Main inductance determination in rotating machines.

Analytical and Numerical

calculation: A didactical approach

Bargallo, R. (1) , Llaverias, J. (1), De Blas, A(1)., Martn, H. (1), Piqu, R. (2)

(1) Electrical Engineering Department.

(2) Electronic Engineering Department
EUETIB, Politechnical University of Catalonia (UPC)
c/Urgell, 187, 08036 Barcelona (Spain)
Tel. (34) 934137411, fax: (34) 934137401, ramon.bargallo@upc.edu

Abstract. B. Air gap induction B1 (only considers the

fundamental component)
The accurate determination of saturated magnetizing C. Total flux per phase
inductances has been the subject of much research over a long D. Main inductance determination: Lm = I
time. These results are necessary for the appropriate adjustment
of control regulation loops and for the improvement of transient
response and stability of electric drives. Traditionally the The following expression is the result of this process.
analytical calculation involves the determination of some
empirical factors, such as the d-axis and q-axis reactance 2
0 D L N
factors. In references [1] to [3] there are many expressions for Lm = m (1)
salient and non-salient pole machines, but these are valid only g eq p
for the considered pole shape.
with: m number of phases, D air gap diameter, L
If possible we should use an expression, or method,
independent of the pole shape. Analytical formulation is not length of the machine, geq equivalent air gap (with
adequate for this reason. Now we can use the FE method to Carters and saturation correction), N number of turns
calculate this and other parameters. per phase, p pole pairs.

In addition the time devoted today to the design of electrical B. Salient pole machines
machines has been reduced and this makes it impossible to use
a lot of empirical or graphical methods. The use of FEM The calculation is similar, but we found some
provides a way to quickly and accurately calculate the size of an differences:
electrical machine and its parameters. This paper has been
written to describe this methodology in an educational
environment. - We calculate the MMF projection over two axis:
direct and quadrature axis.
- Thus we determine the induction create for these two
Keywords.
components and determine the fundamental
Main inductance determination, FE method, cylindrical component.
and salient pole machines. - Thus we can calculate the flux and the main
inductance for every component:
1. Analytical calculation of magnetizing Lmd = d I ; Lmq = q I (2)
inductances.
These process leads to the following expressions:
In the following paragraphs we describe how obtain an
analytical expression for the main inductances. This
methodology shows how these are function of the pole Lmd = k d Lm ; Lmq = k q Lm (3)
shape and how explain this in an educational
environment.
Where Lm is the magnetizing inductance calculate
supposing that the air gap is uniform and kd and kq are
A. Uniform air gap machine
coefficients that depended on pole shape.
The magnetizing inductance of a uniform air gap
The following table shows these coefficients for different
machine can calculated according to the following
pole shape configuration; the first row is for a classical
procedure:
salient pole synchronous machine and the others are for
permanent magnet machines.
Calculation of:

A. MMF created to the 3-phase equilibrate

current system
 For example for the induction machine model with 3
Table I. direct and quadrature correction factors. coils in the stator and 3 coils in the rotor, that is:
Salient pole
( + sin( ) )
1
kd =
synchronous L as L abs L acs L ar L abr L acr
[L] = s
L sr
; [L s ] = L bas [Lr ] = L bar
L
machine
1 L r
L bcs ;
2 L bs
L br L bcr

kq = sin( ) + cos( ) rs
L
3 2 L cas L cbs
L cs L car L cbr L cr
PMSM. k d = 1; k q = 1
Surface 2 4
L asar cos r L asbr cos( r + ) L ascr cos( r + )

magnets
3 3

PMSM. Inset kd =
1
[ ]
+ sin( ) + c g ( sin( ) ) [Lsr ] = [Lrs ]t = L bsar cos( r +
4
) L bsbr cos r L bscr cos( r +
2
)

magnets 3 3
L 2 4
1 1
csar cos( r + 3 ) L csbr cos( r + ) L csc r cos r

k q = ( sin( ) ) + ( + sin( ) ) 3
c g
(7)
h
cg 1 +
g
PMSM. 4
kd = cos
Buried 1 2 2 = = D 2 ph
magnets p D
( sin( ) )
1
kq =

With: p- pole pitch, = pole arc/ pole pitch, h -

permanent magnet height.

2. Numerical determination of magnetizing

inductance.
The numerical determination of magnetizing inductance Figure 1. simplified machine.
involves the realization of Finite Element Analysis (FEA)
and the determination of the magnetic energy stored in We obtain:
the air gap. The following paragraphs describe the 1
relations between this and the magnetic inductance. In W=
2
Lij I i I j
addition we describe two ways for the calculation of Las i 2 as + Lbs i 2 bs + Lcs i 2 cs + Lar i 2 ar + Lbr i 2 br + Lcr i 2 cr +
stored energy; the first is by integration of density of
Labs ias ibs + Lbcs ibs ics + Lcas ics ias +
energy and the second is by circuit modelling.
1 Labr iar ibr + Lbcr ibr icr + Lcar icr iar +
W =
2 + 2 + Lasar ias iar + Lasbr ias ibr + Lascr ias icr +
A. Magnetic energy stores in the air gap (uniform air gap
machine). Lbsar ibs iar + Lbsbr ibs ibr + Lbscr ibs icr +

+ Lcsar ics iar + Lcsbr ics ibr + Lcsc r ics icr
If we consider an ideal machine with sinusoidal (8)
distribution of the induction along the air gap, that is,
(We omitted the terms with cos() to simplify the
x expression). If we consider the following values,
B = B sin (4)
corresponding to an instant with:
p
1
and we calculate the magnetic energy stored in the ias = I; ibs = ics = I
airgap, we obtain: 2 (9)
2
iar = ibr = icr = 0
m2 N D L 2 (5)
W = 0 I m
2 p g eq
we obtain:
If we combine (5) with (1) we can write:
3 3
W= Lm I 2 + Ls I 2 (10)
m 2 2
W = Lm I 2 m (6)
2
Except for the last term, this is the same expression (6).
usually m = 3. You can obtain the same expression if you This term is a result to the dispersion effect and will be
consider the electrical circuit model with coupled coils. not considered for the main inductance calculation.
B. Magnetic energy stores in the salient pole machine. 3 3 3 3
W = I 2 L0 + L2 cos(2 er ) + Ls I 2 (15)
2 2 2 2
We can obtain an expression for the magnetic energy
stored in the case of the salient pole machine, but this
The last term is a result to the dispersion effect and will
takes longer to determine. We develop an expression
be not considered for the main inductance calculation.
based on circuit model approximation. In the salient pole
machine we consider the first harmonic approximation
If we consider two selected positions for the rotor, i.e.
for the inductance variation, i.e.,
cos(2 er ) = 1 Direct field orientation
L L0 + L2 cos 2 er (11)
cos(2 er ) = 1 quadrature field orientation

Some after algebraic manipulations, we obtain:

3 2 3 3 3
W = 2 I 2 L0 + 2 L2 + 2 Ls I
2

cos(2 er ) = 1 Lmd = [L0 + L2 ]
3
2
3 2 3
W = 2 I Lmd + 2 Ls I
2

(16)
Figure 2. Salient pole machine 3 2 3 3 3
W = 2 I 2 L0 2 L2 + 2 Ls I
2

for the 3-phase synchronous machine we can write:
cos(2 er ) = 1 Lmq = [L0 L2 ]
3
2
Laa = Ls + L0 + L2 cos 2 er 3 2 3
W = 2 I Lmq + 2 Ls I
2

Lbb = Ls + L0 + L2 cos(2 er + 2 / 3)
Lcc = Ls + L0 + L2 cos(2 er 2 / 3) (17)
Lbc = L0 / 2 + L2 cos 2 er (12)
C. Inductance determination by means of flux
Lac = L0 / 2 + L2 cos(2 er + 2 / 3) concatenation
Lab = L0 / 2 + L2 cos(2 er 2 / 3)
Another technique for the calculation of inductance is by
Laf = Lsf cos er , Lbf = Lsf cos( er 2 / 3), the use of flux concatenation by a coil. If we consider a
Lcf = Lsf cos( er + 2 / 3) magnetic field distribution along the air gap, and its first
harmonic, we can calculate the flux concatenation and
the main inductance:
The energy stored is:
r r
Laa i a + Lbb i b + Lcc i c + L ff i f +
2 2 2 2
A dS r
A dl
r
1 L= =NS =N (18)
W = Lbc ib ic + Lac ia ic + Lab ia ib + (13) I I I
2 2
+ Laf ia i f + Lbf ib i f + Lcf ic i f If we consider a salient pole machine, we use a flux
oriented over the direct and quadrature axis respectively,
(We omitted the terms with cos() to simplify the for the determination of direct and quadrature
expression). If we consider the following values, inductances.
corresponding to an instant with:

ia = I
I
ib = ic = (14)
2
if = 0 ( without field current )

We obtain the following expression:

3. Practical Applications
The following paragraphs show three examples of
determination of main inductance. Two of them are
compared with experimental results.

A. Asynchronous machine: 1.5 kW; 50 Hz; 220 / 380 V;

6.4 / 3.7 A; cos = 0.85; 1420 min-1; F class; J = 0.0105
kgm2; . Connexion.
Geometric and electrical data: 36/28 slots; 44
conductors/slot; D = 80 mm; g = 0.375 mm; L = 100
mm. We considered that k c k sat = 1.3 and = 0.955 .

Figure 5. FEM model for synchronous machine. Quadrature

field orientation

Table III. Main inductance for synchronous machine.

Method Ld (mH) Lq (mH)
Analytical calculation 9.84 4.25
FEA 10.7 4.23
Experimental results 7.42 5.30
(reduced slip test)

Figure 3. FEM model for asynchronous machine. Only of the C. Synchronous machine with permanent magnets. 5.1
machine has been modeled. Nm; 3500 min-1; IN = 2.56 A; F class
Geometrical data: D = 80 mm; L = 68.9 mm; 36 slots; 6
Table II. Main inductance for asynchronous machine.
pole; 35 conductors per slot; single layer lap winding;
Method Lm (H)
= 0.96; permanent magnet height h = 3mm; g = 0.5 mm;
Analytical calculation 0.310
= 0.65; k c k sat = 1.3 ; surface permanent magnet.
FEA 0.313
Experimental results 0.255
In this case to impose if = 0 we change the PM
B. Synchronous machine: 6 kVA; 220 V; 15.8 A; 50 Hz; characteristic from a non-magnetic material with the
1500 min-1; Y connexion. same magnetic permeability of the PM. This machine is
Geometric and electrial data: salient pole with uniform considered as uniform air gap machine due to the value
airgap (under the pole) g = 2 mm; D = 304 mm; L = 100 of recoil permeability of the PM (near to 1.0)
mm; = 0.55; 36 slots; double layer lap winding,; 5
conductors per slot and layer. We considered that
k c k sat = 1.3 and = 0.955 .

Figure 6. FEM model for synchronous machine. Direct field

orientation
Figure 4. FEM model for synchronous machine. Direct field
orientation
 Table IV. Main inductance for synchronous machine with PM.
Method L (mH)
Analytical calculation 6.55
FEA (energy) 5.15
Flux method (FEA) 6.0

3. Conclusions.

We explained some methods to determine the main

inductances for alternating current machines in an
educational environment.
We considered correction factors that are dependents
on the pole-shape configuration.
FEM is more precise than analytical calculation and
Figure 7. FEM model for synchronous machine. Quadrature is not dependent on an empirical or geometrical
field orientation factors.
Some of these experimental results are discordant
For this machine we determined the inductance by the with theoretical results due to estimation of some
method of flux concatenation. We obtain the magnetic geometrical measures and magnetic characterization.
field distribution and harmonic components showed in
the figures 8 and 9.
Bibliography
[1] J. Corrales Martn. Clculo Industrial de Mquinas
Elctricas. Tomo 1. Ed. Marcombo. 1982
[2] B. Chalmers, A. Williamson. AC Machines.
Electromagnetics and Design. Ed. Research Studies Press
Ltd. 1992.
[3] J.F. Gieras, E. Santini, M. Wing. Calculation of
synchronous machines of small permanent magnet
alternating current motors: comparison of analytical
Figure 8. Magnetic field distribution along the airgap.
approach and FEM with measurements. IEEE
Transactions of Magnetics, vol 34, n 5, September 1988.
[4] M.R. Hassanzadeh, A: Kiyoumarsi. Analytical
calculation of magnetizing inductances in interior
permanent magnet motors. ICEM, Cracow, September
2004.
[5] R. Bargall. Diseo de Mquinas Elctricas. Tema 8.
Determinacin de parmetros. EUETIB. 2004.

Figure 9. Harmonic distribution of magnetic field.

The following table (IV) shows the calculated values.