Genetic Algorithms in Design of a Synchronous

Reluctance Motor
Mykhaylo.V.Zagirnyak1, Dusan Maga2, Damijan Miljavec3
1
Kremenchuk Mykhailo Ostrohradskyi National University, Kremenchuk,Ukraine, mzagirn@kdu.edu.ua
2
Faculty of Mechatronics, Trencin, Slovakia, e-mail: maga@yhnet.sk
3
University of Ljubljana, Faculty of electrical engineering, Slovenia, miljavec@fe.uni-lj.si

Abstract—The work handles with dependency of variations The SRM rotor is equipped with flux barriers placed
in the rotor design on the performance of a three phase around the air gap (Fig. 1). They are mostly made of
synchronous-reluctance motor (SRM). Analytical geometry- aluminum or they can be made by any other non
dependant equations for the d- and q-axis SRM magnetizing magnetic material. The flux barriers are in function to
inductances are derived. The finite element analyze was suppress the stator magnetic flux and direct it through the
used to include the magnetic nonlinearities and saturation
ferromagnetic parts of rotor. In this way the SRM is in its
effects on SRM performance calculation. The use of genetic
algorithms (GA) as global optimization procedure in essence an unexcited synchronous machine with its stator
generating and optimization of un-predetermined rotor and stator windings like any other induction machine [1]-
shape is shown. Rotor materials used in this analyze have [3].
two characteristics: non-ferromagnetic and nonlinear The stator structure is a classic one as applied in
ferromagnetic. Goal of un-predetermined rotor design production of induction machines. Goal of un-
optimization is to achieve maximum torque for a given rotor predetermined rotor design optimization is to achieve
volume. maximum torque for a given rotor volume. Rotor cross-
section is divided into a number of elements. These
Keywords— synchronous-reluctance motor, magnetizing elements are in GA represented by gene (binary coded)
inductances, optimization, genetic algorithms
and in different ways joined into chromosome forming a
I. INTRODUCTION motor as an individual. Different optimization results are
presented and discussed.
Traditional motor design is composed of an iterative
process where the engineer creates a basic design by II. BASIC CIRCUIT EQUATIONS GOVERNING
applying personal experience into appropriate area to the SRM
supplied specifications for the motor. At each stage of the
The d-q voltage circuit equations in the rotor reference
design development, the device can be recalculated and
frame describing SRM with a squirrel cage by d- and q-
the results fed beck to modify the basic motor design.
axis rotor winding are [5]-[9]:
This process using 2-D or 3-D finite element analyzes
(FEA) has many advantages over classic "calculate-built-
⎡usd ⎤ ⎡ Rsd + pLsd −ω e Lsq pM d −ω e M q ⎤ ⎡i sd ⎤
test-recalculate" design. On the other hand this FEA
⎢u ⎥ ⎢ − ω L Rsq + pLsq − ωe M d pM q ⎥ ⎢i ⎥
process takes a lot of computational time for specific ⎢ sq ⎥ = ⎢ e sd ⎥ ⋅ ⎢ sq ⎥
simulation. Owing to disadvantages of FEA the request to ⎢ 0 ⎥ ⎢ pM d 0 Rrd + pLrd 0 ⎥ ⎢i rd ⎥
improve the design process was made and it is presented ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎣ 0 ⎦ ⎣⎢ 0 pM q 0 Rrq + pLrq ⎦⎥ ⎣⎢i rq ⎦⎥
in continuation of the paper.
d-axis
(1)
Flux barriers
In the above equation, indices s and r refer to the stator
and rotor quantities, respectively, and d and q for the d-
q-axis
and q-axis values, respectively. The Md represents the
mutual inductance between the stator and rotor direct
inductances and Mq is the mutual inductance between the
Stator stator and rotor q-axis inductances. If Lσs = Lσr , then
Lsd = Lrd and Lsq = Lrq , where Lσs is the stator and Lσs is
Rotor the rotor leakage inductance, respectively. Based on the
above equations, the expression for the electromagnetic
torque is:
Tem =
mP
2 2
(
ψ sd isq − ψ sq isd ) (2)

d-axis

Fig. 1. A quarter of SRM cross-section with four segments per rotor where m is the number of phases and P is the number of
pole. poles. With SRM designed to run synchronously with the
stator resultant rotating magnetic excitation (9) is ρbπ
P
transformed into: D
mP
( ) 2 ∫B q1 dθ + B2 h2 = B1 h1 . (9)
Tem = Lsd − Lsq i sd i sq (3) ρ aπ
2 2 P

where Lsd = Lmd + Lσs is the d-axis and Lsq = Lmq + Lσs Fqmsin(Pθ/2)
1. loop
the q-axis inductance.
2. loop Fdmcos(Pθ/2)
III. MAGNETIZING INDUCTANCES LMD AND LMQ
3. loop
Bq1
Both d-axis (Lsd) and q-axis (Lsq) inductances are

is
Bq2

ax
composed of the magnetizing and leakage inductance.

q-
hc ρdπ/P
When SRM rotates synchronously with the stator rotating
Bq3
magnetic field, the torque is developed by the difference
between the magnetizing parts of the two inductances. To 2h3
develop analytical equations for the two magnetizing 2h2
inductances, the rotor cross-section (Fig. 1) is simplified 2h1 w2
ρcπ/P
into four segments per rotor pole. When implementing
such model (Fig. 2.), the following requirements should ρbπ/P
be satisfied [4]: smooth stator surface and silent rotor, g
w1 d-axis
three-phase stator windings replaced with d-q windings,
ρaπ/P
currents in transformed d-q windings with no high-
harmonic components, magneto-motive force on the inner Fig. 2. Model of synchronous reluctance motor with
four segments per rotor pole.
stator surface for d and q excitation, magnetic-flux
density always perpendicular to the stator surface, infinite
Solving equations (4) – (9), air-gap magnetic-flux
relative permeability of the ferromagnetic parts, each
densities Bq1, Bq2 and Bq3 are obtained. The final equation
rotor ferromagnetic segment entirely on the same
for the q-axis magnetizing inductance is consequently:
magnetic potential, but different to the one of the
neighbor and rotor symmetry enabling analysis of just k w Nφ q
Lmq = (10)
one half of the pole. 2 iq
The SRM model with four segments per pole is shown
on Fig. 2. Based on this model both magnetizing ⎛ ⎛ ρ bπ ρ dπ π ⎞
Nk w LD ⎜⎜ ⎜
P P P ⎟
inductances are going to be analytically calculated. The
magnetic-flux density in the first flux barrier is assumed
Lmq = ⎜ Bq1dθ +
2 iq ⎜ ⎜⎜ ρ aπ ∫ ⎟∫
Bq 2dθ + Bq3dθ ⎟ (11) ∫
⎜ ρ cπ ρ dπ
⎟
to be B1 and in the second B2. Considering q-axis ⎝⎝ P P P ⎠
excitation and by using the Ampere’s law for magnetic For d-axis magnetic flux density in the air-gap above
circuits of the model shown in Fig. 2, equations are: the segments and outer flux barrier it can be written:

P ρπ μ Fdm P ρπ ρπ
Loop 1: Bq1 g + B1w1 = μ Fqm sin θ , 0 ≤θ ≤ a , (4) Segment 1: Bd 1 = cos θ , a ≤ θ ≤ b , (12)
2 P g 2 P P
Loop 2:
P ρπ μ Fdm P ρπ ρπ
Bq 2 g + B1w1 + B2 w2 = μ Fqm sin θ , 0 ≤ θ ≤ d , (5) Segment 2: Bd 2 = cos θ, c ≤θ≤ d , (13)
2 P g 2 P P
Loop 3:
P π
Bq 3 (g + hc ) + B1w1 + B2 w2 = μ Fqm sin θ, 0 ≤θ ≤ (6) μ Fdm P ρπ π
2 P outer flux barrier Bd 3 = cos θ , d ≤ θ ≤ .(14)
g + hc 2 P P
with
where
4 m Nk w 2iq ⎛ P ⎞ ⎛P ⎞
Fq = sin⎜ θ ⎟ = Fqm sin⎜ θ ⎟ , (7) 4 m Nk w 2id ⎛P ⎞ ⎛P ⎞
π 2 P ⎝ 2 ⎠ ⎝2 ⎠ Fd = cos⎜ θ ⎟ = Fdm cos⎜ θ ⎟ , (15)
π 2 P ⎝ 2 ⎠ ⎝2 ⎠
where N is the number of turns and kw is the winding
factor and equations for magnetic fluxes on unit length Magnetic flux densities Bd1, Bd2 and Bd3 we can use to
are: calculate d-axis magnetizing inductance. The d-axis flux
ρ dπ π is:
P P π
D ⎛D ⎞
2 ∫
ρcπ ⎝2
∫
Bq 2 dθ + ⎜ − hc ⎟ Bq 3 dθ = B2 h3 ,
⎠ ρd π
(8)
φ d = DL ∫ Bd dθ
P
(16)
P P 0
Using results from (12) – (16), the d-axis magnetizing
inductance is written as:
⎛ ρ bπ ρ dπ π
Nk w LD ⎜ P P P
Lmd = ⎜ ∫ Bd 1 dθ + ∫ Bd 2 dθ + ∫ Bd 3 dθ
2 id ⎜⎜ ρ aπ
ρ cπ ρd π
⎝ P P P
Both (19) and (24) describe magnetizing inductances as a
function of the rotor geometry. The main disadvantage of
this approach is in linearization of all ferromagnetic parts.
For example, Lmd is highly affected by magnetic
saturation [4]. This means that Lmd decreases with the
increase of rotor magnetic saturation, whereas the Lmq is
almost unaffected by the magnetic saturation. That
means, the produced torque is considerably affected by
the inductances saturation level [4], [12]-[15].
IV. OPTIMIZATION OF UN-PREDETERMINED ROTOR SHAPE
BY GENETIC ALGORITHMS
The further idea was to develop and optimize a rotor
shape from its basic un-predetermined geometry. The
only limitation in rotor configuration was in used
materials. There were on disposal only magnetically
conductive parts (ferromagnetic) and magnetically un-
conductive parts (air or aluminum). Meanwhile, the stator
structure is a classic one as applied in production of 10
kW induction machines with synchronous speed 1500
rpm, 50 Hz and nominal torque of 64 Nm. The magnetic
field in rotor must be uniform that means, there are no
rotor induced currents. All these facts allow the use of
finite element magneto-static analyze. The settings
explained above associate to some known electric
machines. These are for example: AC permanent magnet
machine, synchronous machine and synchronous
reluctance machine [6-9].
A. Used SRM model
All magnetic analyses were made by two
dimensional finite element method (2D FEM) [10]. The
model (Fig. 3) was excited by 3-phase currents applied in
stator slots; this means that model (motor) is supplied by
impressed currents (18).
i a = 2 I sin (ωt + ε e ), ωt = π 2 , ε e = p p ⋅ ε m = 2 ⋅π 8
⇒ ia = I
ib = 2 I sin (ωt + ε e + 2π 3), ωt = π 2 , ε e = p p ⋅ ε m = 2 ⋅π 8
⇒ i b = −1.366 I
ic = 2 I sin (ωt + ε e + 4π 3), ωt = π 2 , ε e = p p ⋅ ε m = 2 ⋅π 8
⇒ ic = 0.366 I
where I is RMS phase current, pp number of pole pairs, εe
electrical excitation angle and εm mechanical excitation
angle. These phase excitation currents multiplied by
number of turns per slot are placed in stator slots in a
form of four pole stator windings (pp=2). As it can be
seen in Fig. 1 in analyze only a quarter of motor is used.
Based on rotor symmetry and pp=2 the value of εm=π/8 is
⎞ used. Using such mechanical excitation angle it is
⎟ possible to change just one eight of rotor geometry and
⎟. (17)
⎟⎟ than with reflection (Fig. 3) achieve desired quarter of
⎠ rotor. On stator outer boundary the open boundary
condition is used, meanwhile on horizontal and vertical
boundary (Fig. 3) the master-slave boundary condition is
applied. Finite element mesh placed over the model (Fig.
3) is kept the same for all analysis and only material
properties are changed. This was applied to avoid errors
rising up due to different finite element mesh distribution.
Goal of motor design’s performance is to develop
maximum torque for a given material and rotor geometry
(volume). Torque expression for a given system using
non-linear magneto-static analyzes and virtual work
principle can be written in form:
∂WC
T= i = const . (19)
∂θ
where WC is magnetic co-energy and θ is rotary
displacement. The value of magnetic co-energy and
torque depends on excitation level, material magnetic
saturation and motor geometry. The influence of all these
phenomenon's must be taken into account in motor design
process. The stator winding configuration and number of
turns per phase were used the same as they are used in
classic 10 kW induction motor and also the same value of
nominal RMS phase current (I = 32 A) was used. Rotor
geometry is divided into numerous elements in layers
from air gap region to the shaft side. The property of each
element can be either non-ferromagnetic or nonlinear
ferromagnetic in our case, air or non-linear ferromagnetic
used in stator construction. In this way it is possible to
built up to 2N (N is the number of rotor elements)
different types of rotor having different performance
capabilities. It is impossible to test the performance of
each type, but it leaves us as much freedom as possible in
rotor design. This idea was first used on a forty elements
rotor division, arranged in four layers of 10 elements
(Fig. 3).
current
excitation open boundary
condition
mirrori ng
axi s
stator
master
slave
(18) boundary
condi tion
rotor shaf t N-th rotor element
Fig. 3. One fourth of applied electric motor model configuration.
 This small rotor division was used to test and configuration is presented in Fig. 5 (rotor shaded
connect the design idea with a stochastic optimization elements are from ferromagnetic material).
procedure.
B. Genetic algorithms 33.6

[ Nm ]
Electric motor design optimization procedure in our
study is a non-linear and multi-variable problem. In a 24
number of previously made applications genetic

Torque (fitness)
18
algorithms have been proved [11] to be a good method of
12
solving such problems. GAs are evolutionary search
algorithms based on the mechanics of natural selection 6
and natural principles of genetics. They implement the 0
concept of survival of the fittest. The reproductive 0 200 400 600 800 1000 1200
success of an individual is directly connected to the individual number
fitness value (in our case, torque value) assigned during Fig. 4. Fitness (torque) convergence versus number of individuals.
evaluation (2D FEM and (19)). The chance of
reproduction depends on individual fit: the least-fit
(smallest torque) solution, small chance, the most-fit
(highest torque) solution, greater chance. There are three
fundamental genetic operators involved in search process
of a genetic algorithm: reproduction, cross-over and
mutation [11].
C. Chromosome formulation
Two different rotor presentations to GA were
studied. In first one, each rotor element is presented by
locus (binary coded, 0 for air and 1 for non-linear
ferromagnetic) joined for each rotor layer in a gene and
further all layer genes form a chromosome. Such
chromosome presents a rotor (whole motor) as GA
individual. Secondly, rotor elements as locus's are all
joined into one rotor chromosome. Consequently, there
were found no difference between these two types of
rotor presentations in work of GA. At a starting point of Fig. 5. Mirrored rotor shape after GA achieved stopping criteria (Fig. 4).
analyze the chromosome length was reduced by mirroring
the rotor around one eight symmetry axe (Fig. 3.). In this In Fig. 6 and Fig. 7 are presented the convergence
way the chromosome length was reduced to twenty and rotor shape as a result after GA achieved stopping
genes. Furthermore, all rotor elements were criteria. In this part of analysis all the rotor elements were
independently represented in a rotor chromosome of 40 independently represented (REIR) in a rotor chromosome
loci. as a locus.
The search starts with a population of fifty randomly
defined rotor configurations in a form of chromosomes.
36.8
Each chromosome was composed from forty randomly
[ Nm ]

placed zeros (air) and ones (ferromagnetic). The 30

individual (rotor) fitness (torque, (19)) was than
calculated by 2D FEM as explained above. After fifty 24
calculations whole generation was posted to genetic
Torque (fitness)

18
operators and they established a new generation of fifty
rotor shapes based on a survival of the fittest. Due to un- 12
predetermined rotor shape it was impossible to predict the
6
torque value to which the GA will converge. Therefore a
fixed number of generations were used as a stopping rule 0
in GA optimization process. 0 200 400 600 800 1000 1200
indivi dual number
V. OPTIMIZATION RESULTS OF UN-PREDETERMINED ROTOR Fig. 6. Torque convergence versus number of individuals (REIR).
SHAPES Achieved rotor shapes by GA in a great manner
The Fig. 4 shows the convergence of the fittest associate with 4-pole synchronous reluctance motor. Due
individual during optimization of mirrored rotor to our experience in a construction of such motors we
chromosome configuration. Optimized mirrored rotor designed a rotor (Fig. 8) based on used rotor element
division. This man-made design was used to compare and
to confirm the applicability of proposed un-
predetermined rotor design procedure. Torque value of
GA best optimized rotor is 36.8 Nm and it is comparable
and even better in comparison to our design with torque
value of 34 Nm. The torque results are quite similar but
rotor designs are not so much. All this leads us to one of
possible conclusion: in the shape of torque vs. rotor shape
surface there are several local optimums. To achieve the
global one some other performance goals must be added
(high efficiency, lower rotor weight, lower final price of a
motor, ...).
Fig.7. Rotor shape by REIR after GA achieved stopping criteria (Fig. 6).
The idea was also used on another rotor division,
there were used N2=360 elements arranged in 12 layers of
30 elements (Fig. 9 and Fig. 10). At the beginning of this
second investigation the elements with property variation
were arranged in upper five layers with thirty elements in
each one. All other elements were kept constant with
ferromagnetic property.
Fig. 8. Engineer made design with torque value of 34 Nm.
The GA optimization procedure was quite the same, only
difference was in chromosome length (five genes with
thirty loci). Also, in first place the chromosome length
was reduced by rotor mirroring. Achieved rotor shape
after GA reached stopping criteria is presented in Fig. 9.
Further analysis where rotor elements were independently
represented (REIR) in a form of chromosome were also
done. The results are shown in Fig. 10. Basic nature of
both rotor shapes demonstrates a little disorder. It is
expected that the problem is in number of possibilities
(2150) and with this the convergence of GA optimization
procedure. There were also tested cases with all actively
involved elements (12 layers of 30 elements, 2360
possibilities) and results demonstrate quite the same
properties as in 2150 analysis.
Fig.9. Mirrored rotor shape with finest rotor division after GA achieved
stopping criteria (T=48 Nm).
Fig.10 REIR rotor shape with finest rotor division after GA achieved
stopping criteria (T=57.6 Nm).
VI. CONCLUSIONS [13] Wagner, J., Maga, D., et al., “Determination of step motor
parameters with magnetic field solution”, Compel – The
International Journal for Computation and Mathematics in
Analytical geometry-dependant equations for the d- and Electrical and Electronic Eng, 1994, vol. 13, Nr. 1, pp. 137-
139, ISSN 0332-1649.
q-axis SRM inductances are derived. [14] Maga, D., Harťanský, R., “Numerické riešenia (Numerical
The main idea, how to develop and optimize a rotor Solutions)”, Univerzita Obrany , Brno, Czech Republic, 174
shape from its basic un-predetermined geometry was pp., ISBN 80-7231-130-1, 2006.
successfully applied in rough rotor division. Achieved [15] Bauer P, van Duijsen PJ., “Challenges and advances in
results are even better in comparison with man-made simulation", 36th Annual IEEE Power Electronic Specialists,
Recife, Brazil, vols 1-3 pp. 1030-1036, Jun 12-16, 2005.
rotor design associated by synchronous reluctance motor.
All these confirm the use of stochastic optimization
procedure such as genetic algorithms. Meanwhile,
optimization procedure with finest rotor division has
some problems, due to high number of possibilities. To
overcome this problem, further investigation in a
presented field of interest will be in founding out the way
to reduce the number of possibilities, reduce the
calculation time involving neural networks and apply
some more genetic operators (elitism ...). Also, additional
study will be in a way to introduce some other material
characteristics into optimization procedure and to expand
the analysis on stator geometry.

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