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Harmonic Analysis of the Magnetic Field of a

Coaxial Magnetic Gear
Iliana Marinova, Miglenna Todorova, Valentin Mateev
Department of Electrical Apparatus
Technical University of Sofia
Sofia, Bulgaria
iliana@tu-sofia.bg, mtodorova@tu-sofia.bg, vmateev@tu-sofia.bg

AbstractIn this paper two constructions of a coaxial
magnetic gear (CMG) have been investigated. A 2D time
dependent Finite Element Method (FEM) models of the two
constructions have been implemented. A harmonic analysis of the
gears magnetic fields and output dynamic torques are
performed. The FEM modelling is carried out by ANSYS
Maxwell software. The harmonic analysis is made by Fast
Fourier Transform (FFT) method in MATLAB. Results for the
magnetic flux density and the torque dynamic spectrum
distributions are obtained.
constructions are the same. The general arrangement drawing
of a coaxial magnetic gear is depicted in Fig. 1. The first
construction has 4 inner permanent magnet pole pairs, 22 outer
permanent magnet pole pairs and 26 steel segments. The
second one has 6 inner permanent magnet pole pairs, 18 outer
permanent magnet pole pairs and 24 steel segments.

Keywords magnetic gear, harmonic analysis, permanent

magnets, two dimensional finite element model.

I. INTRODUCTION
Magnetic gears (MGs) represent these kinds of gears,
which use permanent magnets instead of mechanical teeth. The
magnetic gear consists of three rotors. The inner and outer
rotors are with permanent magnets mounted on them. The third Fig. 1. General arrangement drawing of the magnetic gear
rotor is the steel segments, which are positioned in between the
other two permanent magnet rotors. There is no physical The sketch with the dimensions of the magnetic gears
contact between the rotors [1]. When one of the two permanent construction is depicted in Fig. 2 and the dimensions are shown
magnet rotors starts rotating the second rotor starts its in Table I.
movement. This is due to the interaction between the
permanent magnets with opposite polarities in both inner and
outer rotors. Magnetic gears could be used in the wind turbines
[2]-[4], in the servo control systems [5], in the electric vehicle
industry [6]-[9], in the hybrid vehicles [10], etc. Their
operation and characteristics strongly depend on the magnetic
field distributions in inner and outer air gaps of the magnetic
gears.
This paper considers the harmonic analysis of the magnetic
field of two constructions of a coaxial magnetic gear. Results (a)
of the field distribution of the flux density, results of the
dynamic torque transmission of the inner and outer rotors,
results of the radial components of the flux density in the air
gaps between the inner and outer rotors, and the steel segments
of the magnetic gear are obtained. The harmonic analysis has
been performed using Fast Fourier Transform (FFT) method.
The modelling of the magnetic gears field is implemented by
ANSYS Maxwell [11] and the results from the harmonic
analysis are obtained with MATLAB software [12].
II. MAGNETIC GEARS CONSTRUCTIONS
(b)
In this section two constructions of a coaxial magnetic gear
have been considered. The dimensions of the gear for both Fig. 2. Dimensions of the geometry of the investigated coaxial magnetic gear

,((( 
 TABLE I magnetic fields are produced. These fields interact with each
Symbol Quantity Units
MG MG other. The steel segments are intended to modulate the
No.1 No.2 transmitted torque produced from the rotating magnetic fields
p1 inner rotors permanent - 4 6 of the two rotors. When the middle rotor modulates the two
magnet pole pairs
p2 number of the steel - 26 24 magnetic fields - space harmonics are produced in the air gaps
segments and a harmonic analysis of the magnetic field of the gear could
p3 outer rotors permanent - 22 18 be made at different operating conditions and modes.
magnet pole pairs
G13 gear ratio - 5.5 3 IV. GOVERNING EQUATIONS OF THE MODEL OF A COAXIAL
1 revolutions per minute rpm 150 150 MAGNETIC GEAR
of the inner rotor
3 revolutions per minute rpm 27 50 A. Governing equations for the gear ratio between the rotors
of the outer rotor
and the steel segments of the coaxial magnetic gear
fIR main frequency of the Hz 2.5 2.5
mechanical rotation of A relation exists between the number of the inner rotors
the inner rotor permanent magnet pole pairs p1, between the number of the
fIRrev main frequency of Hz 20 30 steel segments p2 and between the number of the outer rotors
rotation of the magnetic
field of the inner rotor
permanent magnet pole pairs p3 [18]:
fOR main frequency of the Hz 0.45 0.83
mechanical rotation of p2
the outer rotor  G 12 ,  
fORrev main frequency of Hz 19.8 29.9 p1
rotation of the magnetic
field of the outer rotor p3
d1 inner diameter of the mm 54  G 13 ,  
inner rotor p1
d2 outer diameter of the mm 94
inner rotor
hPM height of the permanent mm 6 where G12 is the gear ratio between the permanent magnet pole
magnets mounted on pairs of the inner rotor p1 and the number of the steel segments
the inner rotor p2; G13 is the gear ratio between the permanent magnet pole
Hss height of the steel mm 4 pairs of the inner rotor p1 and the permanent magnet pole pairs
segments of the outer rotor p3.
HPM height of the permanent mm 6
magnets mounted on For the first construction of the coaxial magnetic gear at
the outer rotor dynamical conditions G13 is 5.5, because p1=4 and p3=22.
D1 inner diameter of the mm 130
outer rotor The gear ratio of the second construction is G13=3, because
D2 outer diameter of the mm 140
p1=6 and p3=18.
outer rotor
lstack stack length of the mm 300 The dynamical conditions are these conditions in which the
magnetic gear
1 air gap between the mm 1
outer rotor rotates together with the inner rotor of the magnetic
inner rotor and the steel gear. In this state the dynamic torque of the magnetic gear is
segments considered.
2 air gap between the mm 1
steel segments and the In order to attain the highest torque density, the number of
outer rotor pole pairs on each of the rotors should satisfy the following
material of the NdFeB 35 relation [19]:
permanent magnets
material of the steel AISI 1008
segments  p2 p1  p 3 .  

The permanent magnets, which are used in the permanent B. Magnetic field modelling of the coaxial magnetic gear
magnet rotors, are made of NdFeB35 alloy [13]. The material
used for the steel segments is a low carbon steel AISI 1008 The regions of interest in the magnetic gears construction
[14]. The stack length of both constructions of the magnetic are represented in Fig.3. They are as follows: permanent
gear is 300 mm. More detailed information for the first magnet regions of the rotors, ferromagnetic parts, modulating
construction of the coaxial magnetic gear can be found in [15]- steel segments, and both air gaps.
[17].
III. PRINCIPLE OF OPERATION OF THE MAGNETIC GEAR
The principle of operation of the magnetic gear is based on
the modulation of the inner and outer rotors magnetic fields of
the gear through the steel segments. The inner and outer rotors
have mounted magnets on each of them. When two of three
rotors begins to rotate with definite revolutions two rotating Fig. 3. Regions of a coaxial magnetic gear


 Regions I, II, i, III, IV and V correspond to the permanent  p mk mp  kn s  
magnets mounted on the inner rotor, to the air gap between the
inner rotor and the steel segments, to the steel segments, to the
air gap between the steel segments and the outer rotor, and to   
m=1, 3, 5, , ,
the permanent magnets mounted on the outer rotor,
respectively.   
k=0, 1, 2, 3, , .
Magnetic field distribution is described with the expression
given below [20] The different rotational speeds of the harmonic magnetic
fields can be expressed by
dA
 2
A  JP  P 0 u M ,  
dt mp
 Z m ,k
mp  n
Z r

 
2 s
where is Laplacian, A is the magnetic vector potential, 0
is the free space magnetic permeability (0=410-7 H/m), is
the electrical conductivity and M is the magnetization vector.
The coordinate system, utilized for the analysis of the
magnetic gear, is cylindrical. The coordinate axes of the
cylindrical system are the r axis and the angle of rotation .
The magnetization vector in the permanent magnet regions
I and IV is
 M Mer r
Br
  
m=1, 3, 5, , ,
  
k=0, 1, 2, 3, , ,
where r is the rotational speed of the permanent magnet
rotor. If k=0, it is the basic harmonic magnetic field that the
rotational speed is equal to that of the permanent magnet rotor
where there is no modulation. When k0, there are modulation
er ,
P0
where Br is the residual flux density, M and er are the scalar
quantity of the magnetization and the unit vector at the r axis
of the cylindrical coordinate system, respectively [21].
The torque is calculated via the virtual work method [22]
  of the harmonic magnetic fields. In such case, the rotational
speeds of the harmonic fields and of the permanent magnet
rotor are different due to the introduction of the steel
segments. The asynchronous space harmonic is the highest
when m=1 and k=1. The harmonic order and the rotational
speed of the harmonic field are
 p 1,  1 p  ns ,  
w H (T )
 T B d H ds  
wT p
n Sn 0
(T )  Z 1,  1 Z r .  
p  n
s
where n is the number of the section, s is the section of the
distinct regions, H is a column vector containing the To transmit energy steadily at different rotational speeds,
directional components of H, is the angle of the mechanical the pole-pairs of the two magnetic fields should be the same.
rotation of the magnetic gears rotors. Therefore, the number of the pole-pairs of the other permanent
The radial Brad and the tangential Btan components of the magnet rotor should be n s  p , so the gear ratio is given in
flux density of the magnetic gear in the air gaps are determined [1] and [23]
by (7) and (8) [11]:
Zr p  ns
 B rad B cos( M  T ),    Gr . 
p p
Z
p  n r
s
 B tan B sin( M  T ),
where B is the resultant vector of the flux density and
represents the angle of rotation of the cylindrical coordinate
system.
C. Governing equations for the harmonic analysis of the
magnetic field of the coaxial magnetic gear
The number of the pole-pairs in the space harmonic flux
density distribution produced by either permanent magnet rotor
can be obtained by
 
The sign in front of the ratio depends on the relative
rotational direction of inner and outer rotors movement. If the
two rotors rotate in contrary directions, this implies that the
sign of the gear ratio will be negative and vice versa the same
rotation of the rotors means positive sign in front of the gear
ratio.
V. IMPLEMENTATION
Here two dimensional time dependent finite element model
of two constructions of a coaxial magnetic gear has been
developed. The modelling is made by ANSYS Maxwell

package. The results obtained are made at dynamical condition
for time range of 400 milliseconds at fixed time step - 5ms.
The inner rotor is rotated at 360 mechanical degrees for the
given time period. The number of the mesh elements of the
first construction is 140323, and for the second construction
there are 100638 elements.
The inner rotor and the outer rotor of the first construction
of the gear rotate with 150 rpm and 27.3 rpm, respectively. The
inner rotor of the second construction rotates with 150 rpm, (a) First construction
and the outer rotor rotates with 50 rpm. The steel segments stay
stationary for both magnetic gears constructions.
The results of the analysis of the harmonic components of
the magnetic field of the two constructions of the magnetic
gear are obtained using Fast Fourier Transform (FFT) method
via MATLAB software.
Results for the flux density of both constructions are given
in the Fig. 4. The upper limit of the flux density is confined to (b) Second construction
2 T.
Fig. 5. Dynamic torque characterisitics

As shown above the dynamic torque transmission

characteristic of the first construction has lesser ripples of the
torque than the dynamic torque transmission characteristic of
the second construction of the coaxial magnetic gear.
The FFT results for the dynamic torque of the inner rotors
for both constructions are depicted in Fig. 6.

(a) First construction

(a) First construction

(b) Second construction

Fig. 4. Field distribution of the flux density in the two investigated

constructions of the coaxial magnetic gear
It can be seen from Fig. 4 that in some regions the flux
density has higher values at the first construction of the
magnetic gear than the second one.
(b) Second construction
Fig. 6. FFT results for the dynamic torque of the inner rotors for both
constructions of the coaxial magnetic gear

The dynamic torque transmission characteristics for both The FFT results for the dynamic torque of the outer rotors
constructions are depicted in Fig. 5. for both constructions are depicted in Fig. 7.


 The harmonic spectrum of the first construction of the
coaxial magnetic gear has lesser harmonics of the torque
ripples than the second construction. The radial components of
the flux density in the air gap between the inner rotor and the
steel segments of the two constructions of the magnetic gear
are shown in Fig. 8. The FFT analysis of the radial components
of the flux density in the air gap between the inner rotor and the
steel segments of the two constructions are shown in Fig. 9.

(a) First construction

(a) First construction

(b) Second construction

Fig. 7. FFT results for the dynamic torque of the outer rotors for both
constructions of the coaxial magnetic gear

The main rotational frequency of the magnetic field of the

first construction of the magnetic gear for the inner rotor is (b) Second construction
20 Hz (Fig. 6-a) and for the outer rotor is 19.8 Hz (Fig. 7-a).
Fig. 9. FFT results of the radial components of the flux density in the air gap
The main frequency of rotation of the magnetic field of the between the inner rotor and the steel segments
second construction of the gear for the inner rotor is 30 Hz
(Fig. 6-b) and for the outer rotor is 29.9 Hz (Fig. 7-b). The radial components of the flux density in the air gap
between the steel segments and the outer rotor for both
constructions of the magnetic gear are shown in Fig. 10.

(a) First construction

(a) First construction

(b) Second construction (b) Second construction

Fig. 8. Radial components of the flux density in the air gap between the inner Fig. 10. Radial components of the flux density in the air gap between the steel
rotor and the steel segments segments and outer rotor


 The FFT analysis of the radial components of the flux
density in the air gap between the inner rotor and the steel
segments of both constructions are shown in Fig. 9.
(a) First construction
(b) Second construction
Fig. 11. FFT results of the radial components of the flux density in the air gap
between the steel segments and outer rotor
VI. CONCLUSION
It could be observed that in both magnetic gears
constructions the torques and flux density frequency spectrums
are very different. While the torques spectrums are almost clear
beyond the main harmonic, these for the flux density
distribution are very noisy. Main significant spectrum lines are
these for the two rotational speeds, for inner and outer rotors
respectively. These magnetic flux density frequency harmonics
are observable in both air gaps with different magnitudes.
Higher order harmonics above 5-th are with negligible value.
Existence of strong odd harmonics are leading to reduction of
average flux density values per magnetic pole, this effects the
outer torque value without disturbing main rotational speeds.
The flux density ripples of the 3-th harmonic are reducing with
15% to 25% the main harmonic flux density in the air gaps.
Output torque in coaxial magnetic gears could be presented
as a cogging torque between permanent magnet rotors.
Constructive measures to increase this cogging effect are
welcome, in case of keeping down the unmodulated radial
magnetic force component. Coaxial magnetic gear constructive
optimization could provide significant output torque
incensement by harmonic spectrum improvement and higher
order harmonics reduction.
ACKNOWLEDGMENT
This research is supported by project 172PD0027-01-2017
of the R&D Sector of Technical University of Sofia, Bulgaria.
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