(FLUX2D76) FLUX2D To Simulink Technology Technical Paper

CAD Package for Electromagnetic
and Thermal Analysis using Finite Elements
FLUX2D ®
Version FLUX2D®7.60
FLUX2D TO SIMULINK TECHNOLOGY

TECHNICAL PAPER
Copyright – September 2002

FLUX2D and CAOBIBS are registered marks.
FLUX2D software : COPYRIGHT CNRS/INPG

Equation circuit coupling : COPYRIGHT EDF/CEDRAT/CNRS/INPG
PREFLU : COPYRIGHT CEDRAT/CNRS/INPG
CAOBIBS software : COPYRIGHT ECL/CEDRAT/CNRS/INPG
Tutorials of FLUX2D : COPYRIGHT CEDRAT
FLUX2D's Quality Assessment

(Electricité de France standard, registered number AQM1L002)
This tutorial has been printed the 27 September 2002
Réf.: K205-O-760-EN-09/02
CEDRAT
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Phone: +33 (0)4 76 90 50 45
Fax: +33 (0)4 76 90 16 09
Email: cedrat@cedrat.com
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FLUX2D®7.60 CONVENTIONS USED
CONVENTIONS USED
To make this tutorial easier to read, we use the following typeface conventions:
• All comments are written in the same way as this sentence.
• All dialog text between the user and FLUX2D is written in courier font:
Name of the region to be created:

magnet ↵
Colour of this region:
<M>AGENTA
Select a surface or a menu item:
<Q>uit
[q]uit ↵
Below are presented the conventions used for the dialog between the user and FLUX2D:
Italic text Messages or questions displayed on the screen by FLUX2D.

Bold text ↵ User input to FLUX2D, such as the coordinates of a point.
magnet ↵ The ↵ character symbolizes the Return/Enter key.
You only have to enter enough of the response to remove any ambiguity
[q]uit ↵ between the response you want and other valid ones. In which case enter the
character shown in square brackets [ ].
<B>old text FLUX2D menu input. Make a selection by clicking on the menu item with
the mouse or, if there is no ambiguity, by entering the first character of the
<M>AGENTA
word (shown in angled brackets < >).
<COILR>
FLUX2D graphical input, such as selecting a line or a point.
↵ The reply is by default. To enter a default response, simply press the

Return/Enter key.
- REMARK -
The files corresponding to different cases studied in this tutorial are available
in the folder:
..\doc_examples\examples\tutorial\2D\Simulink
The correspondent applications are ready to be solved. This allows you to

adapt this tutorial to your needs.
• If you do not know FLUX2D yet, we advise you to run through this entire
tutorial and to refer, if necessary to the given cases.
• If you already know FLUX2D, we advise you to redo only the

Parameterization, Solving and Analysis sections, in order to discover the
new possibilities of FLUX2D.
FLUX2D®7.60 TABLE OF CONTENTS
TABLE OF CONTENTS
PART A : Square wave motor - torque ripples 1
1. Materials ......................................................................................................................3
2. Definition of the electrical circuit ..................................................................................5
3. Physical properties ......................................................................................................7

3.1 General information .................................................................................................... 7
3.2 Materials ..................................................................................................................... 7
3.3 Boundary conditions ................................................................................................... 8
3.4 Electrical circuit........................................................................................................... 8
4. Definition of Simulink model ........................................................................................9

4.1 Description of the Simulink model............................................................................... 9
4.1.1 Whole model ..............................................................................................................9
4.1.2 Switching scheme ....................................................................................................10
4.2 Definition of the blocks.............................................................................................. 11

4.2.1 “Coupling with Flux2d” block ....................................................................................11
4.2.2 The command ..........................................................................................................12
4.2.3 Outputs.....................................................................................................................14
5. Solve ........................................................................................................................15
6. Results.......................................................................................................................17
6.1 With Simulink............................................................................................................ 17
6.1.1 Resistances values ..................................................................................................17
6.1.2 Mechanical quantities...............................................................................................19
6.1.3 Electrical quantities ..................................................................................................20
6.2 With Flux2d............................................................................................................... 21

6.2.1 Equiflux lines ............................................................................................................21
6.2.2 Flux density in the air gap ........................................................................................22
6.2.3 Currents....................................................................................................................24
FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE A

TABLE OF CONTENTS FLUX2D®7.60
PART B: Square wave motor - No load startup with electromechanical coulping 25
7. Physical properties.....................................................................................................27
8. Simulink model and solving .......................................................................................29
9. Results .......................................................................................................................31
9.1 With Simulink ............................................................................................................31
9.1.1 Mechanical quantities ...............................................................................................31
9.1.2 Electrical quantities...................................................................................................32
9.2 With Flux2d ...............................................................................................................33

9.2.1 Equiflux lines ............................................................................................................33
PART C: Square wave motor - Servo operation with electromechanical coupling 37
10. Physical properties.....................................................................................................39
11. Simulink model and solving .......................................................................................41
12. Results .......................................................................................................................43

12.1 With Simulink ............................................................................................................43
12.2 With Flux2d ...............................................................................................................45

12.2.1 Flux density distribution ............................................................................................45
12.2.2 Torque ......................................................................................................................45
12.2.3 Currents....................................................................................................................46
PAGE B FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

FLUX2D®7.60 PART A: Square Wave Motor – Torque Ripples
PART A: Square Wave Motor – Torque Ripples
FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 1

PART A: Square Wave Motor – Torque Ripples FLUX2D®7.60
PAGE 2 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

Materials
1. Materials
The materials will be the same in all this technical paper.

The magnet is modelled by a linear material, whereas the steel is modelled by a non-linear material.
Name of the Property Model Permeability Remanent flux density or

material saturation magnetisation
MAGNET_LIN 5_Magnet 1_scalar_cst 0.401 T
MAGNET_LIN 1_iso_MU 1_scalar_cst 1.071
STEEL 1_iso_MU B_scalar_a_sat 1.99 T
STEEL 1_iso_MU B_scalar_a_sat 7500
Table 1: Materials

Materials

Definition of the electrical circuit
2. Definition of the electrical circuit
The motor is supplied with a 3-phase bridge inverter where the free wheeling diodes have been
neglected. The inverter switching scheme is dependent on the rotor position. The switches are
modelled by resistances with a very low value to model on-state and very large value to model off-
state. To model the drop voltage on the switches, a voltage source has been added to every
resistance.
Simulink will control the value of the resistances depending on the position of the rotor.
In the electrical circuit will only be described the components: the values of the resistances will be
set to 1 as a reference value.
Figure 1: Electrical circuit

Definition of the electrical circuit
Name of the Comment Model Value

component
VSOURCE Voltage source Constant 6V
V1 Voltage source Constant 0.8 V
PA Coil Total value Number of turns: 10
Resistance: 0.017625 Ohm
MA Coil Total value Number of turns: 10
PB Coil Total value Number of turns: 20
MC Coil Total value Number of turns: 20
Resis34 Resistor Constant 1 Ohm
Induc15 Inductance Constant 7.75 µH
Resis18 Resistor Constant 100.000 Ohm
Table 2: Electrical components

Physical properties
3. Physical properties
Complete this part in FLUX2D. Use the brushless machine geometry drawn in the first part.
3.1 General information

In the following, the name of this file is TORQUE_RIPPLE.
The problem has a constant cross section (plane problem) with a depth of 50.308 mm.
It is solved with the Transient Magnetic application.
Note :
Flux2d – Simulink coupling is available only for transient magnetic computations so far.
3.2 Materials
There are only two materials that should be assigned to regions as follows:
Name of the region Material Property Model Value Nb of pair of poles

PA VACUUM Source External circuit
MA VACUUM Source External circuit
PB VACUUM Source External circuit
MC VACUUM Source External circuit
AIRGAP Rotational air gap Angular velocity Constant 2000 rpm 2
WEDGE VACUUM Source No source
AIR VACUUM Source No source
SHAFT VACUUM Source No source
ROTOR STEEL Source No source
STATOR STEEL Source No source
MAGNET MAGNET Direction of Radial + (0,0)
magnetisation
MAGNET MAGNET Source No source
Table 3: Materials

Physical properties
3.3 Boundary conditions
FLUX2D automatically assigns the right boundary conditions taking into account the number of pole
pairs of the motors and the number of displayed poles.
?
0 BREAK
Quit
Zoom
Reset
Move
1 Dirichlet
2 Float
3 Cyclic
4 Anticyclic
5 Translation
6 Periodic
7 Cancel
3.4 Electrical circuit
The different electrical components are described in the second chapter.
The Simulink model is described in the following chapter.

Definition of Simulink model
4. Definition of Simulink model
4.1 Description of the Simulink model
In the following is presented the Simulink model, with the definition of every block.
4.1.1 Whole model
The whole model looks as follows:
Figure 2: Whole Simulink model

The model includes:
- a “Coupling with Flux2d” block: this block calls FLUX2D during the computation (see
paragraph 4.2.2)
- the command (on the left part of the model): this part commands the value of the resistances
depending on the position of the rotor. (see paragraph 4.2.3)
- the outputs to be displayed (see paragraph 4.2.4)
4.1.2 Switching scheme
The switches states depend on the rotor position, expressed in electrical angle. The following table
shows the moments where the switches are on, assuming one electrical period corresponds to 180
mechanical degrees.
Note:
According to the model we used, an on switch is equivalent to a resistance set to a low value.
In the following, the on state will be represented by a resistance of 1e-4 Ohm, the off state by a
resistance of 1e+6 Ohm.
Name of the On state minimum On state maximum

resistance angle angle
R1 15 75
R2 105 165
R3 75 135
R4 164 45
R5 135 15
R6 45 105
Table 4: Switching scheme

4.2 Definition of the blocks
4.2.1 “Coupling with Flux2d” block

This block enables a direct co-simulation with both Flux2D and Matlab Simulink.
After installing the files as explained in the users guide, this block is available in the Simulink
Library Browser, in the folder flux_link.
It is defined by:
- the TRA file that will be solved: give the name of the TRA file without the extension .TRA
TORQUE_RIPPLE
- Flux2D inputs: the resistances R1 to R6 representing the switches should be defined as inputs to
Flux2D. The syntax to use is described in the users guide.
[Resistance:resis37;Resistance:resis34;Resistance:resis38;Resista
nce:resis35;Resistance:resis39;Resistance:resis36]
Note:
The components names correspond to the name given to the components in page 4. Do not
forget to check that it corresponds to your circuit.
- Flux2D outputs: the mechanical values are displayed (torque, angular velocity and position) as
well as some electrical values (current in phase 1 and 2 and in the voltage source)
[TORQUE;OMEGA;TETA;CURRENT:induc15;CURRENT:induc17;CURRENT:vsour
ce]
- the time step: the computation has 48 time steps over an electrical period (180 degrees). Then
each time step represent a rotation of 180 / 45 = 3.75 degrees. Assuming a constant speed of
2000 rpm, the time step is then 3.75 / ( 2000 * 6 ) = 0.3125 ms.
0.3125e-3
- the initial conditions: there is no initial conditions to set.
Figure 3: “Coupling with Flux2D” block

4.2.2 The command
This part controls the electrical circuit of Flux2D. It will control the value of the resistances
depending on the position of the rotor.
Figure 4: Command part of Simulink model
All six resistances are on in a certain range of values of the rotor position. The « Min » and « Max »
values are the trigger on and trigger off times respectively. Assuming that there are 2 pole pairs, one
mechanical period corresponds to 180 electrical degrees. That is why all the “Min” and “Max”
values should be in the range [0; 180]. The “Max” values are then not necessary greater than the
“Min” values. Two cases can be distinguished then: when the “Max” value is greater than the “Min”
value (for R1, R2, R3 and R6), and when the “Max” value is lower than the “Min” value (for R4 and
R5).

4.2.2.1 Resistance control subsystem for R1, R2, R3 and R6
Figure 5: Resistance control subsystem
4.2.2.2 Resistance control subsystem for R4 and R5
Figure 6: Resistance control subsystem

4.2.3 Outputs
Figure 6: Outputs
As six outputs have been defined in the « Coupling with Flux2d » block, 2 scopes with 3 graphs each
can be used (one for the mechanical quantities, one for the electrical quantities).
The output position of the rotor is expressed in mechanical degrees. As the resistances are controlled
with electrical angles, a block should be added to convert mechanical angles to electrical angles :
this is the block called «modulo » (block “Math function” to be find in Simulink - Math in the
Simulink Library Browser).
Figure 7: Modulo block

Solve
5. Solve
Note:
There is no need to open Flux2d to solve the problem. The simulation can be handled directly
in Simulink.
The computation time step for Flux2d has been defined in the « Coupling with Flux2d » block.
Before starting the solving, the computation range should be defined (start and stop times). In this
case, as explained above, one electrical period will be simulated, representing 15 ms.
Figure 8: Simulation parameters
Note:
Do not forget to choose the same time step for Simulink computation as done for Flux2d.

Solve

Results
6. Results
Results can be displayed both with Simulink and with Flux2D. With Simulink, only the values
defined as outputs will be displayed. With Flux2D, all the quantities usually reachable with
Postpro_2D can be displayed and computed.
6.1 With Simulink
6.1.1 Resistances values
The values of the resistances are displayed in « Scope1 ».

Results
Figure 8: Resistance values

Results
6.1.2 Mechanical quantities
The torque, angular velocity and position is visualised with « Scope »
Figure 9: Mechanical quantities

Results
6.1.3 Electrical quantities
Figure 10: Electrical quantities
The first computed time step is for 0.1 ns. This solution corresponds then to a static result. It
explains why the first value of the electrical quantities is out of the range of the other ones.
Let us go now in Flux2d postprocessor to deeper analyse this problem.

Results
6.2 With Flux2d
6.2.1 Equiflux lines
Figure 11: Equiflux line for time step 2.19 ms

Results
6.2.2 Flux density in the air gap
The Flux density is computed on a path (arc of circle) located in the middle of the air gap.
Figure 12: Create a path

Results
Figure 13: Flux density in the air gap
The harmonic spectrum of this curve can be computed.
Figure 14: Spectrum of the flux density

Results
6.2.3 Currents
The current in phase 1 is, between 0.3125 ms and 15 ms :
Figure 15: Current in phase 1
The current in the source is, between 0.3125 ms and 15 ms
Figure 16: Current in the source

FLUX2D®7.60 PART B: Square wave motor – No load startup with electromechanical coupling
PART B: Square wave motor – No load startup

with electromechanical coupling

PART B: Square wave motor – No load startup with electromechanical coupling FLUX2D®7.60

Physical properties
The constant speed problem being already defined, the physical properties can be easily modified to
simulate the no load startup of the motor.
The only information that changes is the definition of the air gap properties. Instead of being defined
as a rotational air gap with a constant angular velocity, it is defined as a rotational air gap with
constant mechanical values, defined as below:
Property Value Unit

Moment of inertia of the rotor 3.8675e-5 kg.m²
Friction coefficient 0.005 N.m.s
Drag torque 0 N.m
Initial angular velocity 0 rpm
Spring constant 0 N.m
Initial streching / compression of the spring / position at rest 0 degrees
All the other properties (materials, boundary conditions and electrical circuit) remain identical.
Save this file as “No_Load_Startup”.

Physical properties

Simulink model and solving
8. Simulink model and solving
As the supply and the command remain identical, the Simulink model remains also the same. Then,
it is just needed to « Save as » the Simulink model with another name, and give the new name of the
TRA file to the « Coupling with Flux2d » block.
Figure 16: No load startup « Coupling with Flux2d » block.
This time, the problem will be solved on 3 mechanical periods, i.e. 1.5 electrical period (45 ms). The
chosen time step is 0.5 ms.

Figure 17: No load startup simulation parameters.

Results
9. Results
9.1 With Simulink
Figure 18: Mechanical quantites

The represented torque is the magnetic torque.

Results
Figure 19: Electrical quantities

Results
9.2 With Flux2d
9.2.1 Equiflux lines
Figure 19: Equiflux lines for time step 3.5 ms

Results
Figure 20: No load motor torque
As it could have been expected, the no load motor torque has a steady state mean value equal to
zero.
This torque is different from the magnetic torque, represented in Simulink.
We have indeed :
T = Tm − Tr − fθ&
where T is the motor torque

Tm is the magnetic torque
Tr is the drag torque (set here to zero)
f is the friction coefficient
θ& is the angular velocity

Results
The current in the source between 0.5 ms and 45 ms looks as follows:
Figure 21: Source current at no load

Results

FLUX2D®7.60 PART C: Square wave motor – Servo operation with electromechanical coupling
PART C: Square wave motor – Servo operation

with electromechanical coupling

PART C: Square wave motor – Servo operation with electromechanical coupling FLUX2D®7.60

Physical properties
The no load startup problem being already defined, the physical properties can be easily modified to
simulate the servo operation.
The only information that changes is the definition of the air gap properties. It is still a rotational
airgap with constant mechanical values, but you have to add a drag torque.
Property Value Unit

Moment of inertia of the rotor 3.8675e-5 kg.m²
Friction coefficient 0.005 N.m.s
Drag torque 0.3 N.m
Initial angular velocity 0 rpm
Spring constant 0 N.m
Initial streching / compression of the spring / position at rest 0 degrees
All the other properties (materials, boundary conditions and electrical circuit) remain identical.
Save this file as “Servo_operation”.

Physical properties

11. Simulink model and solving
As the supply and the command remain identical, the Simulink model remains also the same. Then,
it is just needed to « Save as » the Simulink model with another name, and give the new name of the
TRA file to the « Coupling with Flux2d » block.
Figure 16: Servo operation « Coupling with Flux2d » block
This time, the problem will be solved on 3 mechanical periods, i.e. 1.5 electrical period (45 ms). The
chosen time step is 0.5 ms.

Figure 17: Servo operation simulation parameters

Results
12. Results
12.1 With Simulink
Figure 22: Mechanical quantities for servo operation

Results
Figure 23: Electrical quantities for servo operation

Results
12.2 With Flux2d
12.2.1 Flux density distribution
Figure 24: Flux density distribution at time step 28 ms
12.2.2 Torque
Figure 25: Motor torque for servo operation

Results
12.2.3 Currents
Currents in the three phases look as below:
Figure 26: Current in the three phases between 1 ms and 65 ms
The current in the source is:
Figure 27: Source current for servo operation between 1 ms and 65 ms

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CAD Package for Electromagnetic

and Thermal Analysis using Finite Elements

FLUX2D TO SIMULINK TECHNOLOGY

Copyright – September 2002

FLUX2D software : COPYRIGHT CNRS/INPG

FLUX2D's Quality Assessment

This tutorial has been printed the 27 September 2002

Name of the region to be created:

Italic text Messages or questions displayed on the screen by FLUX2D.

FLUX2D graphical input, such as selecting a line or a point.

↵ The reply is by default. To enter a default response, simply press the

The correspondent applications are ready to be solved. This allows you to

• If you already know FLUX2D, we advise you to redo only the

PART A : Square wave motor - torque ripples 1

2. Definition of the electrical circuit ..................................................................................5

3. Physical properties ......................................................................................................7

4. Definition of Simulink model ........................................................................................9

4.2 Definition of the blocks.............................................................................................. 11

6.2 With Flux2d............................................................................................................... 21

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE A

PART B: Square wave motor - No load startup with electromechanical coulping 25

8. Simulink model and solving .......................................................................................29

9.2 With Flux2d ...............................................................................................................33

PART C: Square wave motor - Servo operation with electromechanical coupling 37

10. Physical properties.....................................................................................................39

11. Simulink model and solving .......................................................................................41

12. Results .......................................................................................................................43

12.2 With Flux2d ...............................................................................................................45

PAGE B FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

PART A: Square Wave Motor – Torque Ripples

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 1

PAGE 2 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

The materials will be the same in all this technical paper.

Name of the Property Model Permeability Remanent flux density or

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 3

PAGE 4 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

2. Definition of the electrical circuit

Figure 1: Electrical circuit

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 5

Name of the Comment Model Value

Table 2: Electrical components

PAGE 6 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

3.1 General information

Name of the region Material Property Model Value Nb of pair of poles

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 7

3.3 Boundary conditions

3.4 Electrical circuit

The different electrical components are described in the second chapter.

The Simulink model is described in the following chapter.

PAGE 8 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

4. Definition of Simulink model

4.1 Description of the Simulink model

4.1.1 Whole model

The whole model looks as follows:

Figure 2: Whole Simulink model

FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER PAGE 9

The model includes:

4.1.2 Switching scheme

Name of the On state minimum On state maximum

Table 4: Switching scheme

PAGE 10 FLUX2D TO SIMULINK TECHNOLOGY TECHNICAL PAPER

4.2 Definition of the blocks

4.2.1 “Coupling with Flux2d” block