Harmonic Wave Model of a Permanent Magnet Synchronous Machine for Modeling Partial Demagnetization under Short Circuit Conditions

Christian Kral, Anton Haumer, Maxim Bogomolov, Elena Lomonova

AbstractThis paper proposes a multi domain physical model of permanent magnet synchronous machines, considering electrical, magnetic, thermal and mechanical effects. For each component of the model, the main wave as well as lower and higher harmonic wave components of the magnetic ux and the magnetic potential difference may be considered. The permanent magnets are modeled as discrete azimuthal segments in order to consider possible partial demagnetization effects. For each magnet segment a linearized temperature dependent B-H curve is considered. The main advantage of the presented model is that time transient operational behavior of a permanent magnet synchronous machine can be considered under various electrical, magnetic, thermal and mechanical conditions. The electromagnetic condition of surface magnet machine is compared with nite element analysis. Index TermsPermanent magnet synchronous machine, harmonic analysis, magnetic elds, magnetic ux, magnetic potential difference, reluctance, temperature, demagnetization, segmentation

Fig. 1. (a) Rotor circumference angle and (b) magnet subdivided into segments in tangential direction; width w, radial height h, axial length l

impact on the potential risk of irreversible demagnetization since the knee point of the magnet characteristic is strongly temperature dependent [9]. In order to accurately assess a possible demagnetization the actual temperature is considered. II. M ODELING A SPECTS

I. I NTRODUCTION N practical applications short circuit conditions of permanent magnet (PM) machines are critical due to the high currents causing a potential risk of irreversible demagnetization [1]. It is thus important to thoroughly investigate the short circuit behavior of a PM machine in the design stage [2]. The state of the art method for investigating short circuit conditions is nite element analysis (FEA) [3][6]. Under some assumption simplied analytical methods can be applied to determine the short circuit currents [7]. In practical applications, under some circumstances countermeasures can be taken to compensate for the effects of short circuits [8]. However, the currents determined from analytical models do not reveal any details about the potential risk of irreversible local demagnetization. In this paper the open circuit case and short circuit conditions of surface PM machine are compared by means of an FEA and a detailed harmonic wave model. The harmonic wave model is developed in the object oriented modeling language Modelica. Details on the harmonic wave model and implementation of the magnet models are presented in this paper. The actual temperature of the magnets during a short circuit conditions has a signicant

Christian Kral and Anton Haumer are with the AIT Austrian Institute of Technology GmbH, Mobility Department, Electric Drive Technologies, Gienggasse 2, 1210 Vienna, Austria. Telephone: +43(5)0550 6219; fax: +43(5)05506595; e-mail: christian.kral@ait.ac.at; web: http://www.ait.ac.at; Maxim Bogomolov and Elenea Lomonova are with Eindhoven Technical University, Department of Electrical Engineering, Electromechanics and Power Electronics, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

Conventional equivalent circuit based machine models usually take only the fundamental wave effects into account. The variables of such electrical or magnetic equivalent circuit based models are global physical quantities, e.g., the magnetic ux and the magnetic potential difference. Local physical quantities such as the magnetic ux density and the magnetic eld strength are not represented by equivalent circuit models. Yet, the relationships between local and global physical quantities can be mapped by means of particular models and equations. Local effects such as the partial demagnetization of a PM can, however, not be modeled with simplied fundamental wave models. For the investigation of local effects and other harmonic wave eld problems usually FEA is used [10][12]. FEA usually determines a numeric solution of the magnetic vector potentiala local eld quantity. Further local and global physical quantities can then be derived from these local quantities by means of post processing tools. It could be investigated in the lab whether or not partial demagnetization of a permanent magnet synchronous machine (PMSM) occurs under short circuit conditions. Yet the practical instrumentation and adaptation effort is very high so that such investigation is thus mostly performed by means of FEA only. Therefore, a direct validation of the FEA results is usually omitted. Indirect validations may be achieved by means of comparing regular operating points which can be examined both by FEA and in the lab. An alternative to FEA for investigating critical operating conditions such as short circuits is provided by the new Modelica model presented in this paper. Modelica is an object oriented modeling language for multi domain

978-1-4673-0141-1/12/$26.00 2012 IEEE

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problems. Each physical model consists of physical interfaces containing global physical quantities. In case of the presented harmonic wave models the magnetic connectors contain complex representations of the magnetic ux and the magnetic potential difference (magneto motive force). The equations of each model are stated acausally. Which of the quantities of a model are known and unknown is not determined a priory but by the simulation experiment this model undergoes. Due to the multi domain physical coupling of the proposed PMSM model inter-dependencies between electrical, magnetic, thermal and mechanic quantities are inherently covered. This way, for example, the short circuit of PMSMs can be investigated considering the particular electrical and thermal conditions in a full time transient simulation. III. M AGNETIC F IELD R EPRESENTATION The magnetic ux and the magnetic potential difference Vm can be approximated by a spatial Fourier series () =
kO

Fig. 2.

Demagnetization curve of a permanent magnet segment i at reference temperature Tref and two higher temperatures, where Tref < T2 < T3 ; characteristic parameters at reference temperature are the remanence ux density Br |Tref , the demagnetization eld strength Hd |Tref , as well as the knee ux density and eld strength, Bk |Tref and Hk |Tref , which indicate the knee point Kref

[re[k] cos(k) + im[k] sin(k)],

(1)

Vm () =
kO

[Vm,re[k] cos(k) + Vm,im[k] sin(k)], (2)

where O is the set of harmonic indexes and k O are the ordinal numbers; is the spatial angle with respect to the entire rotor circumference as shown in Fig. 1. The harmonic indices are model parameters which can be selected according to the investigated effects. However, the number of pole pairs, p, must always be an element of the set O. Average values re[0] and Vm,re[0] are not taken into account in (1) and (2) since unipolar uxes and magnetic eld strengths are not considered in this paper k 1 is assumed. In the Fourier series the cosine and sine coefcients of the magnetic ux (re[k] and im[k] ) and potential difference (Vm,re[k] and Vm,im[k] ) are time dependent quantities. Therefore, all magnetic ux and ux densities and all magnetic potential differences and eld strengths used in this paper are also time variantexcept for the characteristic data sheet parameters of the B-H curve referring to the PM at reference temperature. The cosine and sine harmonic wave coefcients of the Fourier series (1) and (2) can also be seen as the real and the imaginary parts of the complex magnetic ux [k] = re[k] + jim[k] and the complex magnetic potential difference V m[k] = Vm,re[k] + jVm,im[k] . (4) In these equations the underline indicates a complex representation of magnetic ux and potential difference, respectively, () =
kO

Fig. 3. Wave form of the magnetic eld strength of a magnet segment

with index i and the area of cross section A[i] in radial direction (a) in a local reference frame and (b) in a common reference frame

IV. P ERMANENT M AGNET M ODEL Each PM is subdivided into n azimuthal magnet segments. In order to model a PM segment with index i, the relationship between the local magnetic ux density B[i] and the magnetic eld strength H[i] of each segment has to be taken into account by means of a demagnetization model. The superscript indicates that these quantities refer to a local segment. A temperature dependent PM model is presented in [13], [14] and applied to each magnet segment. The piecewise linear B-H curve consists of a reversible and an irreversible region as depicted in Fig. 2. In the magnet model the local magnetic ux densities B[i] and eld strengths H[i] of the magnet segments are assumed to be homogeneously distributed throughout each segment. Therefore, partial demagnetization is modeled by a possible demagnetization of one or more magnet segments. The local eld quantities B[i] and H[i] have to be related with the local complex harmonic uxes [k] and magnetic potential difference V . In this context, m[k] the superscript applied to the complex harmonic ux and potential difference indicates the local reference frame of the PM segment as it is shown in Fig. 3(a). A. Relationship between Magnetic Flux Density and Flux
The relationship between the magnetic ux density B[i] of a magnet segment and the complex magnetic ux is linked with the area of cross section A[i] of the magnet segment. However, rst of all, a common relationship between the magnetic ux (9) and the local magnetic ux

(3)

Re([k] ejk ), Re(V m[k] ejk ).

kO

(5) (6)

Vm () =

In the Fourier series (1) and (2) the ordinal number k = p represents the main wave of the machine. In order to avoid confusion about the naming of the rst ordinal number k = 1, the term fundamental wave will not be used in the context of harmonic wave models any more.

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density
B[i] ( ) = [i] [Bre[i,k] cos(k ) + Bim[i,k] sin(k )] [i] [i] kO

C. Relationship between Magnetic Field Strength and Potential Difference

The local magnetic eld strength, H[i] , of each magnet segment i is going to be developed into a Fourier series. For this purpose it is assumed that the Fourier analysis is performed in a local reference frame. Due to the local reference frame the Fourier series consists solely of cosine related terms (real parts). Hre[i,k] =

(7) of the total magnetic eld (represented by the connectors) has to be obtained. The magnetic ux is directly determined from the magnetic ux density by integrating over the area of cross section that each harmonic wave refer to. For a wave with the harmonic index k the total area of cross section is Dl , where D represents the air gap 2k diameter and l is the total axial length of the machine. The integration over the ux density can therefore be expressed as a function of , ( ) = [i] [i,k] = Dl 2
+ 2k [i] 2k [i]

Him[i,k]

1 [i] /2 H cos(k )d [i] /2 [i] 2 H sin(k[i] /2) = k [i] =0

(16)

(17)

B[i] ( )d

(8)

Dl [Bre[i,k] cos(k ) + Bim[i,k] sin(k )]. [i] [i] k

The ux density (7) and the ux

( ) = [i,k] [i] re[i,k] cos(k[i] ) + im[i,k] sin(k[i] ) (9)

In this Fourier series only one single permanent magnet segment is taken into account. The entity of all segments of all magnets is simply obtained by summing up all the magnetic eld strength in a global (common) reference frame. In a global reference frame, as shown in Fig. 3(b), the integration boundaries for determining the Fourier coefcients have to be adapted. 1 [i] +[i] /2 H cos(k)d (18) [i] [i] /2 2 = H cos(k[i] /2) sin(k[i] /2) k [i] 2 Him[i,k] = H sin(k[i] /2) sin(k[i] /2) (19) k [i] The magnetic potential differences associated with (16) and (17) are determined by multiplying these expressions with the respective radial magnet height h[i] , Hre[i,k] =
Vm,re[i,k] = Vm,im[i,k]

are supposed to have the same structure in terms of the dependence their real and imaginary part on the angle . Comparing these two equations therefore yields re[i,k] = im[i,k] Dl , B k re[i,k] Dl = . B k im[i,k] (10) (11)

B. Relationship between Magnetic Flux Linkage and Flux For a magnet segment with the homogeneous ux density B[i] and the area of cross section A[i] as depicted in Fig. 3, the linked ux is
= B[i] A[i] . [i]

2 H h[i] sin(k[i] /2), k [i] = 0.

(20) (21)

(12)

As the imaginary part of the magnetic potential difference is zero, the complex magnetic potential difference is identical to (20). D. Assembling all Magnet Segments The total complex magnetic potential difference with respect to the global reference frame has to take the individual magnetic potential differences of all magnet segments into account, V m[k] =
i

This ux linkage has to be equal to the ux which is determined by integrating the ux density (7) over the area of cross section, A[i] , i.e., = [i]
kO

re[i,k] sin(

k[i] ) 2

(13)

in the local reference frame of Fig. 3(a). In a global reference frame the expression of the ux linkage becomes = [i]
kO

2 H[i] h[i] ejk[i] sin(k[i] /2), k

jk[i] V , m[i,k] e

(22) (23)

=
i

[re[i,k] cos(k[i] ) + im[k] sin(k[i] )] (14)

considering = + [i] , [i] (24) according to Fig. 3. One particular property of the presented PM model is that only magnetic potential differences of the magnet material are taken into account. For interior PM machines it can be assumed that magnetic potential difference of the core iron adjacent to the magnet can be neglected. In this case rotor saliency due to the combination of PM

k[i] sin( ), 2 considering that the local and global ux linkage are the same. The relationship between the magnetic ux phasors of the global and the local reference frame yields [i,k] = ejk[i] . [i,k] (15)

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1 0

plug_sn

plug_sp strayLoad inertiaRotor

b/0

/p
Fig. 4. Inverse air gap function ()

2/p

airGap reluctance

thermalAmbient

material and core iron is inherently covered. For surface PM machines the air region adjacent to the magnets has to be considered separately by means of a saliency reluctance model. E. Magnet Losses The eddy current losses arising in the permanent magnets signicantly inuence the temperature of the magnet [15], [16]. It is thus evident that magnet losses are also inuencing the potential risk of demagnetization due to the temperature dependency of the magnetic characteristic [17], [18]. In practical applications the PMs are often segmented in order to reduce eddy current losses [19]. V. S ALIENCY R ELUCTANCE M ODEL A saliency reluctance model in a d and q axis representation given by p Vm,d = Rm,d d , (25) 2 p Vm,q = Rm,q q , (26) 2 considers only the main magnetic wave for k = p [14]. In this equation Rm,d and Rm,q represent the magnetic reluctances with respect to the d and q axis, respectively. In a harmonic wave saliency reluctance model the magnetic eld strength is related with the magnetic potential difference through the air gap length . The air gap length in turn is a function of the circumferential coordinate variable . For convenience reasons in the following the inverse air gap length 1 () = (27) () is used. In the following only a d-q saliency is considered and approximated by a Fourier series in Fig. 4, 1 (1 + b cos(2p)) , (28) () = 0 where 0 is the average air gap and b= 2(Rm,q Rm,d ) . Rm,q + Rm,d

magnet

thermalPort

inertiaStator

Fig. 5. Modelica simulation model of a surface PMSM

VI. A IR G AP M ODEL In the air gap model different aspects are modeled. First, the complex harmonic magnetic uxes and potential differences of the stator (superscript s) and rotor (superscript r) reference frames are transformed into each other for ordinal number k O.
s jkm Vr m[k] = V m[k] e

support friction

flange

stator

(31) (32)

r [k]

s ejkm [k]

In this equation m represents the mechanical angle of the rotor with respect to the stator. Second, the magnetic potential difference of the air gap is taken into account by means of p k V = Rm [k] , 2 m[k] p (33)

where Rm represents the main wave magnetic reluctance Rm of the air gap. In this equation the air gap length is assumed to be constant throughout the entire rotor circumference. Third, the electromagnetic torque is calculated by 2 (34) = k 2 Im([k] V ), m[k]
kO

where the superscript represents the conjugate complex operator. Due to actio et reactio the torque acting on the rotor is equal to the torque reacting on the statorbut with different sign. This balance equation is taken into account in the air gap model. VII. S IMULATION M ODEL The Modelica model of the investigated surface PMSM is depicted in Fig. 5. In this model blue lines represent the electrical domain, orange lines represent the harmonic wave magnetic domain, red is associated with the thermal domain and black refers to the mechanical domain. The physical interfaces of the machine are: two electrical multi phase connectors plug_sn and plug_sp representing the winding begins and ends in the terminal box; interface quantities are electrical potentials and currents

The relationship between ux density and magnetic potential difference in the air gap is B()0 = 0 (1 + b cos(2p)) Vm (). (29)

In this equation the relationships (1) and (2) and the relationship Dl Bre[k] + jBim[k] (30) re[k] + jim[k] = k have to be incorporated for all relevant ordinal numbers.

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Table I
H ARMONIC MAGNITUDES OF MAGNETIC AIR GAP FLUX DENSITY open circuit FEA HW B[k] B[k] [T] [T] 0.8594 0.8391 0.1671 0.1848 0.0104 0.0000 0.0477 0.0792 short circuit FEA HW B[k] B[k] [T] [T] 0.3954 0.3853 0.1623 0.1772 0.0214 0.0283 0.0628 0.0829

k 4 12 20 28

shaft end of drive end side flange; interface quantities are the mechanical angle of rotation and torque optional stator mounting of the machine support; by default the stator housing is rotationally xed such that it cannot move thermal super connector heatPort containing thermal connectors of the following thermal regions (nodes): stray load, stator core, stator winding, rotor PM, friction; interface quantities are temperatures and heat ows VIII. R ESULTS

A. Comparison with FEA results A surface PMSM was investigated by means of a FEA and the proposed higher harmonic wave (HW) model. Two operational conditions are compared: open circuit at 4800 rpm and 140 degC magnet temperature short circuit at 4800 rpm and 140 degC magnet temperature The FEA was performed with FEMAG DC 7.9.78. In this software the irreversible demagnetization of PMs cannot be modeled. Only the reversible branch of the demagnetization curve is thus taken into account. For comparison reasons the irreversible branch has also been removed in the proposed harmonic wave model. Since the higher harmonic wave models only compute harmonic uxes and magnetic potential differences the respective magnetic ux densities have to be determined by (30). For the investigated PM machine the geometric parameters D = 0.1138 m and l = 0.055 m apply. The results of the FEA and the harmonic wave models are summarized in Tab. I. It is evident from these data that the deviations between FEA and harmonic wave (HW) model are all in the range of 0.03 T. Therefore the harmonic wave model can be considered to be a very accurate approximation of nite element model. B. Transient Short Circuit In the following a time transient short circuit test is performed by means of the proposed harmonic wave model at a constant magnet temperature of 140 degC. In the investigated case the permanent magnet is subdivided into n = 4 azimuthal magnet segments. The remanence and the actual magnetic ux density of one magnet segment are depicted in Fig. 6. The dotted lines in this gure represent the case without irreversible demagnetization as it was used for the comparison reasons with the FEA. In this case the remanence ux density, Br , stays constant throughout the numeric experiment. The actual ux density, B,

shows a damped oscillation due to the short circuit effect and the interaction of the different harmonic waves. The solid lines represent the magnetic ux density waveforms considering irreversible demagnetization. Once the actual ux density reaches the knee ux density at about 0.04 T, irreversible demagnetization starts. The knee ux density then decreases down to the minimum of B at about 0.18 T. Due to the short circuit a current is caused which is mainly oriented in the d-axis. In this case the stator magnetic potential difference is also mainly aligned with the d-axis. Since the permanent magnets consist of four segments, mainly the two middle segments are affected by the short circuit current. Figure 6 represents the characteristic magnetic ux densities for one of these middle segments. It is, however, interesting to note that in the investigated case the two outer segments are not irreversibly demagnetized. At lower operating temperatures the risk of irreversible demagnetization is signicantly lower. At 20 C the knee ux density is about 1.62 T. Even though the actual ux density is even higher in this case and thus, the short circuit current is greater, the irreversible region of magnetic characteristic is not reached. The short circuit RMS current phasors lengths 2 i1 + i2 ej2/3 + i3 ej2/3 (35) I= 3 obtained for the two cases with reversible and irreversible demagnetization are depicted in Fig. 7. Due to the reduced ux density in case of irreversible demagnetization, the short circut currents are slightly smaller in this case. For the investigated three phase short circuit the PM temperature was constant. The distance between the short circuit instant and the start of demagnetization is less than 2 ms. During this period no signicant temperature rise occurs in a practical application. However, for practical investigations the presented machine model can be coupled with a thermal model in order to consider the impact of time transient thermal effects on possible demagnetization effects. IX. C ONCLUSIONS In this paper a harmonic wave model of a permanent magnet synchronous machine for the investigation of a three phase short circuit is presented. In this model the reversible and the irreversible branches of the PM characteristic are considered. Each magnet is subdivided into magnet azimuthal segments in order to cover the phenomenon of local demagnetization. The proposed model considers interactions between electrical, magnetic, thermal and mechanical effects. This way multi domain physical dependencies are inherently covered in the presented model. For stationary operating conditions the open circuit and the three phase short circuit are compared by means of a nite element analysis and the harmonic wave model. It turned out that the deviations between the results obtained by the two methods are below 0.03 T, which can be considered to be very accurate. Additionally, a transient

297

Fig. 6.

Magnetic ux density of a PM segment of a surface PMSM under short circuit conditions starting at time = 0; (a) remanent ux density, Br , (b) actual ux density, B; (c) knee ux density, Bk ; the solid line represents the case of irreversible demagnetization and the dashed line only considers the reversible branch of the demagnetization curve

Vienna. From January 2002 until April 2003, he was on sabbatical as a Visiting Professor in Georgia Institute of Technology, Atlanta. His current research interests include diagnostics and monitoring techniques, machine models, and the simulation of faulty machine behavior. Dr. Kral is a member of the Austrian Electrotechnical Association and the Modelica Association. A. Haumer was born in 1957 in Vienna, Austria. He received the Dipl.-Ing. degree in electrical engineering from Vienna University of Technology, Vienna, in 1981. For 15 years, he was with ELIN Union AG, later VA Tech ELIN EBG, in various positions, where he was engaged in the eld of electric drives, especially development and design of electric motors. He was a self-employed Technical Consultant. He was also a Trainer and a Teacher. Since 2004, he has been with the AIT Austrian Institute of Technology GmbH, Vienna. He developed several Modelica Libraries for the simulation of electric drives. His current research interests include development and simulation of electric drives. Mr. Haumer is a member of Modelica Association. M. D. Bogomolov received the B.Sc in Computer Science from Moscow Power Engineering Institute in 2008 and M.Sc in Electrical Engineering from Lappeenranta University of Technology in 2010. He is currently a postgraduate in the group of professor Lomonova in Eindhoven University of Technology. E. A. Lomonova (M 01, SM07) received the MSc (cum laude), PhD (cum laude) degrees in Electromechanical Engineering, all from the Moscow State Aviation Institute (TU), Russia in 1982, 1993, respectively. In March 2009 she is appointed as a full-time Professor and a Chairman of Electromechanics & Power Electronics Group at Eindhoven University of Technology, The Netherlands. She has worked on the electromechanical actuators design, optimization and development of the advanced highprecision mechatronics systems.

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Fig. 7.

RMS current phasor length I of a surface PMSM machine und short circuit conditions starting at time = 0; the solid line represents the case of irreversible demagnetization and the dashed line only considers the reversible branch of the demagnetization curve

short circuit analysis is made. For this case local demagnetization of the middle magnet segments is observed. The outer magnet segments are only reversibly demagnetized. The main advantage of the proposed harmonic wave model over nite element analysis is that a fully time transient analysis with multi domain physical dependencies can be investigated at low computation time. X. ACKNOWLEDGEMENT The research leading to these results has received funding from the ENIAC Joint Undertaking under grant agreement n 270693-2 and from the sterreichische Forschungsfrderungsgesellschaft mbH under project n829420. XI. B IOGRAPHIES
C. Kral (M00, SM05) received the Dipl.- Ing. and Ph.D. degrees from Vienna University of Technology, Vienna, Austria, in 1997 and 1999, respectively. From 1997 to 2000, he was a Scientic Assistant in the Institute of Electrical Drives and Machines, Vienna University of Technology. Since 2001, he has been with the AIT Austrian Institute of Technology GmbH,

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