IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 30, NO.

2, JUNE 2015 745

Eccentricity in Synchronous Reluctance

Motors—Part I: Analytical
and Finite-Element Models
Hanafy Mahmoud and Nicola Bianchi, Fellow, IEEE

Abstract—In recent years, there is a growing interest for syn-

chronous reluctance machines. This is due to their high torque den-
sity, flux-weakening operation capability, and high fault-tolerance
capability. This paper deals with the analysis of a synchronous
reluctance machine when eccentricity occurs. Both static and dy-
namic eccentricity are considered. An analytical model to predict
the machine performance is described. As an example, a four-pole
reluctance machine is analyzed, considering single, as well as multi
flux-barriers per pole. The finite-element analysis confirms the re-
sults achieved by means of the proposed analytical model.
Index Terms—Analytical analysis, eccentricity, finite-element Fig. 1. Rotor positions with respect to the stator bore center. (a) healthy
analysis, synchronous reluctance machine. (e = 0), (b) static eccentricity, and (c) dynamic eccentricity.

I. INTRODUCTION
YNCHRONOUS reluctance (REL) machines are profitably
S adopted in applications where high torque density, overload
capability, and wide constant-power speed range are required
[1]–[3]. However, the design of these machines is rather com-
plex, due to the interaction between the high harmonic content
in the magnetomotive force (MMF) and the rotor anisotropy.
Therefore, the use of the fundamental harmonic only is not
enough. In addition, high MMF harmonics can cause local sat-
uration, with a further increase of ripples. Several works are
available in literature dealing with proper design of the rotor
geometry, so as to increase the torque density and reduce the
torque ripple [3]–[8].
Among the various machine capabilities, the rotor eccentric-
ity in synchronous REL machine has been marginally consid-
ered. It is important to study the effect of the rotor eccentricity
on this machine because of it’s high anisotropy. Eccentricity
has a strong effect in comparison with other machine types, for
instance, induction machines [9] or surface mounted permanent
magnet machines [10], [11]. This paper deals with an accurate
study of the eccentricity effect in a synchronous REL machine.
An analytical model of the REL machine is proposed to compute
the main electromagnetic quantities: air-gap flux density distri-
bution, torque, and radial force behavior at any rotor position.
Manuscript received July 10, 2014; revised November 18, 2014; accepted
December 16, 2014. Date of publication January 13, 2015; date of current
version May 15, 2015. Paper no. TEC-00498-2014.
H. Mahmoud is with the Department of Industrial Engineering, University
of Padova, 35131 Padova, Italy; and also with Cairo University, Giza, Egypt
(e-mail: eng.hanafy4@yahoo.com).
N. Bianchi is with the Department of Industrial Engineering, University of
Padova, 35131 Padova, Italy (e-mail: nicola.bianchi@unipd.it).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TEC.2014.2384535
II. ANALYTICAL MODEL
In this section, the analytical model of the synchronous REL
motor is presented. It is used to compute the air-gap flux density,
the electromagnetic torque, and the force on the rotor. Two types
of eccentricity are considered. The static rotor eccentricity oc-
curs when the rotor is shifted from the center of the stator, and
rotates around its center, as shown in Fig. 1(b). The dynamic
rotor eccentricity occurs when the rotor is shifted from the cen-
ter of the stator, and rotates around the stator center, as shown
in Fig. 1(c). In both cases of eccentricity, the smaller air-gap is
on the right-hand side (positive x-axis direction), as shown in
Fig. 1(b) and (c). The healthy motor, i.e., with no rotor eccen-
tricity, is also shown in Fig. 1(a). It will be considered for the
sake of comparison.
A. Stator Electric Loading and Magnetic Potential
The conductors within the slots are replaced by an infinitesi-
mal conductive sheet placed in the inner surface of the stator as
stated in [12]–[14]. Equivalent stator winding current sheet dis-
tribution is considered when the current flows in the actual coils
of the stator. This equivalent current sheet distribution is referred
to as the electrical loading Ks (θr ). According to the notation of
Fig. 2, the electrical loading is expressed as a spatial distribution
as a function of the spatial angle θr in the synchronous rotating
d-q reference frame. It is given by

Ks (θr ) = Kˆυ sin (υpθr + (υ − 1)ωm e
t − αie ) (1)
υ
where
υ the space harmonic order,
K̂υ the peak value of harmonic of υ th order of the equivalent
current sheet, in (A/m),

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746 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 30, NO. 2, JUNE 2015

Fig. 2. Distribution of K s (θr ) and U s (θr ) in different reference frames.

Only the fundamental harmonics are represented. All angles are in mechanical
degrees.
Fig. 4. Linearized geometry for four-pole rotor with one flux-barrier.

where Ur (θr ) is the rotor magnetic potential and g(θr ) is the

air-gap length. The difference among healthy, static eccentricity,
and dynamic eccentricity cases is in the calculation of the air-gap
length g(θr ) and in the corresponding rotor magnetic potential
Ur (θr ).
1) In case of no eccentricity, the air-gap length is uniform
and it is given by
g(θr ) = g (4)

Fig. 3. Rotor magnetic reaction and air-gap flux density. which is a constant value.
2) In case of static eccentricity, the air-gap length is shown
in Fig. 4 and it is given by
p the number of pole pairs, g(θr ) = g [1 − Δ cos(θr + θm )] (5)
θr the coordinate angle (mechanical degrees), in the
rotating d-q reference frame as shown in Fig. 2, where
ωme
the electrical speed of the rotor, θm the angular position of rotor (mechanical
αie the phase angle of the current (electrical degrees). In the degrees),
following, αie is fixed at 45◦ . Δ = e/g is the relative eccentricity, given by the
The peak value and the space harmonic order are computed ratio of the rotor displacement and the air-
according to the winding adopted in the stator. In the following, gap length. The eccentricity is aligned with
a distributed winding with three slots per pole and per phase is the stationary x-axis.
considered. 3) In case of dynamic eccentricity, the air-gap length is given
Then, the stator magnetic potential is given by by

D
Us (θr ) = Ks (θr ) dθr g(θr ) = g [1 − Δ cos(θr − θe )] (6)
2
 −Kˆυ D where θe is the mechanical angle corresponding to the
= cos(υpθr + (υ − 1)ωm
e
t − αie ) (2) direction where the eccentricity occurs.
υ
υ 2p
The cases 1 to 3 will be considered in the following. Other
where D is an inner diameter of the stator. eccentricity studies (e.g., mixed eccentricity) are possible, rear-
ranging the air-gap behaviors with the rotor position. In addition,
if the rotor exhibits nonuniform eccentricity along the axis of
B. Computation of the Air-Gap Flux Density
the machine, the analytical model can be again employed sub-
The air-gap flux density in both cases of rotor eccentricity dividing the machine in a finite number of segments. Then, the
(i.e., static and dynamic rotor eccentricity) can be calculated analytical model is applied on each segment.
by neglecting the magnetic voltage drop in the iron paths. As
shown in Fig. 3, it is given by C. Computation of Rotor Magnetic Potential
−Us (θr ) + Ur (θr ) Fig. 5 shows the magnetic network of REL motor considering
Bg (θr ) = μ◦ (3)
g(θr ) one flux-barrier per pole.
MAHMOUD AND BIANCHI: ECCENTRICITY IN SYNCHRONOUS RELUCTANCE MOTORS—PART I 747

or
   
Δ x(w)π
ḡdw (θm ) = g 1 − cos − θe sin(θb ) (10)
θb 2p
for the static and dynamic rotor eccentricity, respectively. This
approximation allows the analytical model to be easily solved.
Of course the results of the computation of the air-gap flux
density, rotor magnetic potential, torque, and radial force are
affected by this approximation, as will be shown later on. How-
ever, the differences are reasonably low from a practical point
of view.
1) For Static Rotor Eccentricity Case: Rotor magnetic po-
tential of the rotor island bordered by the wth flux-barrier is
Fig. 5. Magnetic network of an REL motor with one flux-barrier per pole. given by
Two poles are shown, corresponding to the right-hand side of Fig. 4.
(w )
 Kˆυ
Ur 1 = −aw D cos(λυ w ) · sin(υpθb ) (11)
υ
(υp)2

where aw is
D tb
2 ḡ w l b
aw = (12)
1 + 2Dḡ wt bl b 2θb
and ḡw = ḡsw is defined in (9), lb and tb are the length and
thickness of the flux-barrier, respectively. Then, λυ w is given by
x(w)υπ
λυ w = + (υ − 1)ωm e
t − αie (13)
Fig. 6. Average air-gap length computation in front of each flux-barrier in
2
e
case of both types of eccentricity. which includes the rotor position ωm t, the current vector angle
e
αi , the space harmonic order υ, and w refers to the flux barrier
(w )
The magnetic flux crossing the generic, wth, flux-barrier is where the computation of Ur 1 is carried out.
given by 2) For Dynamic Rotor Eccentricity Case: Rotor magnetic
potential of the rotor island bordered by the wth flux-barrier
 x (w )π
+θ b results as in (11) and (12), but ḡw = ḡdw as defined in (10).
2p D
φbw = −Bg (θr )Lstk dθr (7)
x (w )π
−θ b 2
2p D. Torque and Force Calculation
where w is a number related to the rank of the flux barrier where In both cases of eccentricity, the electromechanical torque of
the average air-gap length is calculated. In a four-pole machine, the REL motor [10], [11] is given by
it is w = 1, 2, 3, 4, and x(w) = (2w − 1), θb is the barrier angle, 
w =4  Kˆυ
Lstk is the stack length. τm = aw kτ w cos(λυ w ) · sin(υpθb )
The rotor magnetic potential can be calculated from the mag- w =1 υ
(υp)2
netic flux crossing each flux barrier and the REL of each flux-  kˆξ
barrier, Rbw , that is · sin(λξ w ) · sin(ξpθb ) (14)
(ξp)
ξ
Ur(w ) = φbw .Rbw . (8)
where kτ w is
Introducing (3) in (7) and the results in (8), the unknown Ur in μ◦ D3 Lstk
each rotor part can be computed [12], [13]. A complex step of kτ w = (15)
2ḡw
the computations of the analytical model is the integration of
(7) where Bg (θr ) depends on a variable g(θr ), as given by (3) where ḡw = ḡsw or ḡw = ḡdw for static and dynamic eccen-
and g(θr ) is expressed as in (5) or (6). Therefore, a practical tricity, respectively. Let us remember that a four-pole rotor is
simplification is proposed. The calculation of the magnetic flux considered, so that w varies from 1 to 4 in (14). The radial force
is carried out considering an average value of the air-gap length on the rotor can be computed as
in front of each flux-barrier, as shown in Fig. 6. The average  2π 2
Bg (θr )DLstk j θ r
air-gap length is computed as Fr = e dθr (16)
0 4μ◦
   
Δ x(w)π which can be split into Fx in x-direction, and Fy in y-direction.
ḡsw (θm ) = g 1 − cos θm + sin(θb ) (9)
θb 2p According to Fig. 2, the force along the stationary reference
748 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 30, NO. 2, JUNE 2015

Fig. 7. Stator conductive sheet with 36 current point.

frame are
 2π Bg2 (θr )DLstk
Fx = cos(θr )dθr (17)
0 4μ◦
 2π Bg2 (θr )DLstk
Fy = sin(θr )dθr . (18)
0 4μ◦

III. COMPARISON AND RESULTS

The results from the analytical model are compared with
the results of a finite-element (FE) model. Each FE analysis is
carried out using Finite Element Method Magnetics package.
The model is shown in Fig. 7, and it is based on the following
assumptions.
1) The stator model is simplified to a smooth bore (i.e., slot- Fig. 8. Flux density map of an REL motor with one flux-barrier per pole, in a
less) machine. The stator MMF associated with each slot healthy and both eccentricity cases at rotor position θm = 0 ◦ . (a) Healthy case.
(b) Static or dynamic eccentricity case (the lower air-gap thickness is on the
concentrated at points along the periphery. This points right-hand side of the figure and eccentricity distance e = 0.1 mm).
correspond to the center of each slot.
2) The current of each point is set equal to the current of
the corresponding slot, and it varies according to the rotor
position θm .
3) The mechanical ribs of each rotor flux-barrier are re-
moved, replaced by air.
4) the relative iron permeability has been set equal to 5000
(i.e., constant).
The analytical and FE analysis are applied to rotors with one
and two flux-barriers per pole, in healthy case and in both cases
of rotor eccentricity (static and dynamic). The main dimension
of the motor are: rotor diameter D = 125 mm, stack length
Lstk = 40 mm, and air-gap length g = 0.35 mm. Fig. 8(a) and
(b) shows the flux density map of an REL motor with one flux-
barrier per pole with and without eccentricity. It is noted that
the flux density is symmetric for all poles in a healthy case.
For both eccentricity cases, the flux density increases on the
right-hand side, where the air-gap length is reduced and the flux
density reduces on the left-hand side, where the air-gap length
increased.

A. Comparison in Case of Healthy Motor
(i.e., no Eccentricity)
Fig. 9(a) and (b) shows the air-gap flux density distribution
in case of one and two flux-barriers, respectively. A satisfactory
Fig. 9. Air-gap flux density distribution, achieved from the analytical and FE
model at healthy condition (no eccentricity), rotor with one and two flux-barriers
per pole, at θm = 0 ◦ . (a) One flux-barrier per pole. (b) Two flux-barriers per
pole.
MAHMOUD AND BIANCHI: ECCENTRICITY IN SYNCHRONOUS RELUCTANCE MOTORS—PART I 749

Fig. 10. Torque from the analytical and FE model at healthy condition (no
Fig. 11. Air-gap flux density distribution, achieved from the analytical and FE
eccentricity), rotor with one and two flux-barriers per pole. (a) One flux-barrier
model at static eccentricity, e = 0.1 mm, rotor with one and two flux-barriers
per pole. (b) Two flux-barriers per pole.
per pole, at θm = 0 ◦ . (a) One flux-barrier per pole. (b) Two flux-barriers per
pole.

agreement between both models is noticed. The rotor position

θm = 0 is considered.
The electromagnetic torque is computed using (14). Its behav-
ior versus rotor position is shown in Fig. 10(a) and (b) for one and
two flux-barriers, respectively. The repetition of 30 mechanical
degrees (the same electromagnetic configuration appears every
60 electrical degrees) is due to the use of a three-phase system.
A satisfactory agreement is noticed also in this case. However,
the average torque from the analytical model is higher than that
resulting from the FE model. The difference between the two
models is due to two main issues. First, the approximation of
the average air-gap length in front of the rotor flux barrier. Sec-
ond, the finite iron permeability in the FE analysis that slightly
reduces the flux in the rotor path. Force in x-direction (Fx ) and
force in y-direction (Fy ) are calculated using both the analytical
model and FE simulation. With no eccentricity, the radial force
results to be negligible.

B. Comparison in Case of Static Rotor Eccentricity
In this section, the computations of both models are carried
out according to an eccentricity equal to e = 0.1 mm. Fig. 11(a)
and (b) shows the air-gap flux density distributions at θm = 0
with one and two flux-barriers per pole, respectively, in case of
static rotor eccentricity. As expected, such a distribution is not
the same over the different poles, due to the rotor eccentricity.
The electromagnetic torque is computed in case of static rotor
eccentricity. Fig. 12(a) and (b) shows a satisfactory agreement
between the analytical and FE model. In presence of the static
eccentricity, the torque remains almost the same as in a healthy
condition and the torque ripple increases slightly. Therefore, the
rotor eccentricity causes a negligible impact on the total torque.
The force components Fx and Fy on the rotor are shown in
Figs. 13 and 14. Both analytical and FE models highlight a force
in the direction of the smaller air-gap length in the range between
Fig. 12. Torque from the analytical and FE model at static eccentricity, e =
0.1 mm, rotor with one and two flux-barriers per pole. (a) One flux-barrier per
pole. (b) Two flux-barriers per pole.
220 and 250 N, independent of the number of flux barriers. The
two main reasons of the difference between the results of the
two models have been discussed before.
C. Comparison in Case of Dynamic Rotor Eccentricity
As for static eccentricity, the computations in case of dynamic
eccentricity are carried out imposing the same eccentricity (i.e.,
equal to 0.1 mm). The air-gap flux density distributions is the
same of static rotor eccentricity at θm = 0◦ , as shown in Fig. 11.
Torque behaviours versus rotor position are shown in
Fig. 15(a) and (b). It is noted that the torque and torque ripples
750
Fig. 13. Fx and Fy at all rotor position in case of static eccentricity, e = 0.1
mm, rotor with one flux-barrier per pole. (a) Fx versus rotor position. (b) Fy
versus rotor position.
Fig. 14. Fx and Fy at all rotor position in case of static eccentricity, e = 0.1
mm, rotor with two flux-barriers per pole. (a) Fx versus rotor position. (b) Fx
versus rotor position.
are very close to that of static rotor eccentricity, shown in
Fig. 12(a) and (b), remarking a slight effect of eccentricity on
the torque.
On the contrary, Fx and Fy are quite high, as shown in
Fig. 16(a) and (b). The two models highlight a force in direc-
tion of the smaller air-gap length, which rotates with the rotor, as
shown in Fig. 1(c). Both models predict a maximum radial force
in the range between 220 and 250 N. Once again, the analytical
computation tends to overestimate the radial force. The force
amplitude is slightly lower with two flux-barriers per pole.
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 30, NO. 2, JUNE 2015
Fig. 15. Torque from the analytical and FE model at dynamic eccentricity,
e = 0.1 mm, rotor with one and two flux-barriers per pole. (a) One flux-barrier
per pole. (b) Two flux-barriers per pole.
Fig. 16. Fx versus Fy at all rotor position in case of one and two flux-barriers
per pole and e = 0.1 mm. (a) One flux barrier. (b) Two flux-barriers.
Fig. 17. Radial force versus the eccentricity distance in both cases of eccen-
tricity results from the analytical and FE model. Electrical loading is 6 200 A/m.
D. The Effect of Eccentricity Distance and Electrical Loading
on the Radial Force
Fig. 17 shows the radial force (the peak value is reported) ver-
sus the eccentricity. All computations are carried out for REL
motor with one flux-barrier per pole. The radial force increases
rapidly with the eccentricity. Static and dynamic eccentricity
MAHMOUD AND BIANCHI: ECCENTRICITY IN SYNCHRONOUS RELUCTANCE MOTORS—PART I 751

integrating the Lorentz’s force density Bg (θr )Ks (θr ) along the
air-gap surface, then multiplying the result by D2 , the torque is
given by

D 2π DLstk
τm = − Bg (θr )Ks (θr ) dθr
2 0 2

D 2π −Us (θr ) + Ur (θr ) DLstk
= − μ◦ Ks (θr ) dθr.
2 0 g(θr ) 2
(A.1)
Us (θr ) and Ks (θr ) are orthogonal functions, so that
 2π
−Us (θr )Ks (θr )dθr = 0. (A.2)
0
Fig. 18. Radial force versus the electrical loading in both cases of eccentricity
(e = 0.1 mm) results from the analytical and FE model. Therefore, the torque equation reduces to

−μ◦ D2 Lstk 2π Ur (θr )Ks (θr )
cause similar radial force. The analytical model matches the FE τm = dθr . (A.3)
4 0 g(θr )
analysis fairly well, up to an eccentricity equal to half the air-gap
length, while it overestimates the force for higher eccentricity. Then, the torque is computed as the sum of the torque compo-
Fig. 18 shows the radial force versus the electrical loading. The nents of each wth pole, given by
force increases with the power of two with respect to the electri- w =2p  w π +θ b 1
cal loading. Again, there is a satisfactory agreement between the −μ◦ D2 Lstk  2p Urw1 Ks (θr )
τm = dθr . (A.4)
two models when, eccentricity is lower than 50% of the air-gap 4 w =1
wπ
2 p +θ b 1
ḡw (θr )
length.
It results
=2p 
w  Kˆυ
IV. CONCLUSION
τm = aw kτ w cos(λυ w ) · sin(υpθb1 )
An analytical model is proposed to compute the impact of w =1 υ
(υp)2
the rotor eccentricity in a synchronous REL motor with one and
 K̂ξ 
two flux-barriers per pole. The analytical model computes rotor · sin(λξ w ) · sin(ξpθb1 ) (A.5)
magnetic potential, air-gap flux density, torque, and radial force (ξp)
ξ
on the rotor. By comparing the results of analytical and FE mod-
els, a satisfactory agreement is noted even if the analytical model where
tends to overestimate the radial force at higher eccentricity. The x(w)ξπ
simulation time is of few seconds, while the FE simulation re- λξ w = + (ξ − 1)ωm e t − αie (A.6)
2
quires about 3 h (using Pentium 4. 3-GHz computer, 7000 mesh
and kτ w as in (15), λυ w in (13), aw in (12).
elements, 360 steps for a whole turn).
The main difference between the analytical and FE model is
APPENDIX B
due to: 1) an approximation of the average air-gap length over
ANALYTICAL MODEL IN CASE OF TWO FLUX-BARRIERS
each rotor path; and 2) the use of finite iron permeability in
the FE model, while infinite permeability is set in the analytical This appendix summarize the analytical model for REL mo-
model. tor with two flux-barriers. First, the computations are carried
Both eccentricity types cause a negligible increase of torque out for the first pole on the right-hand side of Fig. B1. Then
ripples. The main effect of static and dynamic eccentricity is a the computation can be generalized for the remain three poles.
large force in direction of the smaller air-gap. The subscript “1” is used for the smaller flux barrier, and
The radial force caused by rotor eccentricity is quite high in the subscript “2” is used for the larger flux-barrier, as shown
synchronous REL machine because of the low air gap and the in Fig. B1.
large anisotropy. Thus, it is imperative to consider the study of Fig. B2 shows the magnetic circuit of the first pole on the
eccentricity in these machines because it causes high stress on right-hand side in Fig. B1. The magnetic scalar potential of
(w )
bearings. the wth rotor outer iron island (i.e, Ur 1 ) is computed as
follows:
APPENDIX A (w ) (w )
TORQUE COMPUTATION Ur 1 = φw
b1 .Rb1 + Ur 2
 w π +θ b 1
2p
This appendix deals with the electro-mechanical torque com- = aw
(w )
Us (θr )dθr + bw Ur 2 (B.1)
putation of an REL motor with one flux-barrier per pole. By wπ
2p −θ b 1
752 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 30, NO. 2, JUNE 2015

wπ wπ
length between 2p + θb1 and 2p + θb2 . They are given by
 wπ
−θ b 1
1 2p
Aw = g(θr )dθr (B.5)
(θb2 − θb1 ) wπ
2p −θ b 2
 wπ
+θ b 2
1 2p
Bw = g(θr )dθr . (B.6)
(θb2 − θb1 ) wπ
2p +θ b 1

(w )
Then, Ur 2 is given by

(w )
 Kˆυ
Ur 2 = − Dcw cos(λυ w ) · sin(υpθb1 ) +
υ
(υp)2

  
Fig. B1. Linearized rotor geometry with two flux-barrier. Kˆυ D sin(λυ w − υpθb1 )
+ − dw +
υ
(υp)2 2 − sin(λυ w − υpθb2 )
  
Kˆυ D sin(λυ w + υpθb2 )
+ − fw (B.7)
υ
(υp)2 2 − sin(λυ w + υpθb1 )
where
1
bw =
Dtb1
1+    2θb1
Δ wπ
2glb1 1 − cos θm + sin(θb1 )
θb1 2p
(B.8)
tb2 lb1
aw
cw =  lb2 tb1
tb2 lb1 D D tb2
1− (bw − 1) + + (θb2 − θb1 )
lb2 tb1 2Aw 2Bw lb2
(B.9)
Fig. B2. Magnetic network of an REL motor with one flux-barrier per pole.
The first pole is shown, corresponding to the right-hand side of Fig. 4. D tb2
dw = 2Aw lb2
tb2 lb1 D D tb2
1− (bw − 1) + + (θb2 − θb1 )
where lb2 tb1 2Aw 2Bw lb2

1 (B.10)
bw = . (B.2) D tb2
Dtb1
1 + (w ) 2θb1
2ḡ lb1 fw =  w lb2
2B .
tb2 lb1 D D tb2
The magnetic potential of the wth rotor inner iron island is 1− (bw − 1) + + (θb2 − θb1 )
lb2 tb1 2Aw 2Bw lb2
given by
(B.11)
(w )
Ur 2 = φw
b2 .Rb2 . (B.3) (w )
By substituting (B7) in (B1), Ur 1 results in
Then,  Kˆυ
(w )
  Ur 1 = − cos(λυ w ) · sin(υpθb1 ) [aw + bw cw ] +
wπ
−θ b 1 (w ) (υp)2
(w ) 2p Us (θr ) −Ur 2 D υ
Ur 2 = φw + μ◦ Lstk dθr +
b1
−θ b 2 g(θr ) 2  Kˆυ D  
sin(λυ w − υpθb1 )
wπ
2p

 wπ  − b w d w +
2p +θ b 2 (w )
Us (θr ) − Ur 2 D tb2 υ
(υp)2 2 − sin(λυ w − υpθb2 )
+ μ◦ Lstk dθr .
wπ
+θ b 1 g(θr ) 2 μ◦ Lstk lb2  Kˆυ D  
2p sin(λυ w + υpθb2 )
− b f
w w . (B.12)
(B.4) (υp)2 2 − sin(λυ w + υpθb1 )
υ

Aw is defined as the average of the air-gap length between By applying the same computation of the torque as considered
2p − θb2 and 2p − θb1 , and Bw is the average of the air-gap
wπ wπ
in rotor with one flux-barrier per pole, as in (A1), the torque
MAHMOUD AND BIANCHI: ECCENTRICITY IN SYNCHRONOUS RELUCTANCE MOTORS—PART I 753

component of the wth pole is given by [8] C. Spargo, B. Mecrow, and J. Widmer, “Higher pole number synchronous
 w π −θ b 1 (w ) reluctance machines with fractional slot concentrated windings,” in Proc.
(w ) −μ◦ D2 Lstk 2p Ur 2 (θr )Ks (θr ) 7th IET Int. Conf. Power Electron. Mach. Drives, Apr. 2014, pp. 1–6.
τm = dθr + [9] D.-J. Kim, H.-J. Kim, J.-P. Hong, and C.-J. Park, “Estimation of acoustic
4 2 p −θ b 2
wπ g(θr ) noise and vibration in an induction machine considering rotor eccentric-
ity,” IEEE Trans. Magn., vol. 50, no. 2, pp. 857–860, Feb. 2014.
 wπ
+θ b 1 (w ) [10] K.-T. Kim, K.-S. Kim, S.-M. Hwang, T.-J. Kim, and Y.-H. Jung, “Compar-
2p Ur 1 (θr )Ks (θr )
+ dθr + ison of magnetic forces for IPM and SPM motor with rotor eccentricity,”
wπ
2p −θ b 1 g(θr ) IEEE Trans. Magn., vol. 37, no. 5, pp. 3448–3451, Sep. 2001.
[11] M. Michon, R. Holehouse, K. Atallah, and J. Wang, “Unbalanced magnetic
 wπ
+θ b 2 (w )  pull in permanent magnet machines,” in Proc. 7th IET Int. Conf. Power
2p Ur 2 (θr )Ks (θr )
+ dθr . (B.13) Electron. Mach. Drives, Apr. 2014, pp. 1–6.
wπ
2p +θ b 1 g(θr ) [12] N. Bianchi, S. Bolognani, D. Bon, and M. Dai Pre, “Torque harmonic
compensation in a synchronous reluctance motor,” IEEE Trans. Energy
Finally, the total torque of the motor is equal to the sum of the Convers., vol. 23, no. 2, pp. 466–473, Jun. 2008.
2p = 4 torque components. It is given by [13] M. Barcaro, N. Bianchi, and F. Magnussen, “Torque harmonic compen-
sation in a synchronous reluctance motor,” IEEE Trans. Energy Convers.,
 =4 
−μ◦ D2 Lstk (w ) 1  K̂ξ
w vol. 23, no. 2, pp. 466–473, Jun. 2008.
τm = Ur 2 (cos(λξ w − ξpθb2 )+ [14] M. Barcaro, “Design and analysis of interior permanent magnet syn-
w =1
4 Aw (ξp) chronous machines for electric vehicles,” Ph.D. dissertation, Dept. Elect.
ξ Eng., Univ. Padova, Padova, Italy, 2011.
1  K̂ξ
− cos(λξ w − ξpθb1 )) + (cos(λξ w + ξpθb1 )+
Bw (ξp)
ξ

− cos(λξ w + ξpθb2 )) + Hanafy Mahmoud received the Bachelor and M.Sc.
degrees in electrical engineering from Cairo Univer-
 sity, Cairo, Egypt, in 2009 and 2012, respectively.
μ◦ D2 Lstk Ur 1 (θr )  K̂ξ
(w )
He is currently working toward the Ph.D. degree at
− [sin(λ ξw ) · sin(ξpθ b1 )] . the University of Padova, Padova, Italy. During the
2 ḡ (1) ξ
(ξp)
M.Sc period, he worked on faults detection and per-
formance analysis of the induction machines. His re-
(B.14) search activities are concentrated on the analysis of
permanent magnet synchronous machines, focusing
on analytical and finite-element modeling, and faulty
REFERENCES conditions analysis.
[1] G. Pellegrino, A. Vagati, P. Guglielmi, and B. Boazzo, “Performance
comparison between surface-mounted and interior PM motor drives for
electric vehicle application,” IEEE Trans. Ind. Electron., vol. 59, no. 2,
pp. 803–811, Feb. 2012.
[2] N. Bianchi, “Analysis of the IPM motor—Part II, finite element approach,”
in Design, Analysis, and Control of Interior PM Synchronous Machines,
T. Jahns, Ed. Padova, Italy: CLEUP Press, 2004, pp. 3.34–3.66.
[3] T. Jahns and W. Soong, “Pulsating torque minimization techniques for per- Nicola Bianchi (F’98) received the Laurea and Ph.D.
manent magnet AC motor drives—A review,” IEEE Trans. Ind. Electron., degrees in electrical engineering from the Depart-
vol. 43, no. 2, pp. 321–330, Apr. 1996. ment of Electrical Engineering, University of Padova,
[4] S.-H. Han, T. Jahns, and W. Soong, “Torque ripple reduction in interior Padova, Italy, in 1991 and 1995, respectively.
permanent magnet synchronous machines using the principle of mutual In 1998, he joined the Department of Electrical En-
harmonics exclusion,” in Proc. Rec. 42nd IEEE Ind. Appl. Annu. Meeting, gineering, University of Padova, as an Assistant Pro-
Sep. 2007, pp. 558–565. fessor in Electrotechnique, where since 2005, he has
[5] S.-H. Han, T. Jahns, W. Soong, M. Guven, and M. Illindala, “Torque been an Associate Professor in electrical machines,
ripple reduction in interior permanent magnet synchronous machines using converters, and drives with the Electric Drive Lab-
stators with odd number of slots per pole pair,” IEEE Trans. Energy oratory. His teaching activity deals with the design
Convers., vol. 25, no. 1, pp. 118–127, Mar. 2010. methods of electrical machines., where he introduced
[6] W.-H. Kim, K.-S. Kim, S.-J. Kim, D.-W. Kang, S.-C. Go, Y.-D. Chun, the finite-element analysis of the machines. His current research interests in-
and J. Lee, “Optimal PM design of PMA-synrm for wide constant- clude design of electrical machines, especially for drives applications. He is
power operation and torque ripple reduction,” IEEE Trans. Magn., vol. 45, responsible for various projects for local and foreign industries. He is author or
no. 10, pp. 4660–4663, Oct. 2009. coauthor of several scientific papers on electrical machines and drives, and two
[7] U.-J. Seo, Y.-D. Chun, J.-H. Choi, P.-W. Han, D.-H. Koo, and J. Lee, international books on the same subject.
“A technique of torque ripple reduction in interior permanent magnet Dr. Bianchi is a Member of the IEEE Industry Applications Society (IAS)
synchronous motor,” IEEE Trans. Magn., vol. 47, no. 10, pp. 3240–3243, and the IEEE Power Engineering Society. He is also a Member of the Electrical
Oct. 2011. Machines Committee and the Electrical Drives Committee of the IEEE IAS.