energies

Article
Analytical Calculation of D- and Q-axis Inductance
for Interior Permanent Magnet Motors Based on
Winding Function Theory
Peixin Liang 1,2 , Yulong Pei 2 , Feng Chai 1,2, * and Kui Zhao 2
1 State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;
liangpx_hit@163.com
2 Department of Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;
Peiyulong1@163.com (Y.P.); enjoyingzk@163.com (K.Z.)
* Correspondence: chaifeng@163.com; Tel.: +86-451-8640-3480

Academic Editor: K. T. Chau

Received: 30 April 2016; Accepted: 21 July 2016; Published: 25 July 2016

Abstract: Interior permanent magnet (IPM) motors are widely used in electric vehicles (EVs),
benefiting from the excellent advantages of a more rational use of energy. For further improvement
of energy utilization, this paper presents an analytical method of d- and q-axis inductance calculation
for IPM motors with V-shaped rotor in no-load condition. A lumped parameter magnetic circuit
model (LPMCM) is adopted to investigate the saturation and nonlinearity of the bridge. Taking into
account the influence of magnetic field distribution on inductance, the winding function theory (WFT)
is employed to accurately calculate the armature reaction airgap magnetic field and d- and q-axis
inductances. The validity of the analytical technique is verified by the finite element method (FEM).

Keywords: interior permanent magnet motor; d- and q-axis inductances; lumped parameter magnetic
circuit model; winding function theory; armature reaction magnetic field; saturation; nonlinearity

1. Introduction
In recent decades, permanent magnet (PM) motors cover a wide range of industrial applications,
especially for electric vehicles (EVs), attributing to the compact structure, high efficiency, high
power/torque density and excellent dynamic performances [16]. As a typical topology of PM motors,
the interior permanent magnet (IPM) motors with a V-shape provide a more superior performance of
the flux-weakening capability and wider constant-power speed range [710], achieving considerable
attention. Along with these excellent advantages, IPM motors offer a great alternative opportunity to
contribute for a more rational use of energy, which makes EVs have the potential to provide a perfect
solution to energy security and environmental impacts in the future [11,12].
The d- and q-axis inductances are key parameters for the performance design including
flux-weakening capability, power factor and control strategy [1315]. For the first stage of the IPM
motor design, the calculation of d- and q-axis inductances in no-load condition is crucial.
For IPM motors, on one hand, the magnetic bridges protect the permanent magnets from flying
away from the rotor. On the other hand, they provide a path for the permanent-magnet leakage
flux and cause saturation. The influence of magnetic bridge saturation is the biggest obstacle for the
calculation of d- and q-axis inductances. In addition, the accurate paths of d- and q-axis fluxes are
another crucial point.
Various researches on inductance with finite element method (FEM) have been successfully
investigated in the past [16], e.g., a 3D FEM model is used to calculate the inductances considering the
end effect and magnetic flux leakage [17]. In [18], taking into account saturation and nonlinearity, the

Energies 2016, 9, 580; doi:10.3390/en9080580 www.mdpi.com/journal/energies

Energies 2016, 9, 580 2 of 11

cross-coupling inductance characteristics are investigated. FEM can effectively analyze the inductances
accounting for the saturation, nonlinearity, complex geometry and cross-coupling influence. However,
Energies2016,9,580 2of11
FEM is too theory-lacking and time-consuming to provide a physical insight to the motor design,
the crosscoupling
especially for the influenceinductance characteristics
of parameter variation areatinvestigated. FEM
the first stages of can effectively
the design analyze the
process.
inductances accounting for the saturation, nonlinearity, complex geometry and crosscoupling
Comparatively speaking, analytical methods are often preferred. Lumped parameter magnetic
influence.However,FEMistootheorylackingandtimeconsumingtoprovideaphysicalinsighttothe
circuit model (LPMCM) is a common method. In [19,20], the d- and q-axis inductances are calculated
motordesign,especiallyfortheinfluenceofparametervariationatthefirststagesofthedesignprocess.
with LPMCMs, which are established based on the d- and q-axis flux paths matching the practical
Comparativelyspeaking,analyticalmethodsareoftenpreferred.Lumpedparametermagnetic
operating point of the control issue. The influence of saturation and nonlinearity is analyzed. In [21],
circuitmodel(LPMCM)isacommonmethod.In[19,20],thedandqaxisinductancesarecalculated
the motor is divided into several mechanical phase regions according to the winding distribution. On
withLPMCMs,whichareestablishedbasedonthedandqaxisfluxpathsmatchingthepractical
the basis of the mechanical phase region and equivalent magnetic circuit, the d- and q-axis inductances
operatingpointofthecontrolissue.Theinfluenceofsaturationandnonlinearityisanalyzed.In[21],
are predicted. Although LPMCM has advantages in saturation and nonlinearity, the drawback of
themotorisdividedintoseveralmechanicalphaseregionsaccordingtothewindingdistribution.On
the method
the basisisof
that the
the calculationphase
mechanical accuracy
regionis greatly affected magnetic
and equivalent by the way flux paths
circuit, are
the d divided
and qaxisand
inductances
analytical models areare
predicted.
built. OnAlthough LPMCM
the other hand,has advantages
though in saturation
the LPMCM and nonlinearity,
expresses the relationshipthe of
drawbackofthemethodisthatthecalculationaccuracyisgreatlyaffectedbythewayfluxpathsare
permeance, it is complicated to classify the permeance according to their contributions. Especially for
divided
the motor anddistributed
with analytical models
winding, are built.
the amountOn the otherishand,
of teeth though
too much, the LPMCM
which makes itexpresses the to
more difficult
relationshipofpermeance,itiscomplicatedtoclassifythepermeanceaccordingtotheircontributions.
classify the flux paths and calculate the inductance based on permeance. Furthermore, the accurate
Especiallyforthemotorwithdistributedwinding,theamountofteethistoomuch,whichmakesit
flux used for the inductance calculation is the summation of the main and leakage magnetic field.
more difficult to classify the flux paths and calculate the inductance based on permeance.
However, the LPMCM calculates the main permeance, neglecting the influence of leakage permeance,
Furthermore,theaccuratefluxusedfortheinductancecalculationisthesummationofthemainand
which is what causes calculation error.
leakage magnetic field. However, the LPMCM calculates the main permeance, neglecting the
This paper presents an analytical method for d- and q-axis inductance calculation in no-load
influenceofleakagepermeance,whichiswhatcausescalculationerror.
conditionThis
based on LPMCM
paper andanalytical
presents an windingmethod
functionfortheory (WFT).
d and qaxisLPMCM
inductanceis adapted to the
calculation calculation
in noload
of magnetic
conditionbridge
basedsaturation,
on LPMCM and WFT
and is employed
winding functiontotheory
divide(WFT).
accurate paths of
LPMCM isd- and q-axis
adapted fluxes
to the
consider the influence of magnetic field distribution. The d- and q-axis flux linkages produced by
and calculationofmagneticbridgesaturation,andWFTisemployedtodivideaccuratepathsofdandq
axisfluxesandconsidertheinfluenceofmagneticfielddistribution.Thedandqaxisfluxlinkages
a very small current are calculated, based on which d- and q-axis inductances can be obtained. The
FEMproducedbyaverysmallcurrentarecalculated,basedonwhichdandqaxisinductancescanbe
results verify the validity of the proposed method.
obtained.TheFEMresultsverifythevalidityoftheproposedmethod.
2. Analytical Method
2.AnalyticalMethod
A 48-slot/8-pole IPM motor with a V-shaped rotor is instanced to verify the proposed method.
Figure 1 A48slot/8poleIPMmotorwithaVshapedrotorisinstancedtoverifytheproposedmethod.
shows the model with magnetic bridges, where is the magnet pole-arc to pole-pitch ratio,
Figure1showsthemodelwithmagneticbridges,whereisthemagnetpolearctopolepitchratio,
is the barrier arc to pole-pitch ratio, Rs is the stator bore radius, Rr is the rotor outer radius, tb is the
isthebarrierarctopolepitchratio,Rsisthestatorboreradius,Rristherotorouterradius,tbisthe
bridge thickness, wbar is the barrier width, lbar1 and lbar2 are the barrier length, wm is the PM width, lm
bridgethickness,wbaristhebarrierwidth,lbar1andlbar2arethebarrierlength,wmisthePMwidth,lmis
is the PM length in magnetization direction, wr is the rib width,
thePMlengthinmagnetizationdirection,wristheribwidth,l
lr is the rib length. For IPM motors,
ristheriblength.ForIPMmotors,the
the saturation mainly focuses on the bridge. Here, we assume that the permeability of stator and rotor
saturationmainlyfocusesonthebridge.Here,weassumethatthepermeabilityofstatorandrotor
(except the bridge) core is infinite.
(exceptthebridge)coreisinfinite.

Figure1.Modelofa48slot/8poleInteriorpermanentmagnet(IPM)motor.
Figure 1. Model of a 48-slot/8-pole Interior permanent magnet (IPM) motor.
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2.1. 2.1.
Saturation Calculation
Saturation Calculation
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2.1.SaturationCalculation
The leakage fluxes pass the bridges causing different saturation characteristics depending on the
The leakage fluxes pass the bridges causing different saturation characteristics depending on the
rotor2.1.SaturationCalculation
Theleakagefluxespassthebridgescausingdifferentsaturationcharacteristicsdependingonthe
shape. For For
the sake of simplicity,
2.1.SaturationCalculation the rotor is divided into into
two two
pieces: saturation regions withwith
a a
eristics
racteristics
ion characteristics
depending
depending
on rotor
depending
the
on theshape.
on the the sake of simplicity, the rotor is divided pieces: saturation regions
rotorshape.Forthesakeofsimplicity,therotorisdividedintotwopieces:saturationregionswitha
constant permeability andand
non-saturation region with infinite permeability shown in Figure 2. The
wo
es:
aturation
saturation
pieces:regions
saturation
regions a Theleakagefluxespassthebridgescausingdifferentsaturationcharacteristicsdependingonthe
withconstant
regions
with permeability
a with a non-saturation region with infinite permeability shown in Figure
Theleakagefluxespassthebridgescausingdifferentsaturationcharacteristicsdependingonthe 2. The
constant
saturation permeability
regions of and nonsaturation
bridges are widened, region the
where with infinite permeability
equivalent bridge shown
width canin
be Figure 2. The
expressed
rotorshape.Forthesakeofsimplicity,therotorisdividedintotwopieces:saturationregionswitha as as
ermeability
lity
shownshown
in Figure
in
shown
Figure rotorshape.Forthesakeofsimplicity,therotorisdividedintotwopieces:saturationregionswitha
saturation
2.inThe
2. The 2. regions
Figure The of bridges are widened, where the equivalent bridge width can be expressed
saturationregionsofbridgesarewidened,wheretheequivalentbridgewidthcanbeexpressedas
constant permeability and nonsaturation region with infinite permeability shown in Figure 2. The
idth
ridge
can can
bewidth
expressed
be expressed constant
can beasexpressed
as permeability and nonsaturation region with infinite permeability shown in Figure 2. The
as
wbw w =w
wwbbar `bar2t+b 2tb
saturationregionsofbridgesarewidened,wheretheequivalentbridgewidthcanbeexpressedas (1) (1)
b bar 2tb
saturationregionsofbridgesarewidened,wheretheequivalentbridgewidthcanbeexpressedas (1)
(1) (1) (1) w w 2t wbb wbar
bar 2tb
b (1)
(1)

Figure2.Simplifiedmodelofrotor.
Figure 2. Simplified model of rotor.
Figure 2. Simplified model of rotor.
Figure2.Simplifiedmodelofrotor.
Figure2.Simplifiedmodelofrotor.
or. AsshowninFigure3,thefluxes,producedbymagnets,passthemagnet,magneticbridges,and
As shown
airgap. AsConsidering
shown in Figure
in Figure 3, the
the 3, fluxes,
fluxthe fluxes,
paths produced
produced
around theby by magnets,
magnets,
magnets, anpass pass
LPMCM the
the magnet, magnet, magnetic
magnetic
is employed bridges,
bridges,
to analyze theandand
AsshowninFigure3,thefluxes,producedbymagnets,passthemagnet,magneticbridges,and
AsshowninFigure3,thefluxes,producedbymagnets,passthemagnet,magneticbridges,and
agnet,
st,the
magnetic
magnet,
magnetic bridges,
magnetic
bridges,and
air-gap.air-gap.
bridges,
and Considering
Consideringand the the
fluxflux
pathspaths around
around the the magnets,
magnets, an LPMCM
an LPMCM
saturationandnonlinearityofbridges.Figure4depictstheLPMCMofonehalfoftwomagnetswith is employed
is employed to analyze
to analyze the the
airgap.
airgap. Considering
Considering the
the flux
flux paths
paths around
around the
the magnets,
magnets, an
an LPMCM
LPMCM is
is employed
employed to
to analyze
analyze the
the
PMCM
mployed
is employed is to
employed
analyze
to analyze saturation
the
to
saturation analyze
the and and
the nonlinearity
nonlinearity of of bridges.
bridges. Figure
Figure 4 4 depicts
depicts
oppositepolesandtheassociatedbridgesbehindthemagnethalves,whereR the the
LPMCMLPMCM of
saturationandnonlinearityofbridges.Figure4depictstheLPMCMofonehalfoftwomagnetswith
of one-half
one-half of twoof two magnets
magnets
misthereluctanceof with with
saturationandnonlinearityofbridges.Figure4depictstheLPMCMofonehalfoftwomagnetswith
half
CM
ne-half
of
of two
one-half
of two
magnets
magnets
of opposite
twowith opposite
magnets
with
magnet,R poles poles
with and and
the the associated
associated bridges
bridges behindbehind
the the magnet
magnet halves,halves,where
gisthereluctanceofonehalfoftheperpoleairgap,Rbisthereluctanceofbridge,
oppositepolesandtheassociatedbridgesbehindthemagnethalves,whereR where
R m R
is m is
the the reluctance
reluctance
r,0, of of
oppositepolesandtheassociatedbridgesbehindthemagnethalves,whereRmmisthereluctanceof isthereluctanceof
where
ealves,
Rm isRwhere
mthe
is the Rmreluctance
reluctance
ismagnet,
the magnet,
of
greluctance
of
and
magnet,R Rg bisR isofthe
gthe reluctance
reluctance of of one-half
one-half of of
thethe
perperpole
poleair
airgap,
gap, RRb bisisthe
the reluctance
aretheremanentmagnetflux,magnetleakageflux,airgapfluxandbridgeleakageflux,
gisthereluctanceofonehalfoftheperpoleairgap,R
reluctance of
bisthereluctanceofbridge,
of bridge, r, 0,
r,0, r
magnet,R gisthereluctanceofonehalfoftheperpoleairgap,Rbisthereluctanceofbridge,r,0,
Rreluctance
ctance
b is theof reluctance
bridge,
of bridge, r0,, respectively.
of

bridge,
, and
, , are

are , the
the remanent
remanent magnet
magnet flux,
flux, magnet
magnet leakage
leakage flux,
flux, air-gap
air-gap flux
flux and
and bridge
bridge leakage
leakage flux,
gggand
andbbaretheremanentmagnetflux,magnetleakageflux,airgapfluxandbridgeleakageflux,
0
rg 0 b
br 0
aretheremanentmagnetflux,magnetleakageflux,airgapfluxandbridgeleakageflux,
and
lux
ir-gap
and
bridge
flux
bridge
leakage
andleakage
bridge respectively.
flux, leakage
flux,
flux,respectively.
respectively.
respectively. flux,

Figure3.Fluxlinedistributioninnoloadcondition.
Figure3.Fluxlinedistributioninnoloadcondition.
Figure 3. Flux line distribution in no-load condition.
Figure3.Fluxlinedistributioninnoloadcondition.
Figure 3. Flux line distribution in no-load condition.
g Rg Rg
n.
condition.

gg R R
Rgg Rgg
b g R
Rb g Rb Rg

bb
0 R
Rbb R
Rbb
b 0
R b Rb
r Rm00
00 Rm r
R 0
R
rr Rmm R0m r
m r

r Rm Rm r
R r

r mr

Figure4.Magneticcircuitmodel.
Figure4.Magneticcircuitmodel.
Figure4.Magneticcircuitmodel.
Figure 4. Magnetic circuit model.
Figure 4. Magnetic circuit model.
.
Energies 2016, 9, 580 4 of 11

Energies2016,9,580 4of11
In the LPMCM, the permeability of bridge is a nonlinear uncertain parameter, which is the basic
of the solution for the all fluxes. The iterative method is effective for this problem. Figure 5 shows the
IntheLPMCM,thepermeabilityofbridgeisanonlinearuncertainparameter,whichisthebasic
iterative process:
ofthesolutionfortheallfluxes.Theiterativemethodiseffectiveforthisproblem.Figure5showsthe
iterativeprocess:
1. Firstly, the initial flux density of bridge is supposed as B . b
2.
1. Secondly, calculate all the reluctances and fluxes according
Firstly,theinitialfluxdensityofbridgeissupposedasB b. to the material BH profile and the

2. law of magnetic flux continuity.

Secondly,calculateallthereluctancesandfluxesaccordingtothematerialBHprofileandthe
3. lawofmagneticfluxcontinuity.
Thirdly, compare the obtained flux density of bridge Bb1 with Bb .
3.
4. Thirdly,comparetheobtainedfluxdensityofbridgeB withB
Finally, adjust Bb and repeat this process until the errorb1is b.
satisfied.
4. Finally,adjustBbandrepeatthisprocessuntiltheerrorissatisfied.

Initial flux density Bb

Based on material B-H profile, calculate all reluctances

Calculate all fluxes

Modify Bb

Calculate flux density Bb1

N
Check error
Y

Obtain the permeability

Figure5.Flowchartoftheiterativeprocess.
Figure 5. Flow chart of the iterative process.

Alltheparameterscanbeexpressedas:
All the parameters can be expressed as:
lm
Rm lm (2)
Rm 0 r wm L (2)
0 r w m L
RRr
RRss
RRg r
g

RpRs s`RRrr q 2
2 (3)
(3)
0 0 2 4p LL
2 4p
wb
Rb w (4)
Rb pBb qb tb L (4)
Bb tb L
r Br w mL (5)
r RBmr w
RmgL (5)
b r (6)
Rm Rb ` Rb R g ` R g Rm
Rm Rg
b r (6)
Bbb1
Rm R Rb Rgb Rg Rm (7)
tb L

where L is effective length of the rotor and stator, Bb1 Brb is the remanence of magnet, p is the number (7)
of pole pairs, r is the relative permeability of magnet, tb L 0 and (Bb ) are the permeability of air and
bridge, respectively.
whereLiseffectivelengthoftherotorandstator,Bristheremanenceofmagnet,pisthenumberof
poleInductance
2.2. pairs, r is the relative permeability of magnet, 0 and (Bb) are the permeability of air and
Calculation
bridge,respectively.
When the current is very small, the influence of armature-reaction magnetic field on saturation
can be neglected, and the d- and q-axis inductances in no-load condition are obtained by:
2.2.InductanceCalculation
Whenthecurrentisverysmall,theinfluenceofarmaturereactionmagneticfieldonsaturation
#
L d I d ` L0
d
canbeneglected,andthedandqaxisinductancesinnoloadconditionareobtainedby:
(8)
Lq Iqq ` L0
 d
Ld I L0
d

(8)
L q L
q I q 0

Energies 2016, 9, 580 5 of 11

wheredandqarethemainfluxlinkagesindandqaxis,IdandIqarethecurrentsindandqaxis,
respectively.L0istheleakageinductance.
where d and q are the main flux linkages in d- and q-axis, Id and Iq are the currents in d- and q-axis,
Takingintoaccounttheinfluenceofmagneticfielddistribution,theWFTisusedtoaccurately
respectively. L0 is the leakage inductance.
calculatethedandqaxisinductances.Fortheclearexpressionofmagneticmotiveforce(MMF)and
rotorTaking intopotential,
magnetic account the
theinfluence of magnetic
initial condition field
is that alldistribution,
the angularthe WFT isare
positions used to accurately
expressed with
calculate the d-
electricaldegree.and q-axis inductances. For the clear expression of magnetic motive force (MMF)
and rotor magnetic potential, the initial condition is that all the angular positions are expressed with
Basedonthewindingfunction,thearmaturereactionMMFofeachphasecanbeexpandedinto
electrical degree.
aFourierseriesas[22,23]:
Based on the winding function, the armature-reaction MMF of each phase can be expanded into a
Fourier series as [22,23]: 2 Nk wv I
Fa cos s cos t
$ 2Nkvp
wv I
Fa vp cos p q cos pt ` q
2 Nk wv I cos s 2 2

` ` s 2 cos` t 2

& Fb

(9)
Fb vp vp cos s 33 cos
2Nk wv I
t ` 33 (9)

2 Nk I I

4 cos t `

44

c vp
2Nk 4
% FcF cos s s 3 cos t
wvwv
cos

3

vp 3 3
where N is the amount of winding turns in series of stator phase, kwv
whereNistheamountofwindingturnsinseriesofstatorphase,k is the winding factor, I is the
wvisthewindingfactor,Iisthe
amplitude of phase current, is the current phase measured from the a-axis, is the rated electrical
amplitudeofphasecurrent,isthecurrentphasemeasuredfromtheaaxis,istheratedelectrical
angular velocity, and s sistheangularpositioninthestatorreferenceframemeasuredfromtheaxis
angularvelocity,and is the angular position in the stator reference frame measured from the axis of
phase a shown in Figure 6.
ofphaseashowninFigure6.

(a) (b)
Figure 6. Model with different rotor position: (a) daxis overlaps with aaxis; (b) qaxis overlaps
Figure 6. Model with different rotor position: (a) d-axis overlaps with a-axis; (b) q-axis overlaps
withaaxis.
with a-axis.

ThesyntheticarmaturereactionMMFisobtainedby:
The synthetic armature-reaction MMF is obtained by:
Fs ( s , t ) Fa Fb Fc
Fs p (10)
s F cos( va s kbv (t c ))
, tq F ` F ` F
Fcospvs ` k v pt ` qq
v (10)
v
where
where
F NkNk
$
wv
F 3 3vp Iwv I
&

k v 1,vpfor v 6pm 1q ` 1


(11)
k v kv 1,1,
f orforv v6m 11) 1
6( m (11)
%

m kv for v 6m 1

1,1,2, 3...

m 1, 2, 3...
2.2.1. D-Axis Magnetic Potential
When = 0, t = 0 and the d-axis overlaps with the a-axis, the flux passes the d-axis path shown in
Figure 7.
As the permeability of the non-saturation region in rotor is much larger than that of the magnet
and barrier, the magnet and barrier can be regarded as equal-potential area. The magnetic potential
Energies2016,9,580 6of11
Energies2016,9,580 6of11
2.2.1.DAxisMagneticPotential
2.2.1.DAxisMagneticPotential
When=0,t=0andthedaxisoverlapswiththeaaxis,thefluxpassesthedaxispathshown
When=0,t=0andthedaxisoverlapswiththeaaxis,thefluxpassesthedaxispathshown
inFigure7.
Energies 2016, 9, 580 6 of 11
inFigure7.
Asthepermeabilityofthenonsaturationregioninrotorismuchlargerthanthatofthemagnet
Asthepermeabilityofthenonsaturationregioninrotorismuchlargerthanthatofthemagnet
andbarrier,themagnetandbarriercanberegardedasequalpotentialarea.Themagneticpotential
andbarrier,themagnetandbarriercanberegardedasequalpotentialarea.Themagneticpotential
distribution of the rotor in the d-axis is shown in Figure 8. In one-half of the electrical period, the rotor
distributionoftherotorinthedaxisisshowninFigure8.Inonehalfoftheelectricalperiod,therotor
distributionoftherotorinthedaxisisshowninFigure8.Inonehalfoftheelectricalperiod,therotor
magnetic potential can be expressed as
magneticpotentialcanbeexpressedas
magneticpotentialcanbeexpressedas
` `


sin

sin j sin j sin jj
4 sin j 22 cos pjs q ` U 4 sin j 2 sin j 2 cos pjs q

sin j
sin j
4 4 2 2

jj 2 cos j s U dd22 4 2 jj cos j s (12)
d ( s ) U d 1 4
FFd p s q Ud1 (12)
Fd ( s ) U d 1 jj cos j s U d 2 jj
2 cos j s (12)
j j j j
whereU
where d1andU
Ud1 and Ud2 d2
arethemagneticpotentialsshowninFigure7.
are the magnetic potentials shown in Figure 7.
whereUd1andUd2arethemagneticpotentialsshowninFigure7.

Figure7.Fluxlinedistributioninthedaxis.

Figure 7. Flux line distribution in the d-axis.
Figure7.Fluxlinedistributioninthedaxis.
a-axis
a-axis
Ud1
Ud1
Ud2 a pole pitch
Ud2 a pole pitch s
s




Figure8.Magneticpotentialdistributioninthedaxis.
Figure8.Magneticpotentialdistributioninthedaxis.
Figure 8. Magnetic potential distribution in the d-axis.
Accordingtothecontinuityofmagneticflux,thefluxthroughtheairgapisequaltothatpassing
Accordingtothecontinuityofmagneticflux,thefluxthroughtheairgapisequaltothatpassing
therotor.Thepathofthedaxisfluxintherotorconsistsofthemagnet,barrierandbridge.Basedon
According to the continuity of magnetic flux, the flux through the air-gap is equal to that passing
therotor.Thepathofthedaxisfluxintherotorconsistsofthemagnet,barrierandbridge.Basedon
thepath,thefluxesintherotorcanbecalculatedby
the rotor. The path of the d-axis flux in the rotor consists of the magnet, barrier and bridge. Based on
thepath,thefluxesintherotorcanbecalculatedby
the path, the fluxes in the rotor 0 can Rs be Rcalculated 2 w L 2 l l L 2 B t L
by
$ ( Fs ( s ,0) Fd ( s )) Ld s U d 1 0 r m 2 0 lbar1 lbar 2 L 2 0 Bb tb L
2 r

p R R R
2 R lmr wm L 0 barw1bar bar 2 0 w
2 0 b b b
&22 spFss ps , 0qd sFd p
2 ( F ( ,0) F ( ))
Rr s U d 1
0 s r
Rs `Ld
2
` wb 0 w b b
s
r 0 2 p B qt L
p s qq R r q2 R 2 Lds Ud1 Blm t Llm ` wbar wbar
20 r wm L 20 plbar1 `lbar2 q L (13)
Rs ppRRr
2( Fs ( s ,0) Fd ( s ))
s b
22 pF p , 0q F ppqq Rs 0 R0r Rs R2s R`rRLd s U d 2 BpBt qLt L (13)
2 0 s r 0 b b
(13)
% 2 0 0wbb bb b
s s
r

( F (s ,0)
s F ( )) s LdLd s U
U
sd
p Rs R
d 2 d2
r
d pp R R q 2 s w
2
2 s r
2 wb b

Substituting(10)and(12)into(13),themagneticpotentialscanbeobtainedas:
Substituting (10) and (12) into (13), the magnetic potentials can be obtained as:
Substituting(10)and(12)into(13),themagneticpotentialscanbeobtainedas:
$ v
2 FP2FP
1 sin vp
v
q

1 sin
2 2
` P3 ` P4 `P5 q

U d 1 v vpP1 2sin
Ud1 2 FP
&
v v P2 P3 P v
2P
Ud1 (14)

FP1 sin 42 5 sinp v
% Ud2 vv P2 P3 vvp P4 P5
q
2 (14)

0.5P5 `P6 q v
FP sin
v sin (14)
v
v
1
FP1 sin 2 sin 2
where U d 2 v 0.5 2 P P 2
U d 2 v R5s ` R 6
v 0.5P5 P6 L
0 r
P1
v (15)
p pRs Rr q 2
where
where 0 R s ` Rr
P2 L (16)
p pRs Rr q 2
20 r wm L
P3 (17)
lm
 P2 0
0 R Rs
s r
L
2 Rr L
(16)
P2 p Rs (16)
p Rs Rr 2
r

2 w L
P3 2 0 r wm L (17)
P3 0 lmr m (17)
Energies 2016, 9, 580 lm 7 of 11
2 0 lbar1 lbar 2 L
P4 2 l l L (18)
P4 0 barw1bar bar 2 (18)
20 plbar1 wbar
` lbar2 q L
P4 (18)
2 w bar
B t L
P5 2 0 Bb tb L (19)
0 w b
P 20 pBb b q tbb L (19)
P5 5 wb (19)
w
0 Rs bRr
P6
2`RRr rLLp 2
L q
p R Rss
R (20)
6 s Rr
00
P6P (20)
(20)
Rss Rrr q 22
pppR 22

2.2.2. Q-Axis Magnetic Potential

2.2.2.QAxisMagneticPotential
2.2.2.QAxisMagneticPotential
When = 0, t = 0 and the q-axis overlaps with the a-axis, the flux passes the q-axis path shown in
When=0,t=0andtheqaxisoverlapswiththeaaxis,thefluxpassestheqaxispathshown
FigureWhen=0,t=0andtheqaxisoverlapswiththeaaxis,thefluxpassestheqaxispathshown
9. Similarly, the magnetic potential distribution of rotor in the q-axis is shown in Figure 10, and
inFigure9.Similarly,themagneticpotentialdistributionofrotorintheqaxisisshowninFigure10,
inFigure9.Similarly,themagneticpotentialdistributionofrotorintheqaxisisshowninFigure10,
can be expressed in a Fourier series as
andcanbeexpressedinaFourierseriesas
andcanbeexpressedinaFourierseriesas
j1p1q
jp11q

4 sinsin
1
j 2
sin
sin 1
j 2
Fq ps q Uq4 2 j sin j 2
Fq ( s ) U q 4 sin j cos pjs q (21)
(21)
2 2 cos j s
Fq ( s ) U q j
j j cos j s
(21)
j j
where
whereU UqisthemagneticpotentialshowninFigure9.
is the magnetic potential shown in Figure 9.
whereUqisthemagneticpotentialshowninFigure9.

Figure9.Fluxlinedistributionintheqaxis.
Figure 9. Flux line distribution in the q-axis.
Figure9.Fluxlinedistributionintheqaxis.
a-axis
a-axis
Uq
Uq
a pole pitch
a pole pitch
s
s




Figure10.Magneticpotentialdistributionintheqaxis.
Figure10.Magneticpotentialdistributionintheqaxis.
Figure 10. Magnetic potential distribution in the q-axis.

As shown in Figure 9, the flux is divided into two parts in bridge region. The two parts operate in
parallel, and the length of each path is 0.5 wb . The flux in the q-axis can be calculated by

p1q
2 ` 0 R s ` Rr 0 pBb q tb L 0 pBb q tb L
Fs ps , 0q Fq ps q Lds Uq ` (22)
p1q
2
p pRs Rr q 2 0.5wb 0.5wb
Energies 2016, 9, 580 8 of 11

From Equation (17), we can get

vp1q v p 1 q
FP1 sin 2 sin 2
Uq (23)
v
v p2P5 ` P6 q

2.2.3. D-and Q-Axis Inductances

The armature reaction airgap magnetic fields in d-axis can be obtained by

Bd pFs ps , 0q Fd ps qq pR 0R q
s r


4 sinp j 2 q 4
sin j 2 sinp j
2 q (24)
Fcos pvs q Ud1 j cospjs q Ud2 j cospjs q pR 0R q
s r
v j j

The d-axis inductance can be calculated by

$
& Ld Lmd ` L0
2
0
2Nk wv
vp cosps q Bd
Rs `Rr
2 Ldr (25)
Lmd
%
I

where Lmd is the main inductance in the d-axis. L0 consists of end-winding leakage inductance, slot
leakage inductance and tooth-tip leakage inductance. The detailed computation processes of the
leakage inductance are expressed in [24]. The end-winding leakage inductance can be calculated by

4m
Lew 0 N 2 q p2lw h ` wew w q (26)
Q

where q is the number of stator slots per pole and phase, lw is the average length of the end winding,
m is the number of phases, Q is the number of slots, wew is the coil span, h is the empirical axial
permeance factor and w is the empirical span permeance factor of the end winding.
The slot leakage inductance is
4m
L u 0 N 2 L u (27)
Q
where w is the slot leakage permeance factor, which is relative to slot dimensions [13,24].
The tooth-tip leakage inductance is

4m
Ltt 0 N 2 L k tt tt (28)
Q

where tt is the tooth-tip leakage permeance factor, and ktt is a factor that takes into account the
presence of different phases in a slot [24].
The armature reaction airgap magnetic fields in the q-axis can be obtained by
`
Bq Fs ps , 0q Fq ps q pR 0R q
s r
p1q
sin j p1q
2 sin j 2 (29)
4
Fcos pvs q Uq j cos pjs q pR 0R q
s r
v j

The q-axis inductance can be calculated by

$
& Lq Lmq ` L0
2
0
2Nk wv
vp cosps q Bq
Rs `Rr
2 Ldr (30)
Lmq
%
I

where Lmq is the main inductance in the q-axis.

Energies 2016, 9, 580 9 of 11

3. Results and Analysis

The armature reaction airgap magnetic fields and inductances in the d- and q-axis are calculated
by the proposed method, and the validity is verified by FEM. The FEM results are obtained by the
commercial software ANSYS (version 16.0, ANSYS, Pittsburgh, PA, USA). The main parameters of the
motors are listed in Table 1. Based on these parameters, the saturation of bridge is firstly investigated.
Table 2 depicts the results of the analytical method and FEM. The comparison shows that the proposed
method is very effective for bridge saturation.

Table 1. Main parameters of the 8-pole/48-slot motor.

Symbol Parameter Results and Unit

p Number of pole pairs 4
Q Number of slots 48
I Amplitude of phase current 1A
N Amount of winding turns in series of stator phase 32
Br Remanence of magnet 1.25
r Relative permeability of magnet 1.024
Magnet pole-arc to pole-pitch ratio 0.742
Barrier arc to pole-pitch ratio 0.886
Rs Stator bore radius 91 mm
Rr Rotor outer radius 90 mm
tb Bridge thickness 1 mm
wbar Barrier width 5 mm
lbar1 Barrier 1 length 5 mm
lbar2 Barrier 2 length 5.9 mm
wm PM width 20 mm
lm PM length in magnetization direction 6 mm
wr Rib width 8 mm
lr Rib length 8.8 mm

Table 2. Permeability of bridge.

Method Value Unit

Proposed method 4.40 105 H/m
Finite element method (FEM) 4.52 105 H/m

Taking into account the influence of the armature-reaction magnetic field on saturation, a very
small current is employed to calculate no-load d- and q-axis inductances. Freeze permeability is
adopted to calculate the armature-reaction magnetic field. Figure 11 shows the waveforms of airgap
flux density in the d- and q-axes. It is observed that the analytical results match well with that of
FEM. Based on Equations (25) and (30), the d- and q-axis inductances in the no-load condition can be
obtained shown in Table 3. The analytical data and simulation data tally well, which indicates that the
proposed method is quite accurate for d- and q-axis inductance calculations.

Table 3. The inductances of the two methods.

Item Proposed Method FEM Unit

D-axis inductance 0.524 0.513 mH
Q-axis inductance 1.267 1.271 mH
small current is employed to calculate noload d and qaxis inductances. Freeze permeability is
adoptedtocalculatethearmaturereactionmagneticfield.Figure11showsthewaveformsofairgap
fluxdensityinthedandqaxes.ItisobservedthattheanalyticalresultsmatchwellwiththatofFEM.
Based on Equations (25) and (30), the d and qaxis inductances in the noload condition can be
obtainedshowninTable3.Theanalyticaldataandsimulationdatatallywell,whichindicatesthat
Energies 2016, 9, 580 10 of 11
theproposedmethodisquiteaccuratefordandqaxisinductancecalculations.

0.004 FEM 0.010 FEM

0.003 0.008
Analytical 0.006 Analytical
Flux Density (T)

Flux Density (T)

0.002 0.004
0.001 0.002
0.000 0.000
-0.001 -0.002
-0.002 -0.004
-0.006
-0.003 -0.008
-0.004 -0.010
0 60 120 180 240 300 360 0 60 120 180 240 300 360
Electrical Angle (Deg) Electrical Angle (Deg)
(a) (b)
Figure11.Comparisonofairgapfluxdensity:(a)inthedaxis;(b)intheqaxis.
Figure 11. Comparison of airgap flux density: (a) in the d-axis; (b) in the q-axis.

Table3.Theinductancesofthetwomethods.
4. Conclusions
Item ProposedMethod FEM Unit
In this paper, a novel analytical method of d- and q-axis inductance calculation in a no-load
Daxisinductance 0.524 0.513 mH
condition is proposed and applied to IPM motors with V-shaped rotors. Taking bridge saturation into
Qaxisinductance 1.267 1.271 mH
consideration, the rotor is divided into two pieces: saturation regions with a constant permeability and
non-saturation regions with infinite permeability. The LPMCM and iterative method effectively solve
4.Conclusions
the saturation and nonlinearity of the bridge. The rotor magnetic potentials in the d- and q-axis are
In this paper,
investigated a novel
according to theanalytical
flux paths.method ofthe
Based on d and
WFT,qaxis inductance
the influence calculation
of magnetic fieldin a noload
distribution
conditionisproposedandappliedtoIPMmotorswithVshapedrotors.Takingbridgesaturation
on inductance is considered. The analytical results of bridge permeability, armature-reaction magnetic
into consideration,
field and d- and q-axisthe rotor is divided
inductances intowith
match well twothepieces: saturation
ones obtained by regions
FEM, whichwithconfirms
a constant
the
permeability
validity of theand nonsaturation
proposed model. regions with infinite permeability. The LPMCM and iterative
methodeffectivelysolvethesaturationandnonlinearityofthebridge.Therotormagneticpotentials
Acknowledgments: This study was carried out as a part of the industrial application technology in electric
inthedandqaxisareinvestigatedaccordingtothefluxpaths.BasedontheWFT,theinfluenceof
vehicles and supported by the National Natural Science Foundation of China (51477032) and Self-Planned Task
magneticfielddistributiononinductanceisconsidered.Theanalyticalresultsofbridgepermeability,
(NO. SKLRS201608B) of the State Key Laboratory of Robotics and System (HIT).
armaturereactionmagneticfieldanddandqaxisinductancesmatchwellwiththeonesobtainedby
Author Contributions: This paper is the results of the hard work of all authors. Peixin Liang, Yulong Pei and
FEM,whichconfirmsthevalidityoftheproposedmodel.
Feng Chai conceived and designed the proposed method. Kui Zhao built the FEM models and analyze the data.
Peixin Liang wrote the paper. All authors gave advices for the manuscripts.
Acknowledgments:
Conflicts of Interest:This study was
The authors carried
declare out as a
no conflict ofpart of the industrial application technology in electric
interest.
vehiclesandsupportedbytheNationalNaturalScienceFoundationofChina(51477032)andSelfPlannedTask
(NO.SKLRS201608B)oftheStateKeyLaboratoryofRoboticsandSystem(HIT).
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