Magnetic Models of Saturated Interior Permanent Magnet Motors
based on Finite Element Analysis
Nicola Bianchi and Sihrerio Bolognani
Dept. Electrical Engineering, University of Padova, v. Gradenigo 6/a Padova (ITALY)
A6stract - This paper deals with the magnetic model of an
Interior Permanent Magnet synchronous motor, whose
parameters are computed by a Finite Element Analysis. As
known, in unsaturated conditions the motor inductive
parameters and flux linkage can be univocaUy determined.
Conversely, under saturated operation different choices
may be adopted to define them. Various models are
examined, with the purpose to individuate the most effective
for a prediction of the motor and speed capability. Attention
is devoted to the performance at base speed as well as in the
flux-weakening region. Comparison with tests confwms the
good agreewent with the results obtained by Finite Element
Analysis.
I. INTRODUCTION
In recent years, several works have been devoted to
Interior Permanent Magnet (IPM) motors, especially for
high performance applications. It combines the advantage
of a permanent magnet (PM) motor with those of a
reluctance one, featuring high efficiency and power
factor, wide speed range, including flux-weakening (FW)
operation, low maintenance requirement and low size and
weight for a given torque [11.
Fig.l shows two typical rotor configurations of an IPM
motor. In Fig.l(a) the PMs are circumferentially
magnetised, so that two magnets contribute to the flux of
each pole, increasing the airgap flux density, while in
Fig.l(b) the PMs are radially magnetised, each magnet
supporting the whole flux of a pole. Both the
configurations of Fig. 1 are considered in this paper.
Due to rotor saliency the motor is usually modelled and
analysed by means of the two-axis theory, which is well
known and effective. However the involved rotor structure
makes Wicult an analytical estimation of the magnetic
parameters as stator inductances Id, 1, and stator flux
linkage due to PM L (that are called motor parameters in
the following of this paper). In addition, such a difticulty
is dramatically increased if effect of iron saturation has to
be taken into account. In order to improve the accuracy in
the computation of the motor parameters and therefore in
the prediction of the motor performance, a Finite Element
(FE) analysis is generally used.
Different authors have proposed alternative methods to
evaluate the P M motor parameters and their variations
with iron saturation. In addition, some hypothesis such as
constant PM flux linkage with load conditions or no
mutual coupling between the two axes, if on a side can
simplify the parameters evaluation, on the other side they
limit the accuracy of the motor model.
0-7803-4943-1/98/$10.000 1998 IEEE 21
7
(a) (b)
Fig. 1. Basic configurations of a IPM motor
Pavlik et al[2] estimated the motor parameters from the
stored magnetic energy, with only one axis current
imposed at once. No d-q axis coupling due to iron
saturation is thus modelled. Zhou et al [3] and Chang [4]
proposed a method to estimate the motor parameters by
using two FE solutions for each point of operation. From
the computed two axis flux linkages, the PM flux linkage
L,the apparent q-axis inductance 1, and the incremental
d-axis one ld' are obtained. They are functions of the
actual values of the currents but, neglecting the mutual
cross-coupling inductances, high variations of h, and 12
occurs with low id values. Nehl et al [5] proposed an
energy perturbation method, proving detailed
relationships between flux-linkages and currents, from
which the values of the self and mutual incremental
winding inductances are pointed out. Unfortunately this
technique requires a very high computing effort.
To overcome these drawbacks, an improved method to
calculate the motor parameters is presented in this paper.
This method allows the PM flux-linkage and the d- and q-
axis inductances to be determined at different load
conditions, taking into account the iron saturation.
Moreover, the interaction between the d- and q-axis fields
has been also modelled. Only three FE field solutions are
needed for each operating point. In addition, the new
procedure requires only one non-linear FE analysis per
each operating point (the same to evaluate the
instantaneous motor torque, with the given currents
excitation). Then it transforms the non-linear problem in
a linear but non-homogeneous one, to separate the PM
and current contributions of the magnetic flux. When the
incremental inductances have to be evaluated, two FE
simulations (each composed by three FE field solutions)
are required.
11. MODELOF THE IPM MOTOR
The IPM motor equations, valid also under iron
saturation, are reported in the following. The motor
torque is
while the voltage dynamic equations are
where, in general, the flux linkages depend on both the
current components, according to the following magnetic
model
= hd(id,iq)
, = hq(id.iq)
1 (3)
A. Linear Case
If the motor works in the magnetic linear region (low
currents), the d- and q-axis flux linkages vary linearly
with the corresponding d- and q-axis current components,
i.e.
hd(id.1,) = Ad(&) = I\,+Ldid
Xq(id,iq)= hq(iq>= Lqiq
(4)
Eqs.(4) point out that in linear condition linkage flux due
to PM and the d-q axis inductances are constant quantities
(indicated in capital letters, Am, Ld and Ld), moreover no
mutual couplings exist.
B. Non Linear Case
When the motor operates with high torque, hence high
current, saturation effects are not negligible and the d-q
flux linkages become involved functions of both d- and q-
axis current coniponents. In this case only incremental
inductances h*, I&,*, 1qd' and ;1, can be u n i v d l y
defined as rate of change of flux linkage with respect to
the current:
did+ldq*diq
If hysteresis and eddy current losses are neglected, the
reciprocity property [6]requires that
- "q
ai, ai,
(6)
Incremental inductances are necessary for dynamic
simulation of the motor [7],as required in (2). However,
for the purpose of motor design and motor capability
28
prediction, below the base speed as well as in FW region,
apparent inductances, which give the flux by multiplying
them by the current, are more convenient. The complete
magnetic model for a saturated motor can be thus
expressed as
hd(id,iq)= hd(id,iq)+ld(id,iq)id + lh(id,iq)iq
i kq(id,iq) = &nq(id,iq)+Iqd(id>iq)id+Iq(id>&)iq (7)
In a next section, it will be shown how the quantities of
(7) can be obtained from FE field solutions. However, in
non-linear conditions, the choice of apparent inductances
is not univocal, and simpler models may be adopted, as
depicted in a following Section.
111. METHODSTO CALCULATETHE MOTOR
PARAMETERSBY FE FIELDSOLUTION
In this section, some methods to estimate the motor
parameters by FE analysis [8] are described, highlighting
their advantages and drawbacks.
A. Apparent Inductances Computedpom Stored
Magnetic Energy
The first method to determine the motor parameters by
FE analysis is based on the stored magnetic energy [2].
From two FE solutions, the d- and q-axis apparent
inductances are obtained, that may be used to predict the
steady-state operating performance of the motor. In each
FE analysis, the mmf nave is placed in its current static
location, relative to d- (or q-) axis of rotor and the PM
remanence in put to zero. The d- (or q-) axis apparent
inductance is then evaluated directly from the magnetic
energy stored in magnetic field, integrating in the motor
volume the actual energy density M A .
This method requires two FE analysis for each load
condition. The advantage of calculating inductances from
the energy stored in the magnetic field is that this
quantity is readily available. Nevertheless, this method
takes into account the saturation effect on the axis
inductance only due to its corresponding axis current. It
does not consider the interaction between the two axis
that takes place when high saturation occurs. In fact, in
this case, the inductances obtained with partial winding
excitation (such as only current component of one axis)
are not the effective inductances of the machine with total
current winding excited.
B. Three-phase Incremental Inductances Computed
f?om Energv Perturbation
Incremental inductances can be evaluated by energy
perturbation method [5]. This evaluation is led with all
the windings excited, by changing the phase currents (as
function of the rotor position). This method requires FE
field solutions under current perturbations for each
winding. It therefore demands more effort and computing
time in solving multiple field solutions.
This method of calculating the differential inductances
is based on the concept of current perturbation and
consequent perturbation in total energy stored in the
magnetic field. Because the computation is carried out for
each self and mutual inductance of the three: phase
winding, it requires several non-linear FE solutions for
each load condition, then a very high computation time.
C. d-q Axis Flux Linkages Computedfiom Vector
Magnetic Potential
An alternative method is based on the flux linkage
approach, utilising common FE solution used for torque
calculation [SI.The flux linkage of the k-th phase can be
calculated as
where L is the motor length, Sj is the surface of the j-tli
slot, A is the vector nlagnetic potential and nkj is the
number of conductors in the j-th slot of the k-th phase.
Then, by using Park's transformation, the three phase flux
linkages can be expressed in the d-q coordinates, referred
to the rotor position. When differential inductances are
required, two non-linear FE solutions are needed.
D. d-q Axis Flux Linkages Computedfiom Airgup
Flux Density
A further method to calculated the flux linkage from the
field solution is to elaborate the airgap flux density. From
the airgap distribution of the flux density, the
fundamental components of the Fourier's serie along the
d- and q-axis are computed. If Bd and B, are the
maximum value of these fundamental distributions, then
the flux linkage components can be expressed as
DL
h, = B, -k,N
P ...... ......
where D is the bore diameter, p is the number of pole
pairs, N is the number of serie turns per phase and k, the
winding factor.
IV. COMF'ARISON BETWEENFE RESULTS
AND MEASUREMENTS
To test the accuracy of the FE model in predicting the
motor performance, the results obtained by FE analysis
have been compared with the experimental ones,
measured on a built radially magnetised IPM prototype
(Fig. lb), fed by sinusoidal voltage and constant frequency
supply. The comparison is shown in Fig.2, in which the
reported phase displacement refers to the angle between
29
the current vector and the q-axis (tanr-idid. The flux
linkage is estimated by the field solution by using the
methods illustrated in points C (vector magnetic
potential) and D (airgap flux density) of Section 111.
In Fig.3 the flux plots are shown for no-load and full
load operation. Fig.4 gives the flux linkage hd vs. id
component with merent values of i,. One can observe
that the hd hardy depends on id, and this dependence is
almost linear, while it is slightly influenced by i9. Fig.5
shows the flux linkage h, vs. i, component with different
values of id. The saturation effect on h,with high i, values
and a relatively low dependence on id can be easily
observed. Method C has been used to obtain the d-q flux
linkages hd and h, shown in Figs.4-5.
The method proposed by the authors evaluates the
apparent inductances of the saturated IPM motor from FE
field solution. In comparison with the methods already
presented, it allows to calculate Id, 1, and ?-, under
different load conditions, considering both the cross-
coupling between the d- and q- axis and the change of the
PM flux linkage, caused by the saturation, neglecting
hysteresis and eddy currents losses.
The steps of the method are as follows.
A. Calculation of hd and h,
At first, the actual values of hd and h, are evaluated by
non-linear FE analysis under the desired load conditions.
They can be calculated as reported in Section 111, by
integrating the vector magnetic potential and rearranging
the three-phase winding flux linkages (point C) or from
the the airgap flux density distribution (point D).
.......
......... ..... ..... ... ......
50 100 150 200 250 300 350 400 450
oplhdr IAI =d!hse P S I
....... ........ ........ . . . .......
i ! 39.3' ;
....... ......... ........ ..... ..... ......
........
........
20
50 100 150 200 250 300 350 400 450
rmrd: 1 4 =a+ I&&l
Fig.2. Comparison of simulation results with measures
 phase and P the magnetic permeance along the
corresponding axis, then an analytical estimation can be
addressed.

C. Evaluation of the Flux Linkage due to PM

With this fixed permeability, a second calculation of the
d- and q-axis flux linkage is carried out without winding
excitation. The flux linkages in the two axis hmd and hm,
Fig.3. Flux plots of IPM motor: no-load (a); full load (b) due to only the PM of (7) are evaluated for the examined
0.08, ., . ., .. .. .. I
load condition. This second computation is rapidly
l d [vsl ::, ::.
. ::.
. .:: :
.......... i.:..
,
obtained because of the linearity of the problem.
0.06 ..........
.
.
..
.
.
..
.
.
..
.
.
..
.
.
..
.
. i
Otherwise, the mesh in those parts of the motor, where
0.04
the highest saturation occurs, has to be carefully refined.
0.02

0 D. d- and q-Axis Inductances

-0.02
-o 04-350 -300 -250 -200 -150 -100 -50
i d [AI
Fig.4. Flux linkage hd vs. id, with different 4values
1 vs O l6
q [ '014
0 12
01
0 08
0 06
OM
0 02
0 and, from the previous solutions, the q-axis inductance as
-002
0 50 100 150 200 230 300 350
iq [AI
Fig.5. Flux linkage hp vs. i , with different id values
B. Linear Equivalent Problem and Decomposition of
the Flux Linkage Components
The flux linkages hd and hp have to be decomposed in
the flux linkage components due to PM and to the current,
by further two FE simulations. To do that, the iron
magnetic permeability of each element, obtained from the
previous simulation, is fixed and stored for these further
analysis, so that the non-linear problem is transformed in
a linear one, characterised by a non-homogeneousiron.
Because of the linearity of the transformed problem, the
sum of the effects can be applied. Then, the model of
motor is described by (7). It is worth noticing that (7)
takes in account the PM flux linkage in q-axis and the
mutual inductance between the d- and q-axis. The
advantage is that:
i) the model points out the variations of motor
inductances with d- and q-axis current components.
From the calculated inductances, one can estimate the
motor performance and the best torque-to-current ratio;
ii) an accurate study of motor capability, together with
voltage limits, especially for FW applications, can be
carried out;
iii) the individuated inductances can be expressed by a
form N'P, where N is the effective number of turns per
The last FE calculation is performed with the fixed
0
permeability, no-energised PM and with only the d-axis
current component id. For the sake of simplicity the actual
operating point id is imposed. The components of the flux
linkage obtained from this solution are hdddid and
& & d i d . After that, the d-axis and the mutual
inductances of the motor can be computed as
-'qd
1, =
I I
(11)
W. RESULTS OF THE PROPOSED METHOD
Some results are reported in Figs.6-11. Figs.6-7 show
the PM flux linkages hmd and hm, as function of the
currents. One can note that hmd increases with the
magnitude of id, while it decreases with i, components. In
the same way, when saturation occurs, the magnitude of
hm, (which is negative) increases with i,; its variation
reaches up to 25% the total flux linkage. This is the main
effect of iron saturation. In Fig.8 ld vs. id is reported; a
small variation with the load condition is observed. In
Fig.9 1, vs. i, is shown: its value at first increases and
then decreases with i,. Moreover, when id magnitude
increases, 1, decreases, while its variation with i, becomes
lower. Finally, in Figs. 10-11, the flux linkage and kqd
are reported. The presence of hqd indicates that a coupling
between the two axis, due to the currents, exists, even if
its value is quite small. The mutual inductances lap l+ are
small, with maximum value lower than 50 pH.
The effective motor parameters obtained by the
proposed model as the sum of effect, after making linear

30
the motor structure, present high variations with load
conditions. However, since the choice of ;apparent
inductances is not univocal, simpler models, as such
proposed in [3-41, [9-IO], may be considered.

A. Coenergy VariationMagnetic Model

A possible approach is to consider a motor model
obtained by the coenergy variation [IO], defined BP
-350 -300 -250 -200 -150 -100 -50 0
i d [AI
Fig.8. Inductance ld vs. id, with different i, values

Applying the separation of the variables, it yields to

AW(id,i+=F(id)G(i,), and the two flux linkages can be
expressed as

I , (id ,i,) = hq(O,iq) - F(id)--

dW,)
di,

that can be computed from the characteristics hd(id,O),

hd(id,i-), Aq(O,iJ, &(iamax,i&). Then the reciprocity
property (6) is inherently satisfied. The model has been
applied to a synchronous reluctance motor, yit:lding a
good agreement with the measu.rements. It can be
properly used for the motor analysis or for motor control,
while it is difficult to extend it to the. motor design.
(13)

"1 0.4
0

-0 04

-0 08

-01
.
:
.
i
50
:
i
.. :.
i
. ...
i
. ...
i
.

Fig.9. Inductance 1, vs. i , with different id values

...
i
.
100 150 200 250 300 350
i q [AI

-0 12
-350 -300 -250 -200 -150 -100 -50 0
Id

Fig. 10. Flux linkage hdd vs. id, with different i, values

0 06
-350 -300 -250 -200 -150 -100 -50 0
i d [AI
Fig.6. Flux linkage & vs. id, with different i, values
h, Vsl *a
;
-0.018
-0.02
0
2

50 100 150 200 250 300 350

Y
-0004 * q [AI
-0.006
4.008 Fig. 1 1. Flux linkage hpd vs. id, with different i, values
-0 01
-0 012 B. Second Simplified Magnetic Model
-0 014
-0 016 Another possible approach consists in considering
-0 018 constant PM flux linkage Am, obtained by FE field
-0 02
0 50 100 150 200 250 300 350 solution with id=O and i 8 . The d- and q-axis
' q [AI inductances are then complex functions of currents,
Fig 7. Flux linkage h, vs. i , with different id values always verifying (6).The corresponding model is given as
follows

31
 &,(id,i,) =Am+&(id9iq)id load, then the maximum speed is easily determined.
Moreover, if the mutual coupling is neglected, variations
&,(id$,) = 1,Gd,iq)iq
of both curves, ellipses and hyperbolae, are only on the
(14)
The drawback of this model is that infinite d-axis
inductance occurs at low d-axis current and q-axis current
merent from zero, as drawn in Fig.12. The
corresponding values have been reported in Fig12-13,
referring to a Am=h,d(0,0)=0.07Vs.
0 , id
C. Third Simpliped Magnetic Model
0.38, x163, . . . . . ,
Finally, the model can be expressed by a constant PM
flux linkage A , the d-q axis inductances depending only
by the corresponding axis currents and two cross-coupling
inductances. It is expressed as
hd(id,iq)= Am+Id(id)id+la(id,iq)iq
{ hq (id 9 $ ) = (iq >is+ lqd (id 3 4 lid (15)
-350 -300 -230 -200 -150 -100 -50 0
Some results is reported in Figs.14-15, always with id [AI
Am=0.07Vs. From these, one can observe that d-axis Fig. 12. Inductance ld vs. id, with different i,
inductance seems to be constant, while cross-coupling x 16j
inductances assume very low values. In addition Idq(0,iq)
denotes the d-axis flux linkage decreasing due to i, at
i p 0 . With the aim to model the saturated P M motor and
to predict its capability in the whole operating range, this
model may be assumed and used, especially for designing
the motor.

MII. MAGNETIC MODELSFOR MOTORDESIGNPURFQSE

.:. ..: .,: . ... ...
0.351
0
i
50 100
i
150
i
200
;
230
~

300 350
I
The analysis of the steady state operation of the IPM ‘q [AI
motor above base speed can readily carried out using the Fig. 13. Inductance 1, vs. i , with different id
circle diagram theory [Ill. In the id-i, plane, the current
and voltage limit together with the constant torque locus
are reported, verifylng the more suitable current vector
control.

A. Linear Case
In linear case, in the id-iq plane the current limit defines
a circle, voltage limit defines a family of ellipses, with the
size decreasing with the speed, while constant torque loci
are hyperbolae, as Fig. 16 shows. At point B the maximum -3SO -300 -230 -200 -150 -100 -50 0
id [AI
torque is obtained by operating at the current limit. Over
Fig. 14. Inductances ld and vs. id with different i,
base speed, the motor is operated with constant current, x 1u3
from B to P.Then, at high speeds, the motor is operated
at maximum torque-to-voltage ratio from P to C . .
i
.
:
. .
. .. .. .. .
B. Non Linear Case
,. .. .. .. .. ..
A model with constant values for h, and ld (as model .,,: .
. .
. :
. :
. :
,
:
.
:
.
:
.
: :
.
illustrated in Section VII, point C) is particularly ., .. .. ..
advantageous for FW analysis and, in addition, for design
purpose. In fact, it allows simple equations to be used to
describe the motor performance. In the circle diagram, the 0 50 100 150 200 2SO 300 350
i , [AI
centre of the voltage limit ellipses is constant with the Fig. 15. Inductance 1, and lqdvs. i , with different id

32
iq-axis.
For design purpose, the simple model characterised by
flux-linkages shown in Fig. 17 and tiescribed by
Ad(&) = Am+ Ldid
(16)
Aq(iq) =L,iq iq <Iq
= A, + Lq& iq > I, (17) ‘d
can be adopted. With this simple model only five: FE field
solutions are needed to characterise the motor. The first
three solutions, at very low current, allow Am, Ld, Lq to be Fig. 16. Circle diagram for IPM motor in linear case
estimated. They are Am=O.O7Vs and, referring to Figs. 14-
15, L~0.29mH,Lq=0.59mH. Two more field :;elutions,
with high q-axis current components, allow I\ps and L, to
be determined. If &=O. 12Vs at ic250A and &=o.14Vs at
iq=350A (see Fig.15) are imposed itwice in the second of
(17), one can achieve A,=O.O7Vs and L,=0.2&.
Then, even in saturation region (iqXqS): an easy
representation can be still obtained in the id-iq plane. A
drawn of the characteristics in the h i q plane is reported Fig. 17. Flux linkages vs. current components in the
in Fig. 18. In fact, the constant torque curves are modified simplzed model of saturated IPM motor
hyperbolae, and the voltage limits are adjusted ellipses,
given by

t = -p Amiq- A&)
2 [(
+ (Ld - ~ J i ~ i , ~ ] constant-torque

[ = (A, + Ldid)2+ (Aq + Lqsiqy

id
IX.CONCLUSIONS
While in unsaturated conditions the inductive Fig.18. Circle diagram of saturated IPM motor
parameters and PM flux linkage of an IPM synchronous
motor can be univocally determined, under saturated
operation they may be defined in dflerent ways. Various hmd,
*
& d- and q-axis PM flux linkage components
marks the incremental inductances
magnetic models are examined in the paper, to
Capitol letters are used for constant quantities.
individuate the most effective for am quick and effective
prediction of the motor performance. A procedure to
define the apparent d-q axis inductance and PM flux
h ” I X B: RJXXXTS FOR CIRCUMFERENTIALLY
MAGNETISED P M MOTOR
linkage in different load conditions; has been developed.
Comparison with tests confirms the good agreement with
In a similar my, the circumferentially magnetised IPM
the results obtained by FE analysis. The lattest highlights
motor has been studied. In Fig.Al the flux plots are
that a simple magnetic model may be adopted, with
drawn for no-load and full load operation. Then, Figs.A2-
constant magnetic quantities and neglected cross-coupling A5 show the flux linkage components and inductances as
inductances. This motor model can lbe obtained only from function of the current components. It is possible to note
five FE field solutions and is particularly useful in motor
that the behaviours are practically the same of the
design procedure.
previous ones.
AF’FENDIX A: LIST OF THE MAIN SYMBOLS
As concern the simplified models, fixing Am=O.O95Vs,
the ld and 1, inductances of the second model are reported
d- and q-axis current components in Fig.A6. When the third model is used the inductances
id, iq result as shown in Fig.A7.
Id, 1, d- and q-axis inductances
&, lqd d- and q-axis cross-coupliing inductances
R winding resistance
Ad, & d- and q-axis flux linkage!; [11 T.J.E. Miller, Brushless Permanent-Magnetand Reluctance

33
 Motor Drive, Claredon Press, Odord, 1989. 0.097
[2] D.Pavlik, V.K.Garg, J.RRepp and J.Weiss, "A finite 0.096
element technique for calculating the magnet sizes and oms
inductances of permanent magnet machines", IEEE Trans. 0.094

on Energy Conversion,vo1.3, No.1, 1988,pp.116-122. 0.093

[3] P.Zhoy M.ARahman, M.AJabbar, "Field circuit analysis 0.09*

o,091
of permanent magnet synchronous motors", IEEE Trans.
0.09
onMAG, v01.30,no.4, 1994,pp.1350-1359.
[4] L. Chang, "An improved FE inductance calculation for 'd [AI
electrical machines", in IEEE Trans. on MAG, vo1.32, Fig& - Flux linkage hdm vs. id, with different i,
no.4, 1996,pp.3237-3245.
[5] T.W.Neh1, FAFouad, N.ADemerdash, "Determination of
saturated values of rotating machinery incremental and
apparent inductances by an energy perturbation method",
ZEEE Trans. on Power Apparatus and System, vol. PAS-
101, N0.12, 1982,pp.4441-4451.
[6] F.Piriou and A.Razek, "Calculation of saturated inductances
for numerical simulation of synchronousmachines", B E E
Trans on MAG, vol.19, n0.6,1983, pp.2628-2631.
4.06
t/'
and flux linkage h, vs. i , with different id
bi[Vsl
4.02 .........................
........i......
4.04 ........

,
......i........
;.
.. .. .. (. ... ..
. .
:

; I q ;
.
4.08 ....... j.........i...........
;.....J ...... .; ............
.......i........
;
i...... !... .!......
.............
;
. .;. .............
. ..;...... .j........ j... ...
.. :. . .
i

4 . 1 ........ i .... . . ;........ j......... ;........i........

:
.. . . . .
4.12 .. .:. ... ;.. ....-.......i................ 1. ...
;. ;. i. i
[7] JAMelkebeek, J.L.Willems, "Reciprocity relations for the 4.14 '
-350 -m-253-2-150-100
00 -50 0 0 M 100 Is0 200 250 m 350
mutual inductances of orthogonal axis windings in id PI i, [AI

saturated electrical machines", in in Con$ Rec. Ind. Appl. Fig.A4. Flux linkage lLda vs. id, with different i,
Soc. Annu. Meeting, 1988, pp. 104-110. and flux linkage hh vs. i , with different id
..DALowther
[SI and P.P.Silvester, Computer aided in
magnetics, New York, Springer-Verlag, 1986.
[91 RG.Harley, D.J.N.Limebeer, E.Chiricozzi, "Comparative
study of saturation methods in synchronous machine
models", IEE Proc., Pt.B, no. 1, 1980,pp. 1-7.
AVagati, M.Pastorelli, G.Franceschini, "Effect of
magnetic cross-coupling in synchronous reluctance
motors", in ConJ Rec. PCZA4'97, Numberg, Germany,
June 1997,pp.279-285.
-350 -m)- w ) -200 -150 -lw.50, 0
N.Bianchi and S.Bolomani, "Parameters and volt-ampere Id .-.
ratings of a synchron& motor drive for flw-weak&g Fig.A5. Inductance ld vs. id, with different 4
applications", IEEE Trans. on Power Electronics, vol. 12, and inductance 1, vs. i,, with different id
no.5, Sept. 1997, pp.895-903

0 50 100 1% MO 2M m 350 -3M -MO -250 -MO .1M -100 -50 0

ii[Al id [AI
Fig.A6. Inductance 1, vs. i, with Werent id
and inductance Id vs. id with different i,
Fig.Al - Circumferentially magnetised IPM motor: no-
load (a) and full load @) field lines 0.4 , , 0.8, [W
0.35 ....... ..... ...... ......
0.3 ...... ... 0.6 . . . .
01 0 16 ... ....... 0.5 .... .
0 os 0 14 . .. .
..... 0.4 . .............. .
OW 0 12
01
OM 01
0 05
0 02 008 0
O M -0 05
0
OM 4 1
-0 02 3% 3M 2 9 MO 150-100 -50 0 OIo M 100 150 2w 2M 3M 350
002 14lAl I( [AI
-004
-333-m,-w)-200-lM-Im -50 0
0
0 50 100 150 200 250 3w 3B Fig A7. Inductances ld and 1%vs id with different i,
L~IAI % [AI and inductances 1, and l,d vs. i, with ddferent id
Fig.A2. Flux linkage hd vs. id, with different i,
and flux linkage L,vs. i,, with different id

34