.7µ0 (2Rθ + l) + 5.2µ0 δ(ω).

After determining the dimensions of the HMB, the corresponding R, l, 2θ are confirmed.
Equation (8) shows that, within the constraints of this model, the permeance of the edge regions
is only a function of the length of the air gap.
Besides, the inner permeance of the permanent magnet is:

µ0 Spm
G0 “ (10)
lpm

where Spm is area of the permeant magnet; lpm is the length of permanent magnet in the magnetized
direction. Since poles A, B, and C are positioned symmetrically, the expressions of permeance of three
poles can be deduced as follows:
$
2Rθlµ
’
’
’ ΣA G “ δp270˝0q ` 1.7µ0 p2Rθ ` lq ` 5.2µ0 δp270˝ q
’
’
’
’
&
2Rθlµ
ΣB G “ δp30˝ q0 ` 1.7µ0 p2Rθ ` lq ` 5.2µ0 δp30˝ q (11)
’
’
’
’
’
% ΣC G “ 2Rθlµ˝0 ` 1.7µ0 p2Rθ ` lq ` 5.2µ0 δp150˝ q
’
’
δp150 q

3.2.3. Magnetomotive Force of Permanent Magnet

The magnetomotive force of a permanent magnet is:

Fpm “ Hpm lpm (12)

where Hpm is magnetic field intensity of a permanent magnet;

Energies 2016, 9, 345 8 of 15

3.2.4. Calculation of Flux and Suspension Force

According to the mathematical relationship between permeance and flux, the flux of the three
poles can be acquired as follows:

ΦA1 “ ΦA2 “ 2σ NiA ΣA2 G

$ 1 1
’
’ Fpm pΣA1 G ` G0 q ` 2σ
’
’
’
&
ΦB1 “ ΦB2 “ 2σ
1 1
Fpm pΣ B1 G ` G0 q ` 2σ NiB Σ B2 G (13)
’
’
’
’
’
ΦC1 “ ΦC2 “ 2σ
1
Fpm pΣC1 G ` G0 q ` 2σ1
NiC ΣC2 G
%

where σ is leakage coefficient; N is number of coil turns; i is the control current of coils; ΣA1 G=ΣA2 G,
ΣB1 G=ΣB2 G, ΣC1 G=ΣC2 G.
The angles between poles and X-axis in eccentric condition can be expressed as follows:
$
´pδ ` R q´y
’
’
’ ρA “ arctanp 0 ´xor q
’
’
’
’
pδ ` R qsinp30˝ q´y
&
ρB “ arctanp´ pδ 0`R orqcosp30˝ q´x q (14)
’ 0 or
’
’
’
’
’ pδ ` R qsinp150˝ q´y
ρC “ arctanp pδ 0`R orqcosp150˝ q´x q
’
%
0 or

where ρA is the angle between pole A and X-axis; ρB is the angle between pole B and X-axis; ρC is the
angle between pole C and X-axis.
The electromagnetic force expression is:

Φj2
Fj “ (15)
2µ0 S

where j = A, B, C.
Based on the formula above, in the same direction, resultant force can be deduced according to
the relationship between flux and electromagnetic forces:

Φ2j1 Φ2j2 Φ2j1 Φ2j2

Fj “ ` “ “ (16)
2µ0 S 2µ0 S µ0 S µ0 S

Thus the suspension forces in the X-axis and Y-axis direction are expressed as follows under
eccentric conditions: #
Fx “ FB cospρB q ´ FA sinpρA q ´ FC cospρC q
(17)
FY “ FB sinpρB q ´ FA cospρA q ` FC sinpρC q

Specially, when iA = ´2iB = ´2iC , the suspension forces can be expressed as equation (18):
#
FX “ 0
(18)
FY “ 12 FB ` 12 FC ´ FA

3.3. Analysis of Generality

3.3.1. Magnetic Bearings with Different Dimensions

Equation (9) has indicated that the distinction between the proposed model and the conventional
equivalent magnetic circuit model is that there is an additional term of 1.7µ0 (2Rθ + l) + 5.2µ0 δ(ω) in the
former. This term stands for the permeance of edge regions. It is only related to the specific parameters
of magnetic bearings. That is to say, the term is the function of the length of the air gap when the
Energies 2016, 9, 345 9 of 15

parameters of magnetic bearing are determined. A solution to calculate the length of air gap has been
presented
Energiesabove. The additional term is equal everywhere while the rotor in the equilibrium9 of
2016, 9, 345 position,
15
but it changes in the presence of eccentricity.
3.3.2. Magnetic Bearings with Different Configurations
3.3.2. Magnetic Bearingsmagnetic
The equivalent with Different Configurations
circuit method is established based on the flux path. On the basis of the
equivalent
The magnetic
equivalent circuit circuit
magnetic method,method
the model established in
is established this paper
based on thebegins by analyzing
flux path. On thethe fluxof the
basis
distribution of a single pole. Due to the consistency among poles, the result of the analysis is easily
equivalent magnetic circuit method, the model established in this paper begins by analyzing the flux
applied to a range of practical design applications. From the derivation process, it can be seen that
distribution of a single pole. Due to the consistency among poles, the result of the analysis is easily
the only work needed to be done is the addition of 1.7μ0(2Rθ + l) + 5.2μ0δ(ω) to the frontal permeance
applied to a range
no matter of practical
the number design
of poles the HMBapplications. From
have. Taking the derivation
the four-pole type ofprocess, it can
HMB in [27] as be seen that the
an example,
only work to be done is the addition of 1.7µ 0 (2Rθ + l)
the common control magnetic circuit is shown in Figure 7a and the equivalent magnetic circuit no
needed + 5.2µ 0 δ(ω) to the frontal permeance
matter the number
considering theof poles
edge theisHMB
effect shown have. Taking
in Figure 7b.the four-pole type of HMB in [27] as an example, the
common control
In Figuremagnetic
7, RS is circuit
the totalis shown in Figure
reluctance of the 7a andregions
edge the equivalent magnetic
of a single pole, andcircuit considering
satisfies the
mathematical
the edge relation:in1/R
effect is shown S = GS.7b.
Figure

Ni Ni Ni Ni

RD1 Φ RU1 RD1 Φ RU1

RS RS

RD1 Φ RU1 RD1 Φ RU1

RS RS
(a) (b)
Figure 7. (a) Common equivalent magnetic circuit. (b) Equivalent magnetic circuit considering the
Figure 7. (a) Common equivalent magnetic circuit. (b) Equivalent magnetic circuit considering the
edge effect.
edge effect.
3.3.3. Used in Other Fields of Magnetic Bearings
In Figure 7, R
The edge S is researched
effect the total reluctance
in this paperof
hasthe edge regions
no conflict of effects
with other a single
likepole, and satisfies
eddy current effect, the
mathematical relation: 1/R = G .
flux saturation effect andS so on.
S Taking the eddy current effect as an example, after demonstrating
the effect of the eddy current, [10] proposed a new magnetic bearing design involving calculation of
3.3.3.permeance.
Used in Other Fieldstoofthe
According Magnetic Bearings
illustration above, if the edge effect is considered, the only work that
needs
The to be
edge doneresearched
effect is add a modified additional
in this paper has term to the frontal
no conflict permeance
with other effectsoflike
theeddy
polescurrent
to act aseffect,
total permeance in the calculation process.
flux saturation effect and so on. Taking the eddy current effect as an example, after demonstrating
From the explanations above, the established model modifies the conventional model and appends
the effect of the eddy current, [10] proposed a new magnetic bearing design involving calculation of
an additional term which considers the edge effect. It simplifies the counting procedure so that
permeance. According to the illustration above, if the edge effect is considered, the only work that
redundant calculation is avoided. The new model combines principles of geometry and
needselectromagnetism,
to be done is addand a modified additional
is independent of theterm to the frontal
configuration permeance
of HMBs, of the poles
which makes to act as
it applicable to total
permeance in the
different HMBs. calculation process.
From the explanations above, the established model modifies the conventional model and
4. Experiment
appends and Analysis
an additional term which considers the edge effect. It simplifies the counting procedure
so that redundant calculation is avoided.
In order to verify the validity The new
of the proposed model,model combines
simulation principles
and experiment are of geometry
performed on and
electromagnetism,
a three-pole radialandHMBis independent
with a maximumof capacity
the configuration
of 50 N. The of HMBs,
finite which
element makes
analysis (FEA)itsimulation
applicable to
is conducted
different HMBs. in static magnetic field. The specifications of the three-pole HMB are listed in Table 1.

4. Experiment and Analysis

In order to verify the validity of the proposed model, simulation and experiment are performed
on a three-pole radial HMB with a maximum capacity of 50 N. The finite element analysis (FEA)
simulation is conducted in static magnetic field. The specifications of the three-pole HMB are listed in
Table 1.
 Parameters Values
Outer diameter of rotor 19 mm
Inner diameter of rotor 9 mm
Outer diameter of stator yoke 64 mm
Energies 2016, 9, 345 10 of 15
Inner diameter of stator yoke 40 mm
Inner diameter of permanent
Table 1. magnet 53.4 mm
Specifications of the three-pole radial HMB.
Inner diameter of Permanent magnet 64 mm
Parameters Values
Axial length of pole 10 mm
Outer diameter of rotor 19 mm
Axial length of rotor
Inner diameter of rotor 9 mm25 mm
Outer diameter of stator yoke 64 mm
Thickness of permanent magnet 2.5 mm
Inner diameter of stator yoke 40 mm
Arc length of pole
Inner diameter of permanent magnet π/2 rad
53.4 mm
Inner diameter of Permanent magnet 64 mm
Length of air gap Axial length of pole 10 mm0.5 mm
Turns of coil Axial length of rotor 25 mm 100 At
Thickness of permanent magnet 2.5 mm
Cross-sectional area of permanent Arc magnet
length of pole 265 mm2
π/2 rad
Length of air gap 0.5 mm
Saturation magnetic flux Turns of coil 100 At0.9 T
Cross-sectional 2
Outer diameter of rotor area of permanent magnet 265 mm 19 mm
Saturation magnetic flux 0.9 T
Outer diameter of rotor 19 mm
4.1. Introduction of the Three-pole Radial HMB Experimental Rig
4.1. Introduction of the Three-pole Radial HMB Experimental Rig
The experimental system comprises a controller module, a sensor module, a three-phase power
The and
inverter module experimental system comprises
the three-pole a controller
radial HMB. module, a sensor
The controller module,on
is operating a three-phase power digital
a TMS320F2812
inverter module and the three-pole radial HMB. The controller is operating on a TMS320F2812 digital
signal processor (TI Inc.: Dallas, TX, USA). Sensor module include an eddy current displacement
signal processor (TI Inc.: Dallas, TX, USA). Sensor module include an eddy current displacement
sensors and current
sensors and sensors. The control
current sensors. process
The control has has
process been depicted
been ininSection
depicted Section22inin detail. Figure88 shows
detail. Figure
the experimental
shows therig.
experimental rig.

DC
source Current
sensor

Magnetic
Eddy bearing
current
sensor
Three- phase
signal processing DSP power inverter
circuit

Figure 8. Experimental system of the three-pole radial HMB.

Figure 8. Experimental system of the three-pole radial HMB.
The length of air gap is designed to be 0.5 mm. However, to protect the experimental instruments
The and
length of air
people gapinissome
around designed
extremetocase,
be 0.5 mm. However,
an auxiliary bearing wasto protect
adopted the experimental
to limit instruments
the rotor vibration
and people to aaround
0.25 mmin some
circle. Theextreme
auxiliarycase, an isauxiliary
bearing placed onbearing
both endswas adopted
of the bearing to limitit the
so that rotor
has no vibration
effect
to a 0.25 mm
on thecircle. Theradial
three-pole auxiliary
HMB.bearing
The eddyis placed
current on both ends
displacement sensorsofused
the bearing so that itrig
in this experimental hasareno effect
installed inradial
on the three-pole the directions
HMB. of Thetheeddy
axes tocurrent
detect the differential displacement
displacement sensors usedsignals. The differential
in this experimental rig
signals can avoid any errors caused by special conditions like temperature drift, circular motion around
are installed in the directions of the axes to detect the differential displacement signals. The
a single sensor and so on. The output voltage of the displacement sensors changes from ´2 V to
differential
´18signals
V, whichcan avoid
exceeds theany
inputerrors caused
range of by special conditions
the analogy-to-digital like temperature
converter. Thus, drift, circular
the differential signals
motion around
need to be a single
converted sensor and so
by a signal on. Thecircuit.
processing output Tovoltage of the
simplify the displacement
experimental sensors
procedure, whenchanges
from −2 V to −18 V, which exceeds the input range of the analogy-to-digital converter. Thus, the
the rotor is located at a ´0.25 mm, the output voltage of the displacement sensor is set to 0.4 V. When
it issignals
differential located at 0.25 to
need mm,bethe output voltage
converted by a is set to processing
signal 2.6 V, so the sensors
circuit.will
Tooutput
simplify 1.5 Vthe
when the
experimental
rotor at the equilibrium position. Due to the particularity of the three-pole radial HMB, a three-phase
procedure, when the rotor is located at a −0.25 mm, the output voltage of the displacement sensor is
power inverter is employed to activate the electromagnets. Due to the fact the three electromagnets are
set to 0.4 V. When it is located at 0.25 mm, the output voltage is set to 2.6 V, so the sensors will output
1.5 V when the rotor at the equilibrium position. Due to the particularity of the three-pole radial HMB,
a three-phase power inverter is employed to activate the electromagnets. Due to the fact the three
Energies 2016, 9, 345 11 of 15

electromagnets are connected in a star arrangement, according to the Kirhhoff's Current Law, the
inputEnergies 2016, 9, 345
currents equal the output currents. The currents in the electromagnets are detected by 11 of 15
current
sensors to constitute a closed-loop control system.
Due to theinnonlinearity
connected of the according
a star arrangement, three-poletoradial HMB, the
the Kirhhoff’s rotorLaw,
Current is limited to operating
the input around
currents equal
the output currents. The currents in the electromagnets are detected by current sensors
the equilibrium position so that the calculation values can match the experiment values. In the three- to constitute a
closed-loop
pole radial HMB, control
the airsystem.
gap flux density provided by the permanent magnet ring is 0.45 T. The stator
Due to the nonlinearity
and rotor are made of silicon steel of the three-pole
sheets. The radial HMB,
flux knee ofthe
therotor is limited
BH curve to operating
of silicon steel around
sheet isthe
about
equilibrium position so that the calculation values can match the experiment values. In the three-pole
1.5 T. In the design process of the three-pole radial HMB, the maximum flux density of air gap is
radial HMB, the air gap flux density provided by the permanent magnet ring is 0.45 T. The stator and
chosen as 0.9 T, which is far lower than 1.5 T. Therefore, the designed magnetic bearing can work in
rotor are made of silicon steel sheets. The flux knee of the BH curve of silicon steel sheet is about 1.5 T.
a relatively linear way, and flux saturation cannot be the reason for any discrepancy between the
In the design process of the three-pole radial HMB, the maximum flux density of air gap is chosen as
experimental
0.9 T, whichdata and
is far calculated
lower than 1.5data.
T. Therefore, the designed magnetic bearing can work in a relatively
linear way, and flux saturation cannot be the reason for any discrepancy between the experimental
4.2. Analysis
data andofcalculated
Results data.
The control variate method is employed in this experiment so that the effect of current and
4.2. Analysis of Results
displacement can be analyzed, respectively.
The control variate method is employed in this experiment so that the effect of current and
4.2.1.displacement can be analyzed,
Test of Relationship betweenrespectively.
Force and Current
4.2.1. part
This Test of
of Relationship
experiment aimedbetweentoForce
studyand
theCurrent
relationship between suspension forces and currents.
The experimental values
This part of are measured
experiment by a spring
aimed to study dynamometer.
the relationship betweenIn order to eliminate
suspension forces and the effect of
currents.
eccentricity, the rotor is
The experimental limited
values are in the equilibrium
measured by a springposition. In this condition,
dynamometer. In order toby expanding
eliminate Equation
the effect
of aeccentricity,
(15) in Taylor seriesthe and
rotorignoring
is limited in theorder
higher equilibrium
terms, position. In this forces
the suspension condition, by expanding
are linearized. Under
Equation (15) in
this assumption, thea Taylor series and
suspension ignoring
forces are higher ordertoterms,
supposed the suspensiontoforces
be proportional the are linearized.
current and are
Under this assumption, the suspension forces are supposed to be proportional
expected to be nearly linear. The data relating to the suspension force have been collected to the current and and
are expected to be nearly linear. The data relating to the suspension force have been collected and
recorded by inputting different currents. To facilitate the measurement, input currents follow the rule
recorded by inputting different currents. To facilitate the measurement, input currents follow the rule
that iA = −2iB = −2iC. In this case, due to the fact the suspension force has no component in the X
that iA = ´2iB = ´2iC . In this case, due to the fact the suspension force has no component in the X
direction, the suspension force in the Y direction represents the total suspension force, and can be
direction, the suspension force in the Y direction represents the total suspension force, and can be
directly readread
directly by by
thethespring
springdynamometer. Figure9 shows
dynamometer. Figure 9 shows the the results
results of ourofcalculation,
our calculation, simulation
simulation and
and experiment. It can be seen that stiffness coefficients of force/current in the proposed
experiment. It can be seen that stiffness coefficients of force/current in the proposed model match the model match
the experimental resultswell,
experimental results well,and
and thethe assumption
assumption of linearity
of linearity is valid
is valid over
over the the studied.
range range studied.

60
Calculation
50 Simulation
Suspension force/N

Experiment
40

30

20

10

0
10 20 30 40 50 60 70 80 90 100 110 120
Current/At

Figure 9. Comparison among calculation, simulation and experiment results.

Figure 9. Comparison among calculation, simulation and experiment results.
4.2.2. Test of Relationship between Force and Displacement
4.2.2. Test of Relationship between Force and Displacement
To study the relationship between the forces and the displacements, the input currents are taken
To study
as zero so the
thatrelationship
the suspensionbetween theapproximatively
forces are forces and the displacements, thedisplacements.
proportional to the input currentsInare taken
this
as zero
partsoofthat
the the suspension
experiment, the forces
spring are approximatively
dynamometer proportional
is employed to the
to make the displacements.
rotor In this
deviate from the
part equilibrium
of the experiment, the spring
position. Therefore, thedynamometer is dynamometer
reading of spring employed toequals
makethethe rotor deviate
suspension from the
force under
differentposition.
equilibrium eccentricity conditions.
Therefore, the The displacement
reading of springisdynamometer
confined in theequals
range of
the mm–0.25force
suspension
´0.25 mm inunder
different eccentricity conditions. The displacement is confined in the range of −0.25 mm–0.25 mm in this
investigation. However, the tendency of the stiffness coefficient is central symmetry regarding the
equilibrium position, so the curve in the negative direction is omitted. Figure 10a and Figure 11a
show the suspension forces under different eccentricity conditions. Due to the fact the calculation
 Energies 2016, 9, 345 12 of 15

Energies
this2016, 9, 345
investigation. 12 of 15
However, the tendency of the stiffness coefficient is central symmetry regarding
the equilibrium position, so the curve in the negative direction is omitted. Figures 10a and 11a
curve is very
show close to theforces
the suspension simulation curve and
under different experimental
eccentricity curve,Due
conditions. errorto figures
the fact are also provided.
the calculation
Figure
curve10bis and
very Figure
close to 11b illustrate the
the simulation curveexperimental
and experimental errorcurve,
and simulation
error figureserror
are alsounder different
provided.
eccentric
Figuresconditions.
10b and 11b The calculation
illustrate error can be
the experimental obtained
error in three error
and simulation steps:under
firstly, one works
different eccentric out the
conditions.
difference The calculation
between calculatederror andcan be obtained in
experimental three steps:
values. firstly,one
Secondly, one works
worksout outthethedifference
ratio of the
between calculated and experimental values. Secondly, one works out the
difference with the experimental values. Finally, the calculation error is obtained by transforming ratio of the difference with the
ratiothe experimental
into a percentage values.
form. Finally, the calculationerror
The experimental error can
is obtained by transforming
be obtained in the same the way.
ratio into
From a the
percentage form. The experimental error can be obtained in the same way. From the figures, the
figures, the stiffness coefficients of force/displacement obtained by simulations and experiments are
stiffness coefficients of force/displacement obtained by simulations and experiments are consistent
consistent with the result obtained by the proposed model.
with the result obtained by the proposed model.
Notice that when eccentricity occurs in the Y direction, the suspension fore in the X direction is
Notice that when eccentricity occurs in the Y direction, the suspension fore in the X direction is
not shown
not shownin Figure
in Figure 10a,10a,
because
because itsits
value
valueisiszero.
zero.The
Thereason
reason is that electromagnetic
is that electromagnetic forces
forces of of
polepole B
and Bpole
andCpolein the
C inX-axis direction
the X-axis are are
direction offset, and
offset, andthethe
force
forcefrom
frompolepole AA has no component
has no componentininthe the X-
axis X-axis
direction. In addition,
direction. when
In addition, eccentricity
when eccentricity occurs
occursin inthe
the XX direction,
direction,Figure
Figure 11a,b
11a,b tell tell us that
us that the the
suspension
suspension force in the
force Y-axis
in the Y-axis direction
directionchanges slightly.The
changes slightly. Thereason
reason is is that
that thethe eccentricity
eccentricity is farisless
far less
thanthan the length
the arc arc length of the
of the rotor
rotor sosothe
thevalue
valueobtained
obtained by byEquation
Equation(14) (14)basically remains
basically remains unchanged,
unchanged,
and and
the the value
value ofofthe
the suspension
suspension force force in the Y-axis
in the direction
Y-axis obtained
direction by Equation
obtained (17) changes(17)
by Equation slightly.
changes
Figure 11a proves the correctness of Equation (14) and Equation
slightly. Figure 11a proves the correctness of Equation (14) and Equation (17). (17).

50
Calculation
40 Simulation
Suspension force/N

Experiment

30

20

10

0
0.05 0.1 0.15 0.2 0.25
Displacement in the Y direction/mm

(a)

25
Experiment error
20 Simulation error
Error/%

15

10

00 0.05 0.1 0.15 0.2 0.25

Displacement in the Y direction /mm

(b)

Figure 10. (a) Suspension force related to eccentricity along the Y-axis (b) Error comparison between
Figure 10. (a) Suspension force related to eccentricity along the Y-axis (b) Error comparison between
experiment and simulation
experiment and simulation
 Energies 2016, 9, 345 13 of 15
Energies 2016, 9, 345 13 of 15

60
Calculation: X
50 Simulation: X
Experiment: X

Suspension force/N
Calculation: Y
40 Simulation: Y
Experiment: Y
30

20

10

0
0 0.05 0.1 0.15 0.2 0.25
Displacement in the X direction/mm

(a)

25
Experiment error: X
Simulation error: X
20 Experiment error: Y
Simulation error: Y
Error/%

15

10

0 0 0.5 1 1.5 2 2.5

Displacement in the X direction/mm

(b)
Figure 11. 11.
Figure (a) (a)
Suspension force
Suspension forcerelated
relatedto
to eccentricity alongthe
eccentricity along theX-axis
X-axis(b)(b) Error
Error comparison
comparison between
between
experiment andand
experiment simulation
simulation

4.2.3.4.2.3.
Error Analysis
Error Analysis
Figures
Figure 9, 10a,b10a,b
9, Figure and 11a,b
and reflect
Figurea phenomenon
11a,b reflectwhereby the force values
a phenomenon calculated
whereby by the
the force values
proposed model are larger than the FEA simulation values and the experimental values.
calculated by the proposed model are larger than the FEA simulation values and the experimental The reason
is that
values. Theproposed
reason model
is thatneglects
proposedthemodel
eddy current.
neglectsThe magnetic
the field produced
eddy current. by the eddy
The magnetic current
field produced
reduces the original magnetic field and leads to the actual flux becoming smaller. Those elements will
by the eddy current reduces the original magnetic field and leads to the actual flux becoming smaller.
weaken the total force and cause differences between the theoretical calculation values, FEA simulation
Those elements will weaken the total force and cause differences between the theoretical calculation
values and experimental values. However, from Figures 10b and 11b, it can be seen that the largest
values, FEA simulation
difference between thevalues and and
calculated experimental values.
FEA simulation However,
values from5%,
is less than Figure 10b and
and largest Figure 11b,
difference
it can be seen
between thethat the largest
calculated difference between
and experimental the than
values is less calculated
7%. and FEA simulation values is less
than 5%, and largest difference between the calculated and experimental values is less than 7%.
5. Conclusions
5. Conclusions
In this paper, a mathematical model of a three-pole radial HMB considering the edge effect
isInproposed. After
this paper, analyzing the model
a mathematical distribution features of edge
of a three-pole radialflux
HMBaround a single pole,
considering the edge
the edge effect is
effect calculation is carried out by the magnetic field division method and superposition principle.
proposed. After analyzing the distribution features of edge flux around a single pole, the edge effect
Furthermore, the generality of the proposed model is presented. It implies that the calculation of
calculation is carried out by the magnetic field division method and superposition principle.
edge effects is only related to the configuration and parameters of a single pole, and is isolated with
Furthermore, the generalityand
the other configurations of the proposedofmodel
parameters is presented.
the three-pole radialItHMB.
implies that the
Besides, calculationhas
its calculation of edge
effects is only with
no conflict related to effects
other the configuration
so that it can and parameters
be used of other
in studying a single pole,
effects and ismore
to obtain isolated with the
accurate
other configurations and parameters of the three-pole radial HMB. Besides, its calculation has no
conflict with other effects so that it can be used in studying other effects to obtain more accurate
suspension forces. The precision of the established model was verified by finite element analysis and
experiments. The error between the theoretical calculation value and the FEA simulation value is less
than 5%, and the error between the theoretical calculation value and the experimental value is less
Energies 2016, 9, 345 14 of 15

suspension forces. The precision of the established model was verified by finite element analysis and
experiments. The error between the theoretical calculation value and the FEA simulation value is less
than 5%, and the error between the theoretical calculation value and the experimental value is less
than 7%.

Acknowledgments: This work was sponsored by National Natural Science Foundation of China (50575099,
61174055), Jiangsu Province “333 Project” Research Projects (2014), Jiangsu Province “Qinglan Project” (2014),
and the Priority Academic Program Development of Jiangsu Higher Education Institutions (2014), Graduate
Education Innovation Project of Jiangsu Province (KYLX_1046).
Author Contributions: Huangqiu Zhu proposed the modeling method and performed simulation analysis.
Shuling Ding carried out the experiment, analyzed the data and drafted the manuscript. Jintao Jv modified the
expression and format).
Conflicts of Interest: The authors declare no conflict of interest.

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