EMVT Reluctance Machines

Prof E.A. Lomonova ([email protected])Dr J.J.H. Paulides ([email protected])… …and many MSc, PDeng and PhD students

Reluctance Machines

Facing the challenges of future electrical power trains

Electromechanics and Power Electronics GroupEindhoven University of Technology, NLPhone: + 31 (0)40 247-3573/2310Fax: + 31 (0)40 243-4364e’mail: [email protected]://www.tue.nl/epe

1

Classification of electrical machines1

Synchronous reluctance machines

2

2

3

IM-based salient structures“Simple” salient structure

Segmental structure

IPM-based structure

Double barrier structure

Some historical developments…3

4

Axially laminated rotor:

• Very high performance• Complex construction• Costly to manufacture

Transversely laminated rotor:

• High performance• Mass-production by punching possible• Relatively cheap to manufacture

Promising for mass-production!

Modern SynRM structures4

• Stator voltage equations in dq-reference frame

(no iron losses):

• Phasor diagram:

5

sdsd s sd sq r

sq

sq s sq sd r

dv R

dt

v

λ

R idt

i λ ω

dλλ ω

−

+

= +

= +

Non-linearity and position dependence: λsd = f(isd,isq,θr) and λsq = f(isd,isq,θr)

Analytical modeling5

Properties of FE modeling:

• Accurate magnetic field solution

• Includes non-linear soft-magnetic materials

• Includes leakage flux of mechanical connections

• Relatively long computation time

6

Numerical modeling: Finite Element (FE)6

Structure of the SynRM drive:

7

Drives and control7

8

ABB SynRM motor-drive package:• Power range: 11 kW – 315 kW

• High efficiency (IE4) or high power

density

• Seperate drive with sensorless

control

KSB SuPremE® motor• Power range: 0.55 kW – 45 kW

• High efficiency (IE4)

• Motor mounted drive with sensorless

control

Examples of commercial SynRM drives8

Improving SynRM performance:

• Add cheap PM to barriers

(e.g. Ferrite PMs)

• Increase torque capability

and power factor

9

Permanent magnet assisted SynRMs9

Flux-switching machines

10

• Switched reluctance machines with assisted excitation

• Flux-switching machines

11Reluctance machines with hybrid excitation

=

+Robust rotor

structure

Switched reluctance machine

Low torque density

Permanent magnets

Three-phase armature windings

Ferromagnetic material

Flux-switching machine

Brushless AC/DC machine

Complicated rotor structure

Hightorque density

12Flux switching machine

• With PM Excitation

• With DC Excitation

13PM or DC excitation?

• Advantages of DC excitation:

• No need of rare-earth elements

• Allow higher temperature

• Wide speed range[*]

[*] Y. Tang, J. J. H. Paulides, E. A. Lomonova, Flux-switching machine with DC excitation, Transaction onMagnetics, Vol. 48(11), pp. 3583-3586, Nov., 2012

14DC excited flux-switching machine

Toroidal DC winding

Lap DC winding

AC windings

Distributed windings

Concentrated windings

DC windings

15Different winding topologies

Flux-switching machines

Applications

16

• Automotive industry • Energy

• Servo drives

Cutters Hydro

Wind

Milling

In-wheel traction of electric car

17Application of flux switching machines

18

• Automotive industry

In-wheel traction of electric car

Application – In-wheel traction

CPSR

Base speed

Torque Max. Torque

Power

Max. speedConstant power

• High torque density

• Compact and light-weight

• Wide speed range

• High efficiency

Speed

• Requirements for the motor design

19Application – In-wheel traction

50 km/h@15%

140 km/h@0%

��

80 km/h@10%

• 0 � 20000�, �� 34��

• ��@20000� � 6��

• 400�� inverter supply voltage

• �� 15#$, �%�# � 20#$

Efficiency map based on:

• Copper losses Pcu,

• Iron losses Pfe, and

• Friction losses.

20Application example: Traction

• Field oriented control (FOC)

• Controller structure

• Control of &', &()� 0* and &+

• Field weakening

• Space vector modulation

21Application example: Traction controller

• Chosen control strategy

• Follow the ,-./ line

• Calculate -./)�01 , 2*

• Calculate &3453) -./, 456*

• &6 follows &3

• Always on the ,-./ line789:8

�: �;

<= λ?8)78*7@

22Application example: Control strategy

23Application of flux switching machines

• Servo drives

Cutters Milling

PAGE 249-10-2014

Back-emf

Torque

Application example – Design for fast acceleration24

Application example – Performance comparison

Benchmark Prototype

• Stall torques measured from the normalized de-rating

characteristics at a housing temperature of 60°C

• Torque ripple reduced by a continuous rotor skewing

25

• The FSPM prototype is compared to a state-of-the-art industrial

benchmark machine, i.e. a brushless PM motor.

26Application example – Performance evaluation

• FSPMs offer very good servo capability with loweredinertia due to PM-less rotor with a high stall torque

• A higher torque-to-inertia ratio is achieved for an active motor volume under identical thermal operation

• A smooth torque profile combined with low noise isensured with only 0.2% ripple

Electromechanics and Power Electronics GroupEindhoven University of Technology, NL

Phone: + 31 (0)40 247-3573/2310Fax: + 31 (0)40 243-4364e’mail: [email protected]

http://www.tue.nl/epe

Further reading

TU/e EPE Literature

27

Electromechanics and Power Electronics GroupEindhoven University of Technology, NL

Phone: + 31 (0)40 247-3573/2310Fax: + 31 (0)40 243-4364e’mail: [email protected]

http://www.tue.nl/epe

20+ publications in peer reviewed international journals

• IEEE Magnetics, Industry applications, Power electronics…

• COMPEL, ETASR, IET, Springer, Elsevier…

30+ publications in highly ranked European and international conferences:

• INTERMAG

• EVER

• ELECTRIMACS

• COMPUMAG

• ICEM

• ECCE

28Publications & Conferences (Overview)

...

• Journal publications• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Energy conversion in dc excited flux-switching machines”, IEEE

Transactions on Magnetics, to be published in 2014.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Automated design of dc-excited flux-switching in-wheel motor using magnetic equivalent circuits”, IEEE Transactions on Magnetics, to be published in 2014.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Topologies of flux-switching machines for in-wheel traction”, COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, to be published in 2014.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Analytical modeling of flux-switching motor using variable magnetic equivalent circuits”, ISRN Automotive Engineering, 2014, 1-11.

• Y. Tang, T. E. Motoasca, J. J. H. Paulides, E. A. Lomonova, “Comparison of flux-switching machines and permanent magnet synchronous machines in an in-wheel traction application”, COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 32(1),153 – 165, 2013.

• Y. Tang, J. J. H. Paulides, T. E. Motoasca, E. A. Lomonova, “Flux-switching machine with DC excitation”, IEEE Transactions on Magnetics, 48(11), 3583-3586, 2012.

• Y. Tang, J. J. H. Paulides, K. V. Kazmin, E. A. Lomonova, “Investigation of winding topologies for permanent magnet in-wheel motors”, COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 31(1), 88-107, 2012.

• J. J. H. Paulides, B. L. J. Gysen, K. J. Meessen, Y. Tang, E. A. Lomonova, ”Influence of multiple air gaps on the performance of electrical machines with (semi) Halbach magnetization”, IEEE Transactions on Magnetics, 47(10), 2664-2667, 2011.

• E. A. Lomonova, E. V. Kazmin, E.V., Y. Tang, J. J. H. Paulides, “In-wheel PM motor : compromise between high power density and extended speed capability”, COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 30(1), 98-116, 2011

29Publications & Conferences (cont…)

• Journal publications• Sprangers, R.L.J., Paulides, J.J.H., Boynov, K., Waarma, J. and Lomonova, E.A., ‘Comparison of two

anisotropic layer models applied to induction motors’, IEEE Trans. Ind. Appl., Vol. 50, No. 4, pp. 2533-2543, July/August 2014

• Ilhan, E., Kremers, M.F.J., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2013). Nonlinear performance characteristics of flux-switching PM motors. Journal of Electrical Engineering, 2013:593434

• Kremers, M.F.J., Paulides, J.J.H., Ilhan, E., Janssen, J.L.G. & Lomonova, E. (2013). Relative permeability in a 3D analytical surface charge model of permanent magnets. IEEE Transactions on Magnetics, 49(5), 2299-2302.

• Ilhan, E., Paulides, J.J.H. & Lomonova, E. (2012). Fast torque estimation of in-wheel parallel flux switching machines for hybrid trucks. COMPEL: The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, 31(1), 40-53.

• Ilhan, E., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2012). Conformal mapping: Schwarz-Christoffelmethod for flux-switching PM machines. Journal of Mathematical Sciences, 6:37

• Ilhan, E., Kremers, M.F.J., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2012). Spatial discretization methods for air gap permeance calculations in double salient traction motors. IEEE Transactions on Industry Applications, 48(6), 2165-2172. 2010

• Gysen, B.L.J., Ilhan, E., Meessen, K.J., Paulides, J.J.H. & Lomonova, E. (2010). Modeling of flux switching permanent magnet machines with Fourier Analysis. IEEE Transactions on Magnetics, 46(6), 1499-1502.

• Ilhan, E., Paulides, J.J.H. & Lomonova, E. (2010). Fast torque estimation of in-wheel parallel flux switching machines for hybrid trucks. Journal of Electrical Engineering, 10(3), 175-182.

• Ilhan, E., Gysen, B.L.J., Paulides, J.J.H. & Lomonova, E. (2010). Analytical hybrid model for flux switching permanent magnet machines. IEEE Transactions on Magnetics, 46(6), 1762-1765.

• Ilhan, E., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2012). Energy conversion loops for flux-switching PM machine analysis. Engineering, Technology & Applied Science Research, 2(5), 285-290.


• Conference publications• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Energy conversion in dc excited flux-switching machines”,

Proceedings of the IEEE International Magnetics Conference, (INTERMAG 2014), Dresden, Germany, May 4-8, 2014.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Automated design of dc-excited flux-switching in-wheel motor using magnetic equivalent circuits”, Proceedings of the 2014 9th International Conference on Ecological Vehicles and Renewable Energies (EVER), Monaco, 26-27 March 2014.

• Y. Tang, J. J. H. Paulides, I. J. M. Besselink, J. R. Gardner, E. A. Lomonova, “Indirect drive in-wheel system for HEV/EV traction”. Proceedings of the 27th International Electric Vehicle Symposium & Exhibition (EVS27), Barcelona, Spain, 17-20 November 2013.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova. Design considerations of flux-switching machines with permanent magnet or dc excitation. Proceedings of the 2013 15th European Conference on Power Electronics and Applications (EPE), Lille, France, 3-5 September 2013.

• Y. Tang, J. J. H. Paulides, E. A. Lomonova, “Topologies of flux-switching machines for in-wheel traction”, Proceedings Ecological Vehicles and Renewable Energies (EVER 2013), Monaco, 27 – 30 March, 2013.

• Y. Tang, T. E. Motoasca, J. J. H. Paulides, E. A. Lomonova, “Analytical modeling of flux-switching machines using variable global reluctance networks”, Proceedings of the 20th International conference on Electrical machines (ICEM), pp. 2792 – 2789, 2-5 Sept., 2012.

• Y. Tang, J. J. H. Paulides, T. E. Motoasca, E. A. Lomonova, “Flux-switching machine with DC excitation”, Proceedings of the IEEE International Magnetics Conference (INTERMAG 2012), Vancouver, Canada, 7-11 May 2012.

• Y. Tang, T. E. Motoasca, J. J. H. Paulides, E. A. Lomonova, “Investigation of winding topologies for flux switching machines”, Proceedings of the 15th International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering (ISEF-2011) Funchal, Madeira, 1-3 September 2011.


• Conference publications• Y. Tang, J. L. Duarte, R. P. P. Smeets, T. E. Motoasca, E. A. Lomonova, “Multi-stage DC hybrid switch with slow

switching”, Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society (IECON 2011), pp. 1462-1467, Melbourne, VIC 7-11 November 2011.

• Y. Tang, T. E. Motoasca, J. J. H. Paulides, E. A. Lomonova, “Comparison of flux-switching machines and permanent magnet synchronous machines in an in-wheel traction application”, Proceedings Ecological Vehicles and Renewable Energies (EVER 2011), Monaco, pp. 1-10, 30 March - 3 April 2011.

• Y. Tang, J. J. H. Paulides, E. V. Kazmin, E. A. Lomonova, “Investigation of winding topologies for permanent magnet in-wheel motors”, Proceedings Ecological Vehicles and Renewable Energies (EVER 2010), pp. 1-14, Monaco, 25-28 March 2010.

• Sprangers, R.L.J., Motoasca, T.E. and Lomonova, E.A., ‘Development of an expert system for three-phase

induction motors’, YRS 2012, Delft, The Netherlands

• Sprangers, R.L.J., Motoasca, T.E. and Lomonova, E.A., ‘Extended anisotropic layer theory for electrical

machines, CEFC 2012, Oita, Japan

• Sprangers, R.L.J., Paulides, J.J.H., Boynov, K., Waarma, J. and Lomonova, E.A., ‘Design and optimization

tools for high-efficiency three-phase induction motors’, EPE’13 ECCE Europe, Lille, France

• Sprangers, R.L.J., Paulides, J.J.H., Boynov, K., Waarma, J. and Lomonova, E.A., ‘Comparison of two

anisotropic layer models applied to induction motors’, IEMDC 2013, Chicago, USA

• Sprangers, R.L.J., Gysen, B.L.J., Paulides, J.J.H., Waarma, J. and Lomonova, E.A., ‘A fast semi-analytical

model for the slotted structure of induction motors with 36/28 stator/rotor slot combination’, Electrimacs

2014, Valencia, Spain

• Sprangers, R.L.J., Gysen, B.L.J., Paulides, J.J.H., Waarma, J. and Lomonova, E.A., ‘Calculation of induced

rotor current in induction motors using a slotted semi-analytical harmonic model’, ICEM 2014, Berlin,Germany


• Conference publications• Sprangers, R.L.J., Gysen, B.L.J., Paulides, J.J.H., Waarma, J. and Lomonova, E.A., ‘Electric circuit coupling of

a slotted semi-analytical model for induction motors based on harmonic modeling’, ECCE 2014, Pittsburgh

• Ilhan, E., Kremers, M.F.J., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2013). Transient thermal analysis of

flux switching PM machines. Oral : Paper presented at Proceedings of the 2013 8th International Conference and

Exhibition on Ecological Vehicles and Renewable Energies (EVER), 27-30 March 2013, Monte Carlo, Monaco, (pp.

1-7). Piscataway: IEEE Service Center.2012

• Ilhan, E., Kremers, M.F.J., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2012). Sensitivity analysis for phase

inductances in Flux-switching PM machine. Proceedings paper : Proceedings of the 20th International

Conference on Electrical Machines (ICEM 2012), September 2-5 2012, Marseille, France, (pp. 763-768). Piscataway:

IEEE Service Center.

• Ilhan, E., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2012). Nonlinear performance characteristic of Flux

switching PM motors. Proceedings paper : Proceedings of IEEE International Magnetics Conference (INTERMAG),

May 7-11 2012, Vancouver, (pp. 1-1).

• Kremers, M.F.J., Paulides, J.J.H., Ilhan, E., Janssen, J.L.G. & Lomonova, E. (2012). Relative permeability in a 3D

analytical surface charge model of permanent magnets. Poster presented at Proceedings of the Fifteenth Biennial

IEEE Conference on Electromagnetic Field Computation (CEFC 2012), November 11-14, 2012, Oita, Japan, (pp.

194). Piscataway: IEEE Service Center.

• Kremers, M.F.J., Paulides, J.J.H., Ilhan, E., Janssen, J.L.G. & Lomonova, E. (2012). Analytical field calculations of

skewed magnets. Poster presented at Proceedings of the the Fifteenth Biennial IEEE Conference on

Electromagnetic Field Computation (CEFC 2012), November 11-14, 2012, Oita, Japan, (pp. 195). Piscataway: IEEE.


• Conference publications• Kremers, M.F.J., Paulides, J.J.H., Ilhan, E., Janssen, J.L.G. & Lomonova, E. (2012). Design guidelines for coreless

linear actuators. Poster presented at Proceedings of the Fifteenth Biennial IEEE Conference on Electromagnetic

Field Computation (CEFC 2012), November 11-14, 2012, Oita, Japan, (pp. 196). Piscataway: IEEE Service Center.

• Ilhan, E., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2011). Conformal mapping: Schwarz-Christoffel

method for flux switching PM machines. Proceedings paper : Proceedings of Computational Magnetics

(COMPUMAG) 12-15 July 2011, Sydney, Australia, (pp. 1-4). COMPUMAG.

• Ilhan, E., Motoasca, T.E., Paulides, J.J.H. & Lomonova, E. (2011). Energy conversion loops for flux-switching PM

machine analysis. Proceedings of the XV International Symposium on Electromagnetic Fields in Mechatronics,

Electrical and Electronic Engineering (ISEF 2011), 1-3 September 2011, Funchal, Madeira, (pp. 1-8). ISEF.

• Gysen, B.L.J., Ilhan, E., Meessen, K.J., Paulides, J.J.H. & Lomonova, E. (2010). Modeling of flux switching

permanent magnet machines with Fourier analysis. Proceedings of the 11th Joint MMM-Intermag Conference, January 18-22, 2010, Washington D.C., (pp. 741-741). Piscataway: IEEE.

• Ilhan, E., Paulides, J.J.H., Encica, L. & Lomonova, E. (2010). Tooth contour method implementation for the Flux

switching PM Machines. Proceedings of the 19th International Conference on Electrical Machines (ICEM 2010),

September 6-8, 2010, Rome, Italy, (pp. RF-010294-1/6). Piscataway: IEEE.

• Ilhan, E., Gysen, B.L.J., Paulides, J.J.H. & Lomonova, E. (2010). Analytical hybrid Flux switching permanent

magnet machines model. Proceedings of the 11th Joint MMM-Intermag Conference, January 18-22, 2010,

Washington D.C., (pp. 1625-1625). Piscataway: IEEE.

• Ilhan, E., Paulides, J.J.H. & Lomonova, E. (2010). Fast torque estimation of in-wheel parallel flux switching

machines. Proceedings of the 5th EVER Conference, 25-28 March, Monaco, (pp. 1-7). EVER.

• Ilhan, E., Gysen, B.L.J., Paulides, J.J.H. & Lomonova, E. (2010). Analytical hybrid model for flux switching

permanent magnet machines. Proceedings 5th IEEE, Young Researchers Symposium, 29-30-03, 2010, Leuven....
