Qiang Yu · Xuesong Wang · Yuhu Cheng  Lisi Tian Analysis and Mathematical Models of Canned Electrical Machine Drives In Particular a Canned Switched Reluctance Machine Analysis and Mathematical Models of Canned Electrical Machine Drives (cid:129) (cid:129) Qiang Yu Xuesong Wang Yuhu Cheng Lisi Tian Analysis and Mathematical Models of Canned Electrical Machine Drives In Particular a Canned Switched Reluctance Machine QiangYu XuesongWang SchoolofElectricalandPower SchoolofInformationandControl Engineering Engineering ChinaUniversityofMining ChinaUniversityofMining andTechnology andTechnology Xuzhou,Jiangsu,China Xuzhou,Jiangsu,China YuhuCheng LisiTian SchoolofInformationandControl SchoolofElectricalandPower Engineering Engineering ChinaUniversityofMining ChinaUniversityofMining andTechnology andTechnology Xuzhou,Jiangsu,China Xuzhou,Jiangsu,China ISBN978-981-13-2744-5 ISBN978-981-13-2745-2 (eBook) https://doi.org/10.1007/978-981-13-2745-2 LibraryofCongressControlNumber:2018957462 ©SpringerNatureSingaporePteLtd.2019 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionor informationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. 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The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Preface This book deals with analysis and mathematical models of an electrical machine, especially a canned machine as a hydraulic pump drive. The characteristic use of metallic can shields in air gap makes the electromagnetic and thermal features substantially different. The can effect is modeled and analyzed mainly based on a switchedreluctancemachine.Suchworkisaboutour10years’researchoncanned electricalmachines. The organization of this book is as follows. In Chap. 1, the canned electrical machinedrives,recentdevelopment,state-of-the-artprototypes,andapplicationsare introduced. In Chap. 2, electromagnetic analysis of saliency effect is studied, and flux-linkagecharacteristicsarediscussedforacannedswitchedreluctancemachine. In Chap. 3, the can effect and operation principle of a novel canned switched reluctancemachinearesystematicallyillustrated.InChap.4,spatialdistributionof magnetomotive force is modeled, while further in Chap. 5, an analytical model of concentriclayerstructureisdevelopedforcannedelectricalmachines.InChap.6,a novelthermalnetworkmodelisproposedtoanalyzecharacteristicthermalfeatures of a canned machine, and further electrothermal coupled analysis on cans is discussed. Thisbookworksforliquidpumpindustry,forenterprisesorinstitutionsprepar- ing to apply this technology, and for the field of electrical machine research and analysis. The target audience is located in electrical engineers, postgraduates, and technologyresearchers. Xuzhou,Jiangsu,China QiangYu v Acknowledgments ThisbookissupportedbytheNationalNaturalScienceFoundationofChina(NSFC grantno.51607180).Thiswork,inpart,wasoriginatedandstudiedfromInstituteof ElectricalMachinesandActuators(ElektrischeAntriebstechnikundAktorik,EAA), University of Bundeswehr Muenchen, Munich, Germany, where the first author of this book was pursuing his Ph.D. study during 2008–2012. The authors greatly acknowledge Professor Dr.-Ing. Dieter Gerling for his instructions and guidance during the research progress, Dr.-Ing. Gurakuq Dajaku and Dr. Christian Laudensack for their technical support, as well as KSB Aktiengesellschaft, Frankenthal, Germany, for industrial cooperation and application. The first author also greatly acknowledges the McMaster Automotive Resource Center (MARC), McMaster University, Hamilton, Ontario, Canada, where his postdoctoral research was carried out. The authors greatly acknowledge Professor Dr. Ali Emadi and Dr.BerkerBilginfortheirtechnicalsupport. Finally, the authors would like to record their thanks to Publishing Editor, JasmineDou,fortextreadingandsuggestions. vii Contents 1 OverviewofCannedElectricalMachines. . . . . . . . . . . . . . . . . . . . . 1 1.1 Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 ResearchOverview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2.1 StructuralTopology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.2.2 LossAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.2.3 ThermalandAcousticAnalysis. . . . . . . . . . . . . . . . . . . . 6 1.2.4 ReviewSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 CannedSwitchedReluctanceMachines. . . . . . . . . . . . . . . . . . . . 7 1.4 OutlineSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2 ElectromagneticAnalysisofSaliencyandCanEffectbyNetwork Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.1 FluxLinkageModelingofSwitchedReluctanceMachines. . . . . . 13 2.2 ADiscretizedCircuitNetworkModel. . . . . . . . . . . . . . . . . . . . . 16 2.2.1 ModelingofAirgapReluctance. . . . . . . . . . . . . . . . . . . . 16 2.2.2 ModelingofPoleReluctance. . . . . . . . . . . . . . . . . . . . . . 18 2.2.3 ModelingoftheEndPart. . . . . . . . . . . . . . . . . . . . . . . . . 20 2.2.4 CalculationFlow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 2.2.5 ApplicationExamples. . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2.6 CanLossAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.3 LossandEfficiencyAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.3.1 TheCalculationMethod. . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.3.2 TheVariableLossCoefficients. . . . . . . . . . . . . . . . . . . . . 35 2.3.3 TheDiscretizedElements. . . . . . . . . . . . . . . . . . . . . . . . . 37 2.3.4 VerificationandDiscussion. . . . . . . . . . . . . . . . . . . . . . . 39 2.4 ASimplifiedNetworkModel. . . .. . .. . . .. . . .. . . .. . . .. . . .. 42 2.4.1 TheMEC-FEModel. . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 2.5 AFittingMethodforAirgapReluctance.. . . .. . . . .. . . . .. . . .. 49 ix x Contents 2.6 ChapterSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 3 ElectromagneticAnalysisofCanEffectofaCannedSRM. . . . . . . . 57 3.1 CannedSwitchedReluctanceMachineandOperationPrinciples. . 57 3.2 EddyCurrentandLossFeaturesatTypicalRotorPositions. . . . . . 61 3.2.1 SinglePhaseExcitation. . . . . . . . . . . . . . . . . . . . . . . . . . 61 3.2.2 All-PhaseExcitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 3.3 CanLossVariationofOneStrokePeriod. . . . . . . . . . . . . . . . . . . 63 3.4 AirgapFluxandEddyCurrentLossDuetotheUseofCans. . . . . 66 3.5 ExperimentalValidation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 4 AnAnalyticalModelofConcentricLayerStructureforCanned Machines,PartI:ArmatureCoils. . . . . . . . . . . . . . . . . . . . . . . . . . . 71 4.1 ModelIntroduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 4.2 ModelingofWindingFunction. . . . . . . . . . . . . . . . . . . . . . . . . 72 4.2.1 FourierApproachforaSingleTurnofWire. . . . . . . . . . 72 4.2.2 ModelofaToothConcentratedCoilwithWireLayout (Model1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 4.2.3 ModelofOneCoilinDistributedTopology. . . . . . . . . . . 86 4.2.4 ModelofCoilDistribution. . . . . . . . . . . . . . . . . . . . . . . 88 4.3 ModelingofPhaseCurrent. . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4.4 ModelingofMMFDistribution. . . . . . . . . . . . . . . . . . . . . . . . . 94 4.4.1 ConcentratedCoils. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 4.4.2 DistributedCoils. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 4.5 SimulationandDiscussion. . . .. . . .. . . .. . . .. . . .. . . .. . . .. 100 4.6 MMFDistributionfromAxialDirection. . . . . . . . . . . . . . . . . . . 103 4.7 ApplicationExample. . . .. . . . . . .. . . . . . .. . . . . . .. . . . . . .. 104 4.8 ModelingofPermanentMagnets. . . . . . . . . . . . . . . . . . . . . . . . 106 4.9 ChapterSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5 AnAnalyticalModelofConcentricLayerStructureforCanned Machines,PartII:MagneticField. . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.1 ModelIntroduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.2 TheModelofConcentricLayerStructure. . . . . . . . . . . . . . . . . . . 116 5.2.1 VectorPotentialoftheFirstLayer. . . . . . . . . . . . . . . . . . 119 5.2.2 VectorPotentialofMoreLayers. . . . . . . . . . . . . . . . . . . . 121 5.2.3 CoordinateTransformation. . . . . . . . . . . . . . . . . . . . . . . . 121 5.2.4 CalculationofConstants. . . . . . . . . . . . . . . . . . . . . . . . . 123 5.3 MagneticFieldduetoDCPotential. . . . . . . . . . . . . . . . . . . . . . . 126 5.4 ModelingofSaliencyEffect. . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 5.5 FeatureDeduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 5.5.1 FluxDensityofStator. . . . . . . . . . . . . . . . . . . . . . . . . . . 131 5.5.2 FluxLinkage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Contents xi 5.5.3 IronLoss.. . . .. . . .. . . .. . . .. . . .. . .. . . .. . . .. . . .. 134 5.5.4 CanLoss. . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . 136 5.5.5 Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 5.6 VerificationandDiscussion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 5.6.1 CannedInductionMachine. . . . . . . . . . . . . . . . . . . . . . . . 140 5.6.2 CannedPermanentMagnetMachine. . . . . . . . . . . . . . . . . 146 5.6.3 CannedSwitchedReluctanceMachine. . . . . . . . . . . . . . . 152 5.7 ChapterSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 6 ThermalAnalysisofaCannedSRM. . . . . . . . . . . . . . . . . . . . . . . . . 157 6.1 Background. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 6.2 TheThermalNetworkModel. . . . . . . . . . . . . . . . . . . . . . . . . . . 160 6.2.1 ModelOverview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 6.2.2 HeatSources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 6.2.3 ThermalResistances. . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 6.2.4 ModelofCoils. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 6.3 ApplicationandDiscussion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 6.4 Electro-thermalCoupledAnalysis. . . . . . . . . . . . . . . . . . . . . . . . 180 6.4.1 TheCalculationFlow. . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 6.4.2 ApplicationandDiscussion. . . . . . . . . . . . . . . . . . . . . . . 182 6.5 ChapterSummary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 7 ConclusionsandFutureWork. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 7.1 Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 7.2 FutureWork. . . . . . . .. . . . . . .. . . . . . . .. . . . . . . .. . . . . . . .. 187 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 About the Authors Qiang Yu received his Ph.D. degree from the Univer- sity of Bundeswehr Muenchen, Munich, Germany, in 2012. From 2008 to 2012, he was an engineer in FEAAM GmbH, Neubiberg, Germany. From 2013 to 2014, he was a postdoctoral research associate at McMaster University, Hamilton, Ontario, Canada. From 2014 to 2015, he was a postdoctoral research fellow in Université Libre de Bruxelles, Brussels, Bel- gium. Currently, he is an associate professor in School of Electrical and Power Engineering, China University of Mining and Technology. His research interests include modeling, design, and control of electrical drivesandsystems. XuesongWang receivedherPh.D.degreefromChina University of Mining and Technology in 2002. She is currentlyaprofessorinSchoolofInformationandCon- trolEngineering,ChinaUniversityofMiningandTech- nology. Her main research interests include electrical drives, bioinformatics, and artificial intelligence. In 2008, she was recipient of the New Century Excellent TalentsinUniversityfromtheMinistryofEducationof China. xiii