2014 5

29 5

TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY

Vol.29 No. 5
May 2014

1 1 2
1. 430074
2. 450001

/ /Halbach /
/

TM315

Analytical Calculation of Electromagnetic Performance

in Dual Three-Phase Permanent Magnet Brushless AC Machines
Guo Siyuan 1 Zhou Libing 1 Qi Ge 2
1. State Key Laboratory of Advanced Electromagnetic Engineering and Technology
Huazhong University of Science and Technology Wuhan 430074 China
2. Zhengzhou University Zhengzhou 450001 China
Abstract The Fourier series decomposition is applied to compute the electromagnetic performance
of surface dual three-phase permanent magnet brushless AC machines. The analytical model is set up in
2D polar coordinates, and the solution regions are divided into slot-opening, slot, air-gap and permanent
magnet subdomains. Taking the vector magnetic potential as variable, the Laplace equation in slotopening and air-gap subdomains, poisson equations in slot and permanent magnet subdomains are
solved by the variable separation method. The Fourier coefficients are obtained by the boundary
conditions between two adjacent subdomains. The analytical model accounts for the influence of radial/
parallel/Halbach magnetization, internal/external rotor topologies. This model is applicable to
fractional-slot concentrated-windings configurations having either all or alternate teeth wound, which
can be used to predict the open-circuit, armature reaction and on-load magnetic field distribution. Based
on this analytical model, the cogging torque, back-EMF and electromagnetic torque of two winding
connections for fractional-slot concentrated-windings are calculated. FE results confirm the validity of
the analytical prediction.
Keywords Dual three-phase permanent magnet brushless AC machines, analytical method,
fractional-slot concentrated-windings , electromagnetic performance
51177056 2011M501188 122102210098 2010
2010024
2013-04-14

2013-05-14

[1]

[2]

[3-5] [6]
1

[3]

2005 3

[14,15]

[14-16]

[16]

[16]

//Halbach
//

[7-17] [7]

[8]

[9-16]

[9]
[10]
[10-16] [11]
[11,12]

[13-16]
[13] [10-13]

1
Fig.1 Cross section of surface brushless permanent-magnet
AC machine

1
2 r 1

20 3

Ji0

3
4

J im

1 Ji1 Ji2

J i1 J i 2
2

2 J i1 J i 2

sin

7
Jim

A1i

A1i

A1i

r R5

A1i
r

r R4

Fig.2 Winding form

1 r,
ns i

A2i

f ( ) r

2
J i1=J i2
[16] J i1Ji2
[15]

r R4

[16]
Px ( y, z )

z
y
Ex ( y, z )
z

y

2 A1i

Aip

r

R4

R5

Am1i

m 1

cos m i Aip 10
2

0
0 J im 2

Ji0r 2
r cos m i
2
4
2

m 1 m 4

[15]

11

1.1

B1mi

i
2
2

A1i (r , ) A01i B01i ln r

f ( )

z
y

z
y

f ( )

2
i
(i 1)
ns

1 A1i 1 A1i

0 J
2
r r r 2 2
r

R4
r R5 , i
i
2
2

J Ji0
J im cos m i
2

m 1

B01i

12

r =R5

Am1i

R
4
R5

1
0 J i 0 R52
2

Bm1i

2 0 R52 J im

m ( m2 4)

13

14

2005 3

A01i Bm1i

A3

m
1.2

A3
r

2 A2i

1 A2i 1 2 A2i
2
0
r r
r 2
r 2

R3
r R4 i
i
2
2

15

A2i

g ( ) r

A2i

i
2

r R2

20

g ( )
r R3

r R3

i
2
2 21

[16]

A3 ( r , )

R P (r , R2 )
R2 Pn (r , R3 )
Bn3 3 n
cos(n )
n En ( R2 , R3 )
n En ( R3 , R2 )

Cn3

R P (r , R2 )
R2 Pn (r , R3 )
Dn3 3 n
sin(n )
n En ( R2 , R3 )
n En ( R3 , R2 )

An3
n 1

16

A (r , )
A1i (r , ) r R
rR
2i
4

r R2

1 A4
r r

g ( )

A2i

n 1

A2i (r , ) r R3 A3 (r , ) r R3

22
A n3 Bn3 Cn3 D n3 n

[16]
A2i (r , ) A02i B02i ln r

Bk2i

E k (r , R4 )

Ak2i E
k 1

E k (r , R3 )

( R3 , R4 )

1.4

[14]

cos k i 17
E k ( R3 , R4 )
2

2 A4

M r
1 A4 1 2 A4
2
0 M
2
2
r r r
r

r
23
R
r
R
0

1
2

Mr

18

A3 (r , ) r R A4 (r , ) r R

A02iA k2iB k2i

1.3

2 A3

1 A3 1 2 A3

0
r 2 r r r 2 2
R
0 2
2 r R3

A4

24

0
r R1

24
19

A4 (r , )

P (r , R )

An4 Pnn( R2 , R11 ) Vn (r ) sin(n0 )

cos(n )

n 1

P (r , R )

Cn4 Pnn( R2 , R11 ) Vn (r ) cos(n0 )

sin( n )

n 1

25
4

An Cn n

20 3

sin ( n 1)

2 p

A
1n
p
(n 1)

2p

sin ( n 1)

2 p

A2 n
p

(n 1)

2p

Mr

M rn cos n( 0 )

n / p 1,3,5,

26

M n sin n( 0 )

n / p 1,3,5,

Vn (r )

Pn (r , R1 ) R1 R1

Vn (r )
f n ( R1 ) f n ( R2 )
Pn ( R2 , R1 ) n R2

R R n

1 1 f n ( R1 ) f n (r )
n r

nM rn M n

n2 1
M M n
0 r rn
ln r
2

0 r

f n (r )

p
Halbach [17] p=1 n=1

lBr
sin l
0

27

M rn

n / p 1,3,5,
np 1

M n

28

Br
0

lBr
sin

l
0

B
r
0

n mp

2 plBr sin 1 p 1 2 pl

n 1
2 pl
0

n
2lj 1
p

1 p 1 2 pl
2 plBr
sin 2 pl n 1

j 0,1, 2,3

n
2lj m1
p

n p
4 pBr
sin

n0
2p
0

M rn

M n

29

M rn

Br p

0
Br p

M rn

M
n

( A1n A2 n )
30
( A1n A2 n )

p=1 n=1 A2 n 1
p 1 n 1

32

p 1 n 1

31

0 N

n p

n mp

2 plBr sin 1 p 1 2 pl

n 1
2 pl
0

n p

M n 2 plBr
1 p 1 2 pl
sin 2 pl n 1

j 0,1, 2,3

n
2lj 1
p
n
2lj m1
p

33
l
33
m

Halbach [18]

Ak2i

Br n
1

M rn 0 p
0

n
Br
1

p
0

B
n
M n r
1
0 p

2005 3

i
2
i

r =R3
20
34

2.1
r =R 4
16

Dn3

2
2

g ( ) cos(n ) d

41

g ( ) sin(n ) d

42

2
2

Cn4

2
2

A3 ( R2 , ) cos(n ) d

43

A3 ( R2 , )sin(n ) d

44

r =R2
20

A02i B02i ln R4

i
2

An4

2
2

24

Bn3

2.3
r =R2

Bk2i

A3 ( R3 , ) cos k i d 40
2

i
2

i
2

A1i ( R4 , ) d

35

An3

A1i ( R4 , ) cos k i d 36
2

r =R 4

Cn3

2
2

2
2

1 A4
r r

1 A4
r r

cos(n ) d

45

sin( n ) d

46

r R2

r R2

8
B01i 1
1
0 J i 0 R4
R4 2

i
2
i

3
f ( ) d

37

1
R 2 m 1

R
4 m
20 J im
1i
m
m 4

Bm R4 R5
R4
R5 R5

m2 4
R
5

i
2
i

f ( ) cos m i d
2

R 1
R 2 R 3 R4
R5 R1R 2 R3

38

R4 R 5
1

2.2
r =R 3
16
A02i B02i ln R3

[1]

i
2
i

A3 ( R3 , ) d

39

Tab.1 The parameters of prototype dual three-phase

brushless permanent-magnet AC machine

R 1 /mm

24.5

R 2 /mm

27.5

R 3 /mm

28.5

20 3
R 4 /mm

31.3

R 5 /mm

46.4

L /mm

50

/()

17

/()

B r /T

1.2

1.05

n s

12

y 1

b 2

N 1

66

n 1 /r/min

400

I N /A

[19]

3 A12

A A21
A
1

Fig.3 Stator winding configurations of dual three-phase

brushless permanent-magnet AC machine

3.1

1 A3 (r , )
B3r r

A
B 3 (r , )
3
r

47

3
2
4 r=(R2 +
R3 )/2
3a 1
5

I a1 I N I b1 I c1 I N / 2
I a 2 3I N / 2 I b 2 0 I c2 3I N / 2
6
a 1

2005 3
5
Fig.5 Radial and tangential components of
armature reaction magnetic flux density

4
Fig.4 Radial and tangential components of

no load magnetic flux density

6
Fig.6 Radial and tangential components of
on-load magnetic flux density

3.2
j

j j1 j 2

48

j1

N
L 1
S

N1
S

2 R

j2 L

R5

R5

A j1 (r , )r d r d

49

A j 2 (r , )r d r d

50

S
b

2
R5 R42
4

51

20 3

Np

52

j 1

d 0

LRm2
0

B3r ( Rm , ) B3 ( Rm , ) d

55

2p ns

360/ lcm(2p, n s )= 6 1cm

53

Np
7

1A2 A1 30 2A2
A1 180

8
Fig.8 Cogging torque

a 1

I d =0Iq =I N

b 2

7
a 1

Fig.7 EMF of open-circuit

3.3

[12,13]

Rm

R2 R3
2

54

b 2

10

2005 3
k P k ( R4 , R3 )
2 f ( m, k )
Bk2i
R
E
(
R
,
R
)

4 k
3
4
k 1

Fig.9 Electromagnetic torque

f (m)

2
cos
i

2
i

/Halbach /
/

f ( m, k )

2
cos
i

2
i

2 cos(m / 2)sin( m / 2)
m

m i cos
k 2 i d
2

A6

k= m

f ( m, k )

3546

3942
A02i B02i ln R3

3538

B02i

A01i

ln R4

R2
R P ( R , R ) g ( n, i )
2
Cn3 3 n 3 2 Dn3
n En ( R2 , R3 )
n En ( R3 , R2 )

n 1

R 2 m
f ( m)
4
1 B1mi

5
m 1

Ak2i

m 1

R42

R2
R P ( R , R ) 2 f ( k , n, i )
2
An3 3 n 3 2 Bn3

n
E
(
R
,
R
)
n En ( R3 , R2 )

n
2
3
n 1

R2
R P ( R , R ) 2 g (k , n, i )
2
Cn3 3 n 3 2 Dn3
n
E
(
R
,
R
)
n En ( R3 , R2 )

n
2
3
n 1

2 R 2 R m 0 J im f ( m)
5 4
A1
m R5 m2 4

R 2 m
1i 2 f ( m, k )
4
Bk2i
1 Bm

m 1

A8

Bn3

B02i

1
0 J i 0 ( R52 R42 )
2

B02i f ( n, i )

R3

nS

nS

k P k ( R3 , R4 )
2 i f ( k , n, i )

Ak
R
E
(
R
,
R
)

3
4
k 1
k

i 1

2
2 i f ( k , n, i )
Bk
R
E
(
R
,
R
)

3
4
k 1
k

i 1

A3

B02i 2 f ( m) k
2
2 f (m, k )

Ak2i
R4

R
E
(
R
,
R
)

3
4
k 1
k

A2

Dn3

nS

i 1

m 1
R 2 m 1

2 0 J im
m 4
m B1mi R4 R5 4
R
R
R
R
5 5

m2 4
4
5

nS

i 1

2 R 2 R m 0 J im 2 f (m, k )
R42 5 4
m R5 m2 4

m 1

A7

R2
R P ( R , R ) f ( n, i )
2
An3 3 n 3 2 Bn3

n
E
(
R
,
R
)
n En ( R3 , R2 )

n
2
3
n 1

ln R4 0 J i 0 R42
4

B01i

cos k

2
2

A 01iB m1iA 02i A k2iB k2i A n3 B n3 C n3 D n3 A n4 C n4

A02i

A5

( )
( )

m ( 1) k sin m
sin m
2
2

f ( m, k )
2
2
m k

m i d
2

k m

A4

B02i g ( n, i )

R3

nS

k P k ( R3 , R4 )
g ( k , n, i )

Ak2i
R
E
(
R
,
R
)

3 k
3
4
k 1

i 1

2
g (k , n, i )
Bk2i
R
E
(
R
,
R
)

3 k
3
4
k 1

i 1

nS

A9

A10

20 3

f ( n, i )

2
cos
i
2
i

n d

sin(n(i / 2)) sin(n(i / 2))

n
A11

g ( n, i )

2
sin
i
2
i

[1]

cos( n(i / 2)) cos(n(i / 2))

n

173.
A12

Yang Jinbo, Li Tiecai, Yang Guijie. Modeling and

control of dual three-phase PMSM with one open
phase[J]. Transactions of China Electrotechnical

2 cos(n ) cos k 2 i
i

Society, 2011, 26(10): 167-173.

[3]

2
sin(n ) cos
i

magnet

machines:

, , .
[J]. , 2010, 25(10): 30-36.
Chen Yiguang, Pan Yuling, He Xin. Magnetomotive
force in permanent magnet synchronous machine with

k2 n 2

concentrated fractional-slot winding[J]. Transactions

A14

of China Electrotechnical Society, 2010, 25(10): 30-

k =n

36.

2
cos( n ) cos
i

2
i

k i d
2

[5]

magnet
[6]

machines[D].

USA:

The

University

of

k i d
2

Ishak D. Low-speed high-torque permanent magnet

brushless machines having fractional number of slots

A15

2
sin(n ) cos
i

EL Refaie A M. High speed operation of permanent

Wisconsin-Madsion, 2005.

sin(n(i 3 / 2)) sin(n(i / 2))

cos n i
4 k
2
2

g ( k , n, i )

permanent

Industrial Electronics, 2010, 57(1): 107-121.

n[(1)k cos(n(i / 2)) cos(n(i / 2))]

f ( k , n, i )

synchronous

opportunities and challenges[J]. IEEE Transactions on

[4]

k i d
2

EL Refaie A M. Fractional-slot concentrated-windings

n[sin( n(i / 2)) ( 1) k sin(n(i / 2))]

A13
k2 n 2
g ( k , n, i )

, , .
[J]. , 2011, 26(10): 167-

k n
f ( k , n, i )

.
[D]. : , 2010.

[2]

n d

11

per pole[D]. UK: The University of Sheffield, 2005.

[7]

Zhu Z Q, Howe D. Instantaneous magnetic field

distribution in brushless permanent magnet DC
motors, part : effect of stator slotting[J]. IEEE

cos( n(i / 2)) cos( n( i 3 / 2))

sin n i
4 k
2
2

Transactions on Magnetics, 1993, 29(1): 143-151.

[8]

A16

Zarko D, Ban D, Lipo T A. Analytical calculation of

magnetic field distribution in the slotted air gap of a
surface permanent-magnet motor using complex

4346

relative air-gap permeance[J]. IEEE Transactions on

An4

R P (R , R )
R
2
2 n 2 3 An3 3
Bn3 A17
n En ( R2 , R3 )
n En ( R3 , R2 )

R
R P (R , R )
2
Cn4 2 n 2 3 Cn3 3
Dn3
n En ( R2 , R3 )
n En ( R3 , R2 )

A18

An3

n En ( R2 , R1 ) 4 1
An Vn ( R2 )sin(n0 ) A19
r R2 Pn ( R2 , R1 )
r

Cn3

n En ( R2 , R1 ) 4 1
Cn Vn ( R2 ) cos(n0 ) A20
r R2 Pn ( R2 , R1 )
r

Magnetics, 2006, 42(7): 1828-1837.

[9]

Liu Z J, Li J T. Analytical solution of air-gap field in

permanent magnet motors taking into account the
effect of pole transition over slots[J]. IEEE Transactions
on Magnetics, 2007, 43(10): 3872-3883.

[10] Dubas F, Espanet C. Analytical solution of the

magnetic field in permanent-magnet motors taking
into account slotting effect: no-load vector potential

12

2005 3

and flux density calculation[J]. IEEE Transactions on

mounted permanent-magnet machines accounting for

Magnetics, 2009, 45(5): 2097-2109.

tooth-tips[J]. IEEE Transactions on Magnetics, 2011,

[11] Zhu Z Q, Wu L J, Xia Z P. An accurate subdomain

47(4): 812-822.

model for magnetic field computation in slotted surface-

[16] Lubin T, Mezani S, Rezzoug A. 2-D exact analytical

mounted permanent-magnet machines[J]. IEEE Transac-

model for surface-mounted permanent-magnet motors

tions on Magnetics, 2010, 46(4): 1100-1115.

with semi-closed slots[J]. IEEE Transactions on

[12] , , , .
[J]. , 2011,

Magnetics, 2011, 47(2): 479-492.

[17] Shi Tingna, Qiao Zhaowei, Xia Changliang, et al.

26(12): 28-36.

Modeling, analyzing, and parameter design of the

Zhang Fengge, Chen Jinhua, Liu Guangwei, et al.

magnetic field of a segmented halbach cylinder[J].

Analytical solution of magnetic field for surface-

IEEE Transactions on Magnetics, 2012, 48(5): 1890-

mounted permanent magnet machines with anti-

1898.

rotation

dual

rotors[J].

Transactions

of

China

Electrotechnical Society, 2011, 26(12): 28-36.

[13] , , , .
[J]. , 2012, 27(11): 8388.

[18] Xia Z, Zhu Z, Howe D. Analytical magnetic field

analysis of Halbach magnetized PM machines[J].
IEEE Transactions on Magnetics, 2001, 37(4): 28272830.
[19] Qi G, Ma D, Zhou L B, et al. Analysis of dual three-

Li Jiebao, Jing Libing, Zhou Xiaoyan, et al. Exact

phase fractional-slot PM brushless ac motor with

analytical method for surface-mounted permanent-

alternate winding connections[C]//IEEE International

magnet brushless motors[J]. Transactions of China

Conference on Electric and Electronics, 2011.

Electrotechnical Society, 2012, 27(11): 83-88.

[14] Zhu Z Q, Wu L J, Staton D, et al. An improved

subdomain model for predicting magnetic field of

1986

surface-mounted

E-mailsiyuanguo2001@163.com

permanent

magnet

machines

accounting for tooth-tips[J]. IEEE Transactions on

1961

Magnetics, 2011, 47(6): 1693-1704.

[15] Zhu Z Q, Wu L J, Staton D, et al. Subdomain model

for predicting armature reaction field of surface-

E-mailzlb@mail.hust.edu.cn