ISSN 1068-3712, Russian Electrical Engineering, 2017, Vol. 88, No. 7, pp. 448452. Allerton Press, Inc., 2017.

Original Russian Text A.A. Afanasev, V.S. Genin, I.I. Islomov, A.G. Kalinin, D.A. Tokmakov, 2017, published in Elektrotekhnika, 2017, No. 7, pp. 5559.

Adjustable Magnetic Gear

A. A. Afanaseva, *, V. S. Genina, I. I. Islomova, A. G. Kalinina, and D. A. Tokmakovb
aChuvash
State University, Cheboksary, Russia
b
ZAO Cheboksary Electric Apparatus Plant, Cheboksary, Russia
*e-mail: journal-elektrotechnika@mail.ru
Received June 16, 2017

AbstractA mathematical interpretation of a combined electromechanical device possessing the properties

of a synchronous machine connected to a frequency converter and of a magnetic gear with a variable reduc-
tion factor is considered. The stator winding of the synchronous machine is concentrated (tooth winding),
and its spatial period covers the full number of teeth z. An expression for the frequency response of the mag-
netomotive force (MMF) of the tooth winding was obtained. In the variant under consideration (z = 36), the
fundamental harmonic of the magnetic field, which sets the number of stator pole pairs, is v = p = 17. The
MMF of the magnets of the internal rotor is represented as a Fourier series. Formulas are given making it pos-
sible to calculate the magnetic fields in two air gaps of the magnetic gear caused by the stator current and mag-
nets of a high-speed rotor (using the method of specific magnetic conductivity). The electromagnetic torques
of the gear shafts are calculated by the stretch method. The electromagnetic torque caused by the stator wind-
ing is determined on the basis of the instantaneous values of the EMF of rotation and transformation of each
winding coil without using the winding coefficients. A differential equation system for calculating the tran-
sient processes in three channels of a wind-power plant is obtained: in two mechanical channels and in one
electrical channel. A closed system with a PID controller is proposed making it possible to stabilize the rota-
tional speed of the electric generator of a wind-power plant with a variable wind speed.

Keywords: synchronous machine with steady magnets, modulator, magnetic fields in air gaps, frequency con-
verter, windwheel, power generator, feedback, regulator, transient processes, math modeling
DOI: 10.3103/S1068371217070057

Wind electricity-generating plants (WEGPs) are
making an ever increasingly significant contribution to
electricity generation in our country and abroad.
Due to the inconstancy of the wind velocity and the
relatively low rotational speed of a windwheel, prob-
lems with ensuring quality of electrical energy gener-
ated by autonomous WEGPs occur. To solve these
problems, slow generators have been developed and
mechanical multipliers, windwheels with an adaptive
turn of the blades, are being applied.
A significant improvement of technical and eco-
nomic indices of WEGPs can be achieved by applying
controlled magnetic gears [14]. Theoretical elements
of such gears with regard to their use in WEGPs are
discussed in this paper.
Figure 1 shows a simplified structural arrangement of
the device. The gear has two coaxially located rotors.
First (external, slow) rotor 2, which often is called
a modulator, is rigidly constrained by an input shaft.
The angular rotational speed of rotor 2 is 1. The rotor
contains z laminated ferromagnetic prismatic rods.
The magnetic field of the stator with number of pole
pairs p1 coming into one side of the modulator, while the
other side has a fundamental harmonic with a small
number of pole pairs, which is the difference (z p). This
low-pole magnetic field interacts with the internal-rotor
magnets, which has the same number of pole pairs.
Second (internal, high-speed) magneto-electric
rotor 1 rotates with angular rotational speed 2, and
the number of its heteropolar magnets is 2(z p1).
A three-phase stator winding generally can be con-
nected to an ac network through a static converter of
adjustable frequency . As a result, the magnetic field
of the stator will move in space with angular speed =
/p1 (the minus sign is implemented by the fre-
quency converter (FC) when changing the repetition
of the phases).
The rotational speeds of the rotor and the output fre-
quency of the FC satisfy the basic dependence of the gear
z +
2 = (1)
z p1 z p1
1
Consider the calculation of magnetic fields in two
air gaps of MR1 by the method of specific magnetic
1 The
magnetic gear is made on the basis of the stator core of an
induction motor of AIR 132 S 4 type and a rotor of an ac elec-
tronic motor with permanent magnets of 6 DVM 300 type man-
ufactured by the Cheboksary Electric Apparatus Plant.

448
 ADJUSTABLE MAGNETIC GEAR 449

conductivity [5]. We assume that there is no saturation FC

of the magnetic circuit, the toothed structure of the
gaps is caused only by the rods of the modulator, and 2
1
the FC generates sinusoidal currents iA, iB, and iC with
3
frequency in the phases of the stator winding. In the
case under consideration, the serration of the air gaps
will be one-sided.
The multipolar stator winding is concentrated, and
consists of coils on each tooth.
We expand the MMF of the phase coils with num-
ber of turns w in Fourier series, choosing in accor-
dance with the circuit of the stator winding the spatial
period of magnetic field T1 and fundamental fre-
quency 1 = 2/T1. The cosine av(k) and sine bv(k)
coefficients of these series are Fig. 1. Cross section of the gear.

tz

av ( k ) = 2
T1
i w cos ( k x );
v 1
F1(k), A
250
n x nv
tz
200
bv ( k ) = 2
T1
i w sin ( k x ),
v 1
n x nv 150
where v = A, B, and C and tz is the toothed division of
the stator. 100
For the MMF of the stator winding, the expression
50

F1 ( x ) = {[a A ( k ) + aB ( k ) + aC ( k )] cos ( k 1 x )
(2) 0 4 8 12 16 20 24 28 k
k =0
+ [b A ( k ) + bB ( k ) + bC ( k )] sin ( k 1 x )} .
Fig. 2. The harmonic composition of stator winding MMF
is true. (17th harmonic is working).
The contribution of each harmonic in the MMF of
the winding can be estimated by the formula

cos ( 2n 1)

I
F (k ) = [a A ( k ) + aB ( k ) + aC ( k ) cos ( k 1 x )] 2 F2 ( x, ) = 4 m
(3) 2 m =1 2n 1 (4)
+ [b A ( k ) + bB ( k ) + bC ( k )] . sin [ ( 2n 1)( x )] ,
2

The stator of the model specimen under consider-

ation has number of teeth z1 = 36, number of poles
2p1 = 34, and number coil turns w = 60.
Figure 2 shows dependence (3) for phase current
I = 5 A. It is seen from Fig. 2 that the winding can be
used when the number of pole pairs is 17 and 19. The
winding will have the greatest MMF amplitude if the
chosen number of pole pairs is 17.
The MMF shape of the winding calculated by
Eq. (2) for phase current I = 5 A is shown in Fig. 3 for
point of time t = 0 when the current in phase A is max-
imum (for the current of phase A, dependency
i A = 2I cos t ) is true. The spatial period of winding
is the entire perimeter of the circle with the diameter
of the stator boring.
The MMF of the rotor magnets in the second air
gap is
where Im = HcBhm, 2 is the angular space between
magnets with the height of hm of different polarities,
= /, and is the shift of the fundamental har-
monic of the MMF of the stator and rotor.
We find the radial component of the magnetic
induction in the first air from the equality [6]
0
B1 ( x, ) = F1 ( x )
k 11
(5)
+ '0 'm1 cos z 2 x F2 ( x ) ,
D1
where k1 is the coefficient of the first air gap with a
size of 1, z is the number of rods of the modulator,
D1 is the diameter of the stator boring, and '0 and 'm1
are the constant component and the amplitude of the

RUSSIAN ELECTRICAL ENGINEERING Vol. 88 No. 7 2017

450 AFANASEV et al.

F1(k), A The distribution of magnetic induction in air gaps 1

and 2 obtained by Eqs. (5) and (6) is shown in Fig. 4.
The contribution of each of the sources of a mag-
300 netic field (the windings of the stator and internal-
rotor magnets) in creating the magnetic induction in
0 the air gaps is shown in Figs. 5 and 6. The first har-
monics of the inductions of these sources are shifted
300 by half of the corresponding pole pitches (1 and 2).
At this shift, electromagnetic torques of the rotors T1
600 and T2 are maximum.
0 0.1 0.2 0.3 0.4 x, m
We determine the electromagnetic torques of the
Fig. 3. The MMF shape of the stator winding for point of MR shafts from formulas of the stretch method [7]:
time t = 0 (maximum MMF amplitude is for the coils of
phase A). T1
lD dF ( x )
M 1 ( ) = i B1 ( x, ) 1
dx; (7)
B1, T B2, T 2 dx
2 1.0 0
2 1 T1
1 0.5 lD dF ( x )
M 2 ( ) = p B2 ( x, ) 2
dx. (8)
0 0
2 dx
0

1 0.5 When = 1/2 = Di/4p1, the maximum values for

these moments are determined. In this case, the sinu-
2 1.0 soidal current that the frequency converter generates is
0 0.1 0.2 0.3 0.4 x, m introduced into the stator winding in phase (the gen-
erator regime) or in antiphase (motor regime) with its
Fig. 4. The radial magnetic induction in the (1) first and
(2) second air gaps. EMF idling. Such a stator current does not contain a
longitudinal component. This supply mode of the sta-
B11, T B12, T tor winding is implemented in an ac electronic motor
1.0 1.0 with permanent magnets. For the model specimen under
consideration with stator current I = 5 A, T1max =
1 2 16.4 N m and T2max = 1.91 N m were obtained.
0.5 0.5 The calculation of the EMF and of the phase cur-
rent of the stator winding (Fig. 7) makes it possible to
determine its electromagnetic power PEM and corre-
0 0
sponding electromagnetic torque TEM

0.5 0.5
PEM (t ) = e (t ) i (t ) + e (t 2T /3) i (t 2T /3)
(9)
+ e (t 4T /3) i (t 4T /3) ;
1.0 1.0 T
p
= 1 PEM (t ) dt; TEM = 1 PEM.

0 0.1 0.2 0.3 0.4 x, m
PEM (10)
Fig. 5. The components of magnetic induction of the first T
0
air gap caused by (1) stator current and (2) rotor magnets.
The EMF e(t) was calculated by the formula
variable component of the through specific magnetic x(t ) + t z B [ x(t ), h t, 2]
e(t ) = z f wl
conductivity of the two air gaps. 1 m 1
dx
t
The induction in the second air gap is determined x(t )
by a similar formula:
{B1 [ x (t ) + t z , hmt, 1 2]
= z f wl (11)
1
B2 ( x, ) = 0 F1 ( x )
k 2 2 B1 [ x (t ) , hmt, 1 2]} ,
(6)

+ "0 "m1 cos z 2 x F2 ( x ) , where zf = 12 is the number of teeth belonging to the
D1 same phase.
where k2 is the coefficient of the second air gap with From Eqs. (10), we obtain the values PEM = 184 W
the size of k2 and Dr is the outside rotor diameter. and TEM = 9.96 N m.

RUSSIAN ELECTRICAL ENGINEERING Vol. 88 No. 7 2017

 ADJUSTABLE MAGNETIC GEAR 451

The mechanical-motion equations for slow and B21, T B22, T

high-speed shafts are 0.2 1.0
2
d 1 d2
J1 = Tww T1; J 2 = T2 = Teg, (12) 0.1 0.5
dt dt 1
0 0
where J1 and J2 are the sum inertia moments of a wind-
wheel with a slow shaft and of the rotor of an electric
generator with a high-speed shaft, Tww is the outer 0.1 0.5
torque transferred to the slow shaft by the windwheel,
T1 and T2 are the electromagnetic moments of the 0.2 1.0
0 0.1 0.2 0.3 0.4 x, m
shafts calculated by Eqs. (7) and (8), and Teg is the
external torque applied to the high-speed shaft from
the side of electric generator. Fig. 6. The components of magnetic induction of the second
air gap caused by (1) stator current and (2) rotor magnets.
The control system of the frequency converter sup-
plying the stator winding generates stator current that
is sinusoidal and in phase with the EMF of the idling
winding stator. In this case, longitudinal stator current e, V t, A
Id will be equal to zero and the transverse current will 30 10
be represented by the amplitude of the first harmonic
of the stator current Iq = Im1. 20
2 5
For the stator current, the following differential 10
equation is true: 0
0
dI m1
Lc = U m1 cos 1 E 0m rI m1, (13) 1 5
dt 10

where Lc, r are the synchronous (total) inductance and 20 10

resistance of the stator winding, 1 is the load angle of 0 0.005 0.010 0.015 t, s

the slow rotor, E 0m = 2 23 0 hm H cB l 11' mw1k w1 is the Fig. 7. (1) EMF and (2) and stator phase current at a fre-
quency of 50 Hz.
amplitude value of the idling EMF, Um1 = (2/)E is
the amplitude value of the fundamental harmonic of
the stator voltage, and E is the input voltage of the FC
inverter. Load angle 1 according to formula (1) is
determined from the differential equation 1.5
2
d 1
= [1 ( z p1 ) 2 + z 1 ] . (14) 1.0
dt 3

When changing windwheel rotational speed 1, rota- 0.5

tional speed of the electric generator 2 should remain 1
unchanged and equal to 2set. For this, the error of
0
conservation of the value of the aforementioned speed 4 5
= 2set 2 is fed through the PID controller into a
control channel with frequency 1 of the power supply 0.5
of the stator winding.
Assuming that the dependence 1 = 1(Ic) is linear 1.0
0 0.2 0.4 0.6 0.8 t, s
(1 = kIc), we obtain
Fig. 8. Oscillograms of the transition process: (1) variable
1

dt + Td d .
1 rotational speed of the windwheel, (2) rotational speed of
1 = k I c + k p +
Ti dt
(15) the secondary shaft of the electromagnetic gear, (3) setting
of the rotational speed of the generator on the secondary
0 shaft, (4) output of the PID controller that forms the fre-
quency of the stator field, and (5) amplitude of the first
To stabilize speed 2, it is necessary also to affect harmonic of the stator current at 10% loading on the shaft
the stator current by changing the input voltage of reduced by ten times.

RUSSIAN ELECTRICAL ENGINEERING Vol. 88 No. 7 2017

452 AFANASEV et al.
inverter E. By analogy with the previous feedback, we
can write
1
E = k1 I c 1 + k p1 + 1
d t + T d1 d . (16)
T i1 d t
0
Figure 8 shows the oscillograms of the transition
process obtained with the dynamic model. The oscil-
lograms illustrate the stabilization of the rotational
speed of the electric-generator shaft in the presence of
a variable component of the rotational speed of a
windwheel with a period of 0.6 s.
CONCLUSIONS
(1) The presence of the stator winding MMF in
Fourier series makes it possible to determine its work-
ing harmonic.
(2) When the sinusoidal current in the stator wind-
ing is generated by a frequency converter in phase or an
idling EMF in antiphase with it, the electromagnetic
torque of MR shafts at this current value is maximum.
(3) The dynamic model of MR with the PID control-
ler makes it possible to stabilize the rotational speed of an
electric generator with variable windwheel speed.
RUSSIAN ELECTRICAL ENGINEERING
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Translated by M. Kromin
Vol. 88 No. 7 2017