IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO.

1, JANUARY 2012

69

Magnetic Force Between Inclined Circular Filaments Placed in Any Desired Position
Slobodan Babic1 and Cevdet Akyel2
Dpartement de Gnie Physique,cole Polytechnique de Montral, Montral, QC H3C3A7, Canada Dpartement de Gnie lectrique, cole Polytechnique de Montral, Montral, QC H3C3A7, Canada
This paper presents new general formulas for calculating the magnetic force between inclined circular laments placed in any desired position. We use two approaches to calculate the magnetic force, one based on Biot-Savart law and another based on the mutual inductance between these coils. All mathematical procedures are completely described to dene coil positions that lead to relatively easy method for calculating the magnetic force between inclined circular laments in any desired position. Two formulas obtained by the simple integration of different expressions in terms of complete elliptic integrals of the rst and second kind give the same numerical results. The presented methods are understandable, numerically suitable and easy applicable for engineers and physicists. We validated the new formulas through a series of examples, which are presented here. Index TermsBiot-Savart law, circular laments, magnetic force, mutual inductance.

I. INTRODUCTION HE magnetic force calculation between coaxial circular laments has been thoroughly treated by a number of authors since the time of Maxwell [1][16]. According to our knowledge up until now there have been few papers or books that deal with the magnetic force calculation between circular coils with parallel or inclined axes [17][27]. Today, with powerful numerical methods, such as nite element method (FEM) and boundary element method (BEM), [28], [29], it is possible to accurately and rapidly calculate this important physical quantity. Also, this problem can be tackled by semianalytical methods that can considerably reduce the computational time and the enormous mathematical procedures. In this paper, we give the general approach to calculate the magnetic force between inclined circular laments in any desired positions. We treated the most general case using some elementary mathematical transformations to describe coil positions in different planes. The magnetic force has been obtained by a simple integral whose kernel function contains some combinations of the complete elliptic integrals of the rst and second kind. We used two approaches to calculate the magnetic force between inclined circular loops one based on Biot-Savart law and another based on the mutual inductance between these loops. The obtained new formulas for the magnetic force are very suitable for numerical treatment. Presented formulas can be easily used in the calculation of the magnetic force between inclined circular coils of rectangular cross section using the lament method. II. BASIC EXPRESSIONS Lets take into consideration two circular laments as showed in Fig. 1, where the center of the larger circle (primary coil) of is placed at the plane with the axis of the radius along the axis of this circle. The smaller circle (secondary coil)
Manuscript received June 29, 2011; revised August 03, 2011; accepted August 07, 2011. Date of publication August 18, 2011; date of current version December 23, 2011. Corresponding author: S. Babic (e-mail: slobodan. babic@polymtl.ca). Digital Object Identier 10.1109/TMAG.2011.2165077 0018-9464/$26.00 2011 IEEE

Fig. 1. Filamentary circular coils with angular and lateral misalignment (most general case).

of the radius equation is

is placed in an inclined plane whose general (1)

Also, we dene the center of the secondary coil in the plane , and a point on this circle, . can be given by the couple The coordinates of the point or where , , [26]. Thus, we dene the positions of two coils in 3-D space that will permit us to calculate all necessary parameters in the calculation of the magnetic force between them. For coils (see Fig. 1), we dene: is placed in the plane 1) The primary coil of radius with the center at . An arbitrary point of this coil has parametric coordinates

(2)

70

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

2) The differential element of the primary coil is given by (3) 3) The unit vector at the point (center of the secondary coil) laying in the plane , is dened by

where

(4) 4) The unit vector between two points placed in the plane is and that are Circular laments carry corresponding currents and . the permeability of free space (vacuum). The magnetic force components in , and directions are given in the nal form (See Appendix I)

(5) 5) We dene the unit vector as the cross product of the unit vectors and as follows:

(10) where (6) 6) An arbitrary point has parametric coordinates of the secondary coil

(7) This is the well-known parametric equation of circle in 3-D space. 7) The differential element of the secondary coil is given by

(8)

III. CALCULATION METHOD A. General Case (Biot-Savart Approach) The magnetic force between two circular laments can be calculated by the Biot-Savart law [4] (9)

BABIC AND AKYEL: MAGNETIC FORCE BETWEEN INCLINED CIRCULAR FILAMENTS PLACED IN ANY DESIRED POSITION

71

complete elliptic integral of the rst kind [31], [32]; complete elliptic integral of the second kind [31], [32]. It is necessary to pay attention to possible singular cases. Even though thin circular loops are of negligible cross section, the magnetic force can be singular if loops touch or overlap. In the calculation, some singularities cannot be avoided because they are natural singularities caused by negligible thickness of coils. This is the way all possible singular cases have to be checked and treated carefully to nd the corresponding magnetic force. We give special cases to cover all calculation possibilities. 1) Special Cases: , (The secondary coil is parallel to the a) plane ). This special case is not covered by the general case (10) and it is necessary to carefully solve it. For this special case we keep (10) with changes

c) the plane changes

(The secondary coil is parallel to ). For this special case, we keep (10) with

In the case of two coaxial coils (the center of the secondary coil is laying on the axis, ), the magnetic force components are

(11)

b) the plane changes

(The secondary coil is parallel to ). For this special case we keep (10) with

B. General Case (Mutual Inductance Approach) The mutual inductance between two inclined circular laments (see Fig. 1) in any desired position can be calculated by [26]

(12)

72

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

where

where

The magnetic force between two inclined circular laments in any desired position can be calculated by [1] (13) and where inductance, and are currents in the coils, or is their mutual

(14)

Finding the rst derivatives in (14) (see Appendix II), the magnetic force can be obtained by the following components:

(15)

1) Special Cases: a) , plane ).

(The secondary coil is parallel to the

BABIC AND AKYEL: MAGNETIC FORCE BETWEEN INCLINED CIRCULAR FILAMENTS PLACED IN ANY DESIRED POSITION

73

This special case is not covered by the general case (15) and it is necessary to carefully solve it. For this special case we keep (15) with changes

c) the plane changes

(The secondary coil is parallel to ). For this special case we keep (15) with

where

b) the plane changes

(The secondary coil is parallel to ). For this special case we keep (15) with

In the case of two coaxial coils (the center of the sec), the ondary coil is laying on the axis, magnetic force components are

(16) where

IV. EXAMPLES To verify the validity of the new formulas, we present the following set of examples. Example 1: The center of the primary coil of the radius is and the center of the secondary coil of the is radius . The secondary coil is located in the plane . Calculate the magnetic force between coils. All currents are unit.

74

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

The magnetic force obtained by (10) (Biot-Savart approach) is

The magnetic force obtained by (15) (mutual inductance approach) is

Example 4: The center of the primary coil of the rais and the center of dius is the secondary coil of the radius . The . secondary coil is located in the plane Calculate the magnetic force between coils. All currents are unit. The magnetic force obtained by (10) (Biot-Savart approach) is

Example 2: The center of the primary coil of of the radius is and the center of the secondary coil of is the radius . The secondary coil is located in the plane . Calculate the magnetic force between coils. All currents are unit. The magnetic force obtained by (10) (Biot-Savart approach) is

The magnetic force obtained by (15) (mutual inductance approach) is

The magnetic force obtained by (15) (mutual inductance approach) is

Example 5: The center of the primary coil of the radius is and the center of the secondary coil of the radius is . The secondary coil is located in the plane . Calculate the magnetic force between coils. All currents are unit but of the opposite sign. The magnetic force obtained by (10) (Biot-Savart approach) is

Example 3: The center of the primary coil of the radius is and the center of the secondary coil of the is radius . The secondary coil is located in the plane . Calculate the magnetic force between coils. All currents are unit. The magnetic force obtained by (10) (Biot-Savart approach) is

The magnetic force obtained by (15) (Mutual inductance approach) is

The magnetic force obtained by (15) (mutual inductance approach) is

Example 6: In this example, we calculated the restoring (raand the propulsive (axial) magnetic dial) magnetic force between the primary circular coil force and the secondary circular coil with the axial disin the function of the distance between placement planes , [30]. All currents are equal to 1 A. In this example we have two circular coils with parallel axes. Using the presented methods in this paper we can use either (10) ; ; or (15) for which we have: ; , between 0 and 11 mm; ; . Prof. J. T. Conway (private communication) kindly provided the author with magnetic force results of an independently developed method [30]. Applying either (10) or (15) we obtain

BABIC AND AKYEL: MAGNETIC FORCE BETWEEN INCLINED CIRCULAR FILAMENTS PLACED IN ANY DESIRED POSITION

75

TABLE I RESTORING (RADIAL) FORCE AS A FUNCTION OF THE DISPLACEMENT d OF TWO NON-COAXIAL FILAMENTARY COILS FOR THE AXIAL DISPLACEMENT p

TABLE III MAGNETIC FORCE F FOR Z

= d = 10

= 3 mm

TABLE II PROPULSIVE FORCE AS A FUNCTION OF THE DISPLACEMENT d OF TWO NON-COAXIAL FILAMENTARY COILS FOR THE AXIAL DISPLACEMENT p

= 3 mm

the magnetic force results given in Table I and Table II for the restoring (radial) and propulsive (axial) force. All results are in an excellent agreement with those obtained by Conways method. Example 7: In Table III we give comparative calculation for and with the distance two unequal loops as a function of the axial between loops planes displacement [30]. ; ; For these circular coils we have: ; ; ; . From this example, we can give some conclusions about possible singularities. The possible singularities could appear in the and ). points where coplanar coils touch ( In these points, we obtained the values of the magnetic force considerably increased regarding to values for other points of the calculation. Obviously, the numeric calculations in these points can be erroneous because of possible singularities. (See

magnetic forces obtained by two comparative approaches for m and m.) From Tables III and IV, we can see that all results are in an excellent agreement when coils are in parallel planes whose distance is innitesimally small. We have practically two loops in the same plane. To have the exact information about the magnetic force components for loops which are in the same plane where they touch or overlap it is necessary to nd limits of these expressions if they exist. Inspecting presented expressions (10) or (15), singularities appear if module for which the . In these cases, elliptic integral of the rst kind integrals are not absolutely convergent because of oscillations of the integrand [4]. Example 8: In the following examples, we verify the validity of each special case obtained by two different approaches. is The center of the primary coil of the radius and the center of the secondary coil of the radius is . The m. Calculate the secondary coil is located in the plane magnetic force between coils. All currents are unit. Applying the general case (10) or (15) the components of the magnetic force are

76

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

TABLE IV MAGNETIC FORCE F FOR Z

= d = 10

m
The special case (10 (b)) or (15 (b)) are directly included in the general case (10) or (15) also. Example 10: The center of the primary coil of the radius is and the center of the secondary coil of is . the radius The secondary coil is located in the plane m. Calculate the magnetic force between coils. All currents are unit. if the general case (10) This case is singular or (15) is directly applied. To verify the validity of the special and cases (10(a)) or (15(a)), lets put in (10) or (15) or and . Applying the general case (10) or (15), the components of the magnetic force are

Applying directly the special case (10 (a)) or (15 (a)), the components of the magnetic force are

Applying the special case (10 (c)) or (15 (c)), the components of the magnetic force are

The special cases (10 (c)) or (15 (c)) are directly included in the general case (10) or (15). Example 9: The center of the primary coil of the radius is and the center of the secondary coil of the is . radius m. Calculate The secondary coil is located in the plane the magnetic force between coils. All currents are unit. Applying the general case (10) or (15), the components of the magnetic force are

Signicant gures which agree are bolded. Thus, we conrmed the validity of this singular case (10(a)) or (15(a)). From previous examples, we can conclude that all results obtained by two approaches for calculating the magnetic force between circular loops positioned in any desired position are in an excellent agreement that conrm the validity of both of them. All calculations were executed using Mathematica programming. Both methods presented in this paper give the same numerical results. Also in Matlab programming using Romberg numerical integration both methods give the same numerical results. In all calculations of the magnetic force components, the average computational time was about 0.0075 s. A Mathematica implementation of previous formulas is available from the authors on request. V. CONCLUSION In this paper, we give new formulas for calculating the magnetic force between inclined circular laments placed in any desired positions. The most general formulas are derived either from the mutual inductance between inclined circular laments placed in any desired position or by direct application of the Biot-Savart law. In order to use new formulas, whose nal expressions are given per (10) or per (15), one needs to provide the radius of the primary and secondary coils, the position of the center of the secondary coil (the primary coil is assumed to be centered at origin), and the plane equation with all unit vectors in which the secondary coil is located. With these parameters, the problem is completely dened. All possible cases were tested with new formulas, and none of them failed. We

Applying the special case (10 (b)) or (15 (b)), , the components of the magnetic force are

BABIC AND AKYEL: MAGNETIC FORCE BETWEEN INCLINED CIRCULAR FILAMENTS PLACED IN ANY DESIRED POSITION

77

note that our new formulas are general, very suitable, and easily applicable for engineers and physicists. In these formulas, kernels are relatively simple and expressed by elliptic integrals of the rst and second kind so that their integration using Mathematica or Matlab programming is accurate with signicantly reduced computational time. APPENDIX I In (9) the double cross product gives The rst integration is made regarding to the variable with substitution [32], where

The rst integration gives

so that the magnetic force components in , are,

and

directions

where

where

78

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

Solving two integrals and using the following transformations [31], [32]:

where

we obtain
Ix

= 4k 3 2(M1 sin  + N1 cos )K (k) (2p) (P1 + M1 sin  + N1 cos )k2 E (k) 0 2(M1 sin  + N1 cos ) 0 1 0 k2 = 4k 3 91 (; k): (2p)
In the same way we obtain

Iy

2 0

(M2 sin t + N2 cos t + P2 ) dt

r

= 4k 3 2(M2 sin  + N2 cos )K (k) (2p) 2(M2 sin  + N2 cos ) 0 (P2 + M2 sin  + N2 cos )k2 E (k) 1 0 k2 = 4k 3 92 (; k) (2p) 2 (M3 sin t + N3 cos t) dt Iz = 0 k2 E (k) 3 cos ) 2K (k) 0 2 = 4k(M3 sin  + N 3 1 0 k2 (2p) = 4k 3 93 (; k) (2p)
where
0

For the special cases we use the same reasoning to calculate the three components of the magnetic force as in the general case. APPENDIX II magnetic force component:

91 (; k) = 2(M1 sin  + N1 cos )K (k) (P1 + M1 sin  + N1 cos )k2 E (k) 0 2(M1 sin  + N1 cos ) 0 1 0 k2 92 (; k) = 2(M2 sin  + N2 cos )K (k) (P2 + M2 sin  + N2 cos )k2 E (k) 0 2(M2 sin  + N2 cos ) 0 1 0 k2 0 k2 E (k) : 93 (; k) = (M3 sin  + N3 cos ) 2K (k) 0 2 1 0 k2
and directions are

The magnetic force components in , given in the nal form

BABIC AND AKYEL: MAGNETIC FORCE BETWEEN INCLINED CIRCULAR FILAMENTS PLACED IN ANY DESIRED POSITION

79

For the special cases, we use the same reasoning to calculate the three components of the magnetic force as in the general case. ACKNOWLEDGMENT This work was supported by the Natural Science and Engineering Research Council of Canada (NSERC) under Grant RGPIN 4476-05 NSERC NIP 11963. The authors would like to thank Prof. J. T. Conway of the University of Agder, Grimstad, Norway for providing very high precision calculations for the magnetic force calculation, which have proven invaluable in validating the methods presented here. REFERENCES where
[1] F. W. Grover, Inductance Calculations. New York: Dover, 1964. [2] H. B. Dwight, Electrical Coils and Conductors. New York: McGrawHill, 1945. [3] C. Snow, Formulas for Computing Capacitance and Inductance. Washington, DC: National Bureau of Standards Circular 544, Dec. 1954. [4] C. Christodoulides, Comparison of the Ampre and Biot-Savart magnetostatic force laws in their line-current-element forms, Amer. J. Phys., vol. 56, no. 4, pp. 357362, Apr. 1988. [5] S. I. Babic and C. Akyel, Magnetic force calculation between thin coaxial circular coils in air, IEEE Trans. Magn., vol. 44, no. 4, pp. 445452, Apr. 2008. [6] C. Akyel, S. I. Babic, S. Kincic, and J. P. Lagac, Magnetic force calculation of some circular coaxial coils in air, J. Electromagn. Waves Appl., vol. 21, no. 9, pp. 12731283, 2007. [7] S. I. Babic, F. Sirois, C. Akyel, G. Lemarquand, V. Lemarquand, and R. Ravaud, New formulas for mutual inductance and axial magnetic force between thin wall solenoid and a thick circular coil of rectangular cross-section, IEEE Trans. Magn., vol. 47, no. 8, pp. 20342044, Aug. 2011. [8] R. Ravaud, G. Lemarquand, S. Babic, V. Lemarquand, and C. Akyel, Cylindrical magnets and coils: Fields, forces and inductances, IEEE Trans. Magn., vol. 46, no. 9, pp. 35853590, Sep. 2010. [9] R. Ravaud, G. Lemarquand, V. Lemarquand, S. Babic, and C. Akyel, Mutual inductance and force exerted between thick coils, Progr. Electromagn. Res., vol. PIER 102, pp. 367380, 2010. [10] A. Shiri and A. Shoulaie, A new methodology for magnetic force calculations between planar spiral coils, Progr. Electromagn. Res., vol. PIER 95, pp. 3957, 2009. [11] B. J. Gao, Calculation of the forces between coils in 20 T hybrid magnetic system, Chin. J. Low. Temp. Phys., vol. 7, no. 4, pp. 331335, Dec. 1985. [12] M. R. A. Pahlavani and A. Shoulaie, A novel approach for calculations of helical toroidal coil inductance usable in reactor plasmas, IEEE Trans. Plasma Sci., vol. 37, no. 8, pp. 15931603, Aug. 2009. [13] R. Ravaud, G. Lemarquand, and V. Lemarquand, Magnetic pressure and shape of ferrouid seals in cylindrical structures, J. Appl. Phys., vol. 106, p. 034911, 2009. [14] R. Ravaud, G. Lemarquand, and V. Lemarquand, Force and stiffness of passive magnetic bearings using permanent magnets, Part 1: Axial magnetization, IEEE Trans. Magn., vol. 45, no. 7, pp. 29963002, Jul. 2009. [15] R. Ravaud, G. Lemarquand, and V. Lemarquand, Force and stiffness of passive magnetic bearings using permanent magnets, Part 2: Radial magnetization, IEEE Trans. Magn., vol. 45, no. 9, pp. 19, Sep. 2009. [16] S. I. Babic and C. Akyel, New mutual inductance calculation of the magnetically coupled coils: Thin disk coil-thin wall solenoid, J. Electromagn. Waves Appl., vol. 20, no. 10, pp. 12811290, 2006. [17] K. B. Kim, E. Levi, Z. Zabar, and L. Birenbaum, Restoring force between two noncoaxial circular coils, IEEE. Trans. Magn., vol. 32, no. 2, pp. 478484, Mar. 1997. [18] S. I. Babic and C. Akyel, Torque calculation between circular coils with inclined axes in air, Int. J. Numer. Mod., Electron., Dev. Fields, vol. 24, no. 3, pp. 230243, May 2011. [19] C. Akyel, S. I. Babic, and M. M. Mahmoudi, Mutual inductance calculation for non-coaxial circular air coils with parallel axes, Progr. Electromagn. Res., vol. PIER 91, pp. 287301, 2009.

magnetic force component: In the similar way for the component

we obtain

where

magnetic force component: In the similar way for the component

we obtain

80

IEEE TRANSACTIONS ON MAGNETICS, VOL. 48, NO. 1, JANUARY 2012

[20] S. I. Babic, F. Sirois, and C. Akyel, Validity check of mutual inductance formulas for circular laments with lateral and angular misalignments, Progr. Electromagn. Res. M, vol. 8, pp. 1526, 2009. [21] Y. Ren, F. Wang, Z. Chen, and W. Chen, Mechanical stability of superconducting magnet with epoxy impregnated, J. Supercond. Novel Magn., vol. 23, pp. 15891593, 2010. [22] Y. Ren, Magnetic force calculation between misaligned coils for a superconducting magnet, IEEE Trans. Appl. Supercond., vol. 20, no. 6, pp. 23502353, Dec. 2010. [23] J. T. Conway, Inductance calculations for noncoaxial coils using Bessel functions, IEEE Trans. Magn., vol. 43, no. 3, pp. 10231034, Mar. 2007. [24] J. T. Conway, Inductance calculations for circular coils of rectangular cross section and parallel axes using Bessel and Struve functions, IEEE Trans. Magn., vol. 46, no. 1, pp. 7581, Jan. 2010. [25] J. T. Conway, Noncoaxial inductance calculations without the vector potential for axisymmetric coils and planar coils, IEEE Trans. Magn., vol. 44, no. 4, pp. 453462, Apr. 2008. [26] S. I. Babic, F. Sirois, C. Akyel, and C. Girardi, Mutual inductance calculation between circular laments arbitrarily positioned in space: Alternative to Grovers formulas, IEEE Trans. Magn., vol. 46, no. 9, pp. 35913600, Sep. 2010.

[27] S. I. Babic and C. Akyel, Calculating mutual inductance between circular coils with inclined axes in air, IEEE Trans. Magn., vol. 44, no. 7, pp. 17431750, Jul. 2008. [28] J. L. Coulomb and G. Meunier, Finite element implementation of virtual work principle for magnetic and electric force and torque computation, IEEE Trans. Magn., vol. MAG-20, no. 5, pp. 18941896, Sep. 1984. [29] A. Benhama, A. C. Williamson, and A. B. J. Reece, Force and torque computation from 2-D and 3-D nite element eld solutions, IEE Proc.-Electr. Power Appl., vol. 146, no. 1, Jan. 1999. [30] J. T. Conway, Forces Between Thin Coils With Parallel Axes Using Bessel Functions. Jun. 2011, private communication. [31] M. Abramowitz and I. A. Stegun, Handbook of Mathematical Functions, ser. 55. Washington DC: National Bureau of Standards Applied Mathematics, Dec. 1972, p. 595. [32] I. S. Gradshteyn and I. M. Ryzhik, Table of Integrals, Series and Products. New York and London: Academic, 1965.