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1. INTRODUCTION
Halbach permanent-magnet (HPM) can inherently oer sinusoidal air gap eld, negligible cogging
torque, sinusoidal air-gap eld distribution, back-electromotive force (back-EMF) and needless of rotor
back-iron, due to self-shielding magnetization [1]. Hence, these HPM machines have been extensively
applied in many electric drive elds.
The lumped parameter magnetic circuit (LPMC) models have been used to predict the
electromagnetic performances in many PM machines, except HPM machine, at the design stage because
of its many merits [222]. A LPMC model of a switched reluctance machine was presented in [27].
This LPMC model construction is simple because there is no PM in switched reluctance machine. In [8
15], the LPMC models for doubly salient PM, axial-ux PM, spoke-type PM and ux-switching PM
machines were built. The magnetization directions of their PMs are tangential. Approximatively, these
PMs can be considered as rectangle sources. Also, the surface-mounted PM (SPM) and the interior PM
machines were analyzed by using LPMC method in [1622]. The magnetization direction of their PMs
is radial or parallel. In summary, the above-mentioned LPMC models have only one PM magnetization
(tangential or parallel). Since their PMs are separated, the magnetic motive force (MMF) of PMs can be
considered as a constant. However, for the HPM machine, both tangential and parallel magnetizations
are adopted, and the MMF of PMs changes with the rotor position. Hence, the existing LPMC models
are not suitable for HPM machine.
The novelty of this paper is to develop a LPMC model for HPM machine. Firstly, the model of PMs
is divided and investigated to obtain the equivalent MMF of the HPM machine. Then, the branches
of the LMPC are divided and established for the HPM machine based on a generalized approach [18].
In fact, this generalized approach was proposed to build the LPMC model for design of SPM machine,
and the PM construction of HPM machine is similar to that of the SPM machine. The PM and air-gap
are equivalent to the branches. Based on the developed branches, a nonlinear adaptive LPMC model
Received 22 January 2015, Accepted 6 March 2015, Scheduled 23 March 2015
* Corresponding author: Wenxiang Zhao (zwx@ujs.edu.cn).
The authors are with the School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.
178
Liu et al.
(a)
(b)
40 o
20 o
B s1
B s0
w st
h0
R sy
R sh
Ro
Rs
(a)
R pm
(b)
(1)
179
Halbach machine
15 kW
6
8
14000
73
43
36.5
23.75
22
11
3.0
1.0
8.87
3.3
13.6
8.6
0.75
6.5
45
SmCo24
1.01
756000
where , F and G are ux, MMF, and permeance of an element in the magnetic circuit, respectively.
The permeance of a rectangular element can be given as
S
(2)
L
where r and 0 are the relative permeability and the permeability of air, respectively, and L and S
are the eective length and cross-sectional area of the element, respectively.
The permeance of the PM, the air-gap, the stator and the yoke of stator can be given as
Spm = wpm lpm
(3)
Spm
Gm = r 0 hpm
Sg = ls Rs hg 0
2
(4)
Sg
G
(0...7)g = 0 hg
hsb = h0
hst = h2
Ro +Rsy
h
=
s
sy
Ssb = ls Rs 0
Sst = ls wst
(5)
Ssy = ls wsy
sb
G(0...7)sb = r 0 Shsb
st
G(0...7)st = r 0 Shst
Ssy
G
(0...7)sy = r 0 hsy
G = r 0
180
Liu et al.
where hpm , wpm and lpm are the magnet thickness, width and height, respectively. The pm is the
relative permeability of the PM. hg , hsb , hst and hsy are eective height of the air-gap, stator boot,
stator teeth and stator yoke, respectively. Sg , Ssb , Sst and Ssy are eective cross-sectional area of the
air-gap, stator boot, stator teeth and stator yoke, respectively. G(0...7)sb and G(0...7)st are the permeance
of teeth-boot and teeth, respectively. 0 and s are the arc of boot at teeth and slot pitch, their values
are 40 and 45 , respectively. ls is stack length.
Since the variation of each phase magnetic circuit is identical, only one phase of the machine needs
to be modeled. Here, phase-A is chosen as example, and its MMF can be obtained as
(6)
Fa = N ia
where N is the coil turns per stator slot, and ia is the injected current of phase A.
3.1. PMs Model
The eld distribution of HPM machine by FEM is shown in Figure 3. The arrows in each block indicate
the magnetization directions of PMs. It can be observed that the right half of PM0, the left half of
PM2 and PM1 form one magnetic ux loop. Then, the PM0 can be divided into left and right parts.
Since the magnetization direction of PM0 is parallel, each part of PM0 can be also divided into two
segments, marked as segment A and segment B (shown in Figure 4). As shown in Figure 4(a), the
direction and value of the MMF are invariable in segment A because of the unchanged width of the PM.
The direction of the MMF is invariable in segment B, but the value of the MMF is decreasing with the
position because of the changed width of the PM. The value of MMF of segment B is zero at E and
F points, while the value of the MMF of PM1 increases outward along the tangential direction, and the
direction of PM1 is constant, as shown in Figure 4(b).
Magnetization (M ) of PMs was resolved into radial and tangential components using the analytical
model in [2325]. Especially, a general analytical model of magnetization (M ) was proposed to predict
PM0
PM1
PM11
PM2
PM10
PM9
F
B
PM3
PM4
PM8
PM7
PM5
PM6
(a)
FmB
2
FmA
FmAr
FmBr
1
B
(b)
fmr
fm
P 60+
N
FmB
FmA
(a)
(b)
181
electromagnetic performance of PM brushless machines having segmented halbach array in [26]. Hence,
in the LPMC model, the MMF of PMs should be resolved into the radial and tangential components.
The MMFs of PM0 and PM1 are shown in Figure 5. Due to magnetic line of force is disjoint, point P
is the critical separation point for adjacent magnetic circuit. There is only tangential component for M
and N points, as shown in Figure 5(b). The direction of the radial component between M and N points
is outward, which can be termed as one positive pole, and else are negative poles. The MMF, the radial
and tangential components in segment A, segment B and PM1 can be obtained as
Fm A = Fm Ar + Fm A
Fm Ar = Fm A cos 1
Fm A = Fm A sin 1
Fm B = Fm Br + Fm B
F Br = Fm B cos 2
m
Fm B = Fm B sin 2
(7)
fm = fm r + fm
fm r = fm cos( + 60)
f = fm sin( + 60)
Fm r = Fm Ar + Fm Br + fmr
Fm = Fm A + Fm B + fm
where Fm A, Fm B and fm are the MMF of segment A, segment B and PM1, respectively. Fm Ar and
Fm A are the radial and tangential components of Fm A, respectively. Fm Br and Fm B are the radial
and tangential components of Fm B, respectively. fm r and fm are the radial and tangential components
of fm , respectively. , 1 and 2 are dierent mechanical angle at dierent position, respectively. Fm r
and Fm are the MMF of the radial and tangential components of HPM, respectively.
3.2. LPMC Model
Figure 6 shows the open-circuit magnetic eld distribution of test machine at 0 and 90 positions. The
corresponding simplied actual magnetic circuits are shown in Figure 7. It can be known that each
stator tooth is connected with segments A, B and one of assistant PM (i.e., PM1). Thus, the MMF of
all PMs linked with one tooth can be equivalent to one eective MMF. Gy , Gfm , Gt and GFm are the
permeance of the yoke, PM1, the tooth and half of PM0, respectively.
In this section, the branches of the LPMC are divided from stator teeth, and the PM and the
air-gap are equivalent to every stator branch. Then, the value of the MMF varies at dierent positions.
PM0 and PM1 are separated into 40 and 30 parts. As a result, one mechanical angle indicates one
position. In this way, when the machine operates one electrical degree, the waveform of the equivalent
MMF of PM (Fm curve) can be gained by (7), and shown in Figure 8. In order to verify its sinusoidal
shape, an ideal sinusoidal tting Fm curve is imported and compared with the predicted Fm curve. It
(a)
(b)
182
Liu et al.
Gfm
Gy
Gt
Gfm
Gy
GFm
(a)
Gt
GFm
(b)
Fitting Fm
Fm (A)
10000
0
-10000
-20000
0
60
120
180
240
300
360
Position (elec.deg.)
s
nth tooth
(n+1) 0
s1
s0
n 0
(n+1) 0
(a)
s1
n 0
s0
(n-1) 0
(b)
Figure 9. Equivalent MMF in a slot pitch. (a) One pole. (b) Two adjacent opposite poles.
can be concluded that there is only small discrepancy between the actual Fm and tting Fm curve, and
that this discrepancy is reasonable and expected because of partition and simplication of PMs. So,
the equivalent MMF of PM can be given as
Fm () = Fm cos(p)
(8)
where Fm () is the value of the MMF under dierent electrical degree . p is number of pole-pairs. Fm
is the maximum value of MMF.
Although the equivalent MMF of the stator teeth is changed by the relative position when the
HPM machine is under operation, the relative positions of the PM and stator can be classied as two
types. Figure 9 shows the relative position of the PM and the stator. First, a slot pitch is within one
positive or negative pole, the ux produced by the PM ow throw the stator windings entirely, as shown
in Figure 9(a). The equivalent MMF in a slot pitch can be obtained as
s1
Fm ()
d
(9)
MMF =
s0 s1 s0
183
where s0 and s1 are angles of both ends of nth tooth, respectively. Fm () is the value of the MMF
under dierent electrical degree .
Second, portion of two adjacent opposite pole are within a slot pitch, the contribution of ux from
the magnet is mitigated due to the gap between the two adjacent opposite pole, as shown in Figure 9(b).
The equivalent MMF in a slot pitch can be obtained as
n0
s1
Fm ()
Fm ()
d
d
(10)
MMF =
n0 s1 n0
s0 n0 s0
where n0 is the center angle of nth tooth.
The equivalent LPMC model of HPM machine is shown in Figure 10. It can be concluded that
it is constituted by 8 branches according to stator teeth. In this model, the PM(0...7) are the models
of equivalent PM under a slot pitch. Gg(0...7) are the models of the air gap. AT(0...4) and FT(0...4)
are the models of AT and FTT, respectively. Also, it can be known that there are four layers in the
LPMC model, and they stand for the layers of PM, the air, the stator and the yoke of stator along the
radial direction from inside to outside, respectively. The adjacent layer connects with each other by
permeance.
3.3. Final Solution
It can be known from Figure 10 that the node number of the equivalent LPMC model is 33. Meanwhile,
the total node number keeps invariable with the position. For a magnetic circuit with N nodes, if some
one node is chosen to be as reference node, the other (N 1) nodes can be treated as independent.
The MMF of reference node is zero, MMF dierence between independent node and reference node
are called node MMF, and thus, 32 independent nodes correspond to 32 nodes MMF. Meanwhile, 322
permeances exist in the LPMC model corresponding to 32 independent nodes, forming a permeance
matrix G(i, j), (i, j = 0, 1, 2, . . . , 31). When i = j, permeance G(i, j) is called self-permeance, otherwise,
permeance G(i, j) is called mutual-permeance. According to the foregoing developed LPMC model, the
27
G sy7
G sy0
26
18
FT 3
Gsy6
19
Gg0
10
1
0
Gg7
PM
7
8
7
PM 0
Gg6 PM 6
17
AT 3
28
AT 0
FT 0
PM 1
25
16
15 6 PM
5
PM 2
14
PM 3
5
FT 2
2 11
Gg2
20
29
AT 1
PM 4
Gg5
Gsy5
Gsy1
G g1
Gg4
13
23
AT 2
G g3
12
21
G sy2
FT 1
22
24
30
Gsy4
31
G sy3
184
Liu et al.
Rotation
angle
Initial
permeability
Permeance of
stator & air-gap
Permanent
magnet
Current
data
Calculation of
Equivalent Fm & G m
Winding
configuration
Calculation of Fa
New
Permeability
Calculation of matrix Fn
Material operating points
Update of
No
Error check
Yes
Step check
No
Yes
Results calculation
No ideal results
Accomplishment
G(0, 0)
G(1, 0)
..
.
G(31, 0)
n (0)
. . . G(0, 31)
Fn (0)
. . . G(1, 31) Fn (1) n (1)
. = .
..
..
.. ..
.
.
Fn (31)
n (31)
. . . G(31, 31)
(11)
viz. as
GFn =
(12)
where G ((0 . . . 31), (0 . . . 31)) is the permeance of node number, Fn (0 . . . 31) the MMF of the node
number, and n (0 . . . 31) the ux of the node number. G, Fn and are the matrix of permeance,
MMF and the ux, respectively.
The iterative process of the LPMC model is shown in Figure 11. Firstly, the permeances of the
stator and air-gap are calculated by using (4) and (5) based on the initial permeability. Secondly, the
equivalent MMF (Fm ) and permeance of PM (Gm ) of every branch are obtained by rotation angle and
PMs. Meanwhile, the MMF of each phase can be obtained by the current and winding conguration by
using (6) when the HPM machine is under load. After all permeances in the LPMC model are prepared,
the node potential equation can be built as (11).
Since nonlinear material WGT-200 is adopted in the stator core, a consecutive B-H table of the
nonlinear material is listed to consider saturation eect. The Gauss-Seidel iterative method is adopted
(k)
(k)
to improve the iterative speed. A new ux i and new ux density Bi of the stator (i.e., AT0 ) can
be derived by using (13) and (14) after the initial permeability of the stator is applied to solve (11). A
(k)
(k)
new magnetic intensity Hi can be gained by considering where Bi is located. Since the measured
(k)
(k)
points are limited, when the value of Bi is equal to the point of the table, Hi is replaced by the value
(k)
of the point. Else, when Bi is located between two sampling points (N and N + 1) of the nonlinear
(k)
B-H table, the curve between two points is treated as a straight line, then, the Hi can be written
(k)
as (15). The corresponding relative permeability i can be obtained as (16).
(k)
(k)
(k)
(k)
(13)
i = t0 = Gst0 F18 F27 Fa(k)
185
(k)
(k)
Bi
i
Sst
(14)
(k)
(k)
Hi = Hn
B Bn
+ (Hn+1 Hn ) i
Bn+1 Bn
(15)
(k)
(k)
Bi
(16)
(k)
Hi
(k)
B B (k1)
i
max i
(k)
B
(17)
PhaseB
PhaseC
PhaseA
PhaseD
0.05
0.025
0.025
PhaseA
0.05
0
-0.025
PhaseB
PhaseC
PhaseD
0
-0.025
-0.05
-0.05
0
60
120
180
240
Position (elec. deg.)
300
360
(a)
Figure 12. Flux density of AT0 . (a) LPMC model. (b) FEM.
60
120
180
240
(b)
300
360
186
Liu et al.
PhaseB
PhaseC
PhaseD
PhaseA
200
100
100
EMF (V)
EMF (V)
PhaseA
200
0
-100
PhaseB
PhaseC
PhaseD
0
-100
-200
-200
0
60
120
180
240
300
360
60
120
180
240
300
360
(a)
(b)
PhaseA
PhaseB
PhaseC
PhaseD
200
EMF (V)
100
0
-100
-200
0
60
120
180
240
Position (elec. deg.)
300
360
(c)
Figure 13. Back-EMF. (a) LPMC model. (b) FEM. (c) Measured.
12
5%
9
LPMC
3%
FEM
Torque (Nm)
A n /A 1
4%
Measured
2%
6
LPMC
FEM
1%
0%
2
8
10
12
Harmonic order
14
16
18
60
120
180
240
Position (elec. deg.)
300
360
are some predigestions in the LPMC model, and some errors exist in manufacture and installation of
HPM machine and the eects of vibration and noise in the experiment.
The phase ux linkage and back-EMF of the machines can easily be obtained from the LPMC
model. The electromagnetic torque can be predicted in terms of back-EMF and the current of each
phase.
ei ii
i=a...d
(19)
w
Figure 15 shows the predicted output torque when the sinusoidal phase current with 40 RMS is injected.
Although the ripples of these results are dierent, the average torque of these results is almost same.
The average value of the torque by FEM is 10.35 Nm, and the LPMC one is 10.37 Nm. It can be
concluded that the proposed LPMC model is eective.
Te =
187
5. CONCLUSIONS
In this paper, a new method is proposed to divide and establish equivalent MMF for HPM machine, and
the LPMC model of HPM machine is built based on equivalent MMF. The electromagnetic performances,
e.g., the ux linkage, back-EMF, and torque performance, are obtained by the proposed LPMC model.
From the comparison of the results among the LPMC model, the FEM and the experiment, the
eectiveness of proposed LPMC model is veried.
ACKNOWLEDGMENT
This work was supported by the National Natural Science Foundation of China (Projects 61273154,
51422702 and 51477068), by the Specialized Research Fund for the Doctoral Program of Higher
Education of China (Project 20123227110012), by the Natural Science Foundation of Jiangsu Province
(Project BK20130011), and by the Priority Academic Program Development of Jiangsu Higher
Education Institutions.
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