L4 Fem

L4 Finite Element Method
Previous lecture
Industrial Electrical Engineering and Automation
L4: Finite Element Method
Formulation, implementation and experience
The equivalent circuit method (ECM) is essentially a finite element method (FEM) where the quickness is set against the accuracy Ka=f Stiffness matrix, vector of unknowns, load vector + boundary vector
Avo R Design of Electrical Machines 2
Industrial Electrical Engineering and Automation Lund University, Sweden
Todays goal
What shall we know about FE method and formulation as a user FE formulation that is based to the weighted residual method
Mathematic form of the field problem that is suitable of FE method
FEMM for magnetic calculations Prior to the second home assignment
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Design of Electrical Machines

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EIEN20 Design of Electrical Machines, IEA, 2013
Maxwells Stress Tensor

B
Magnetic force on a surface according to magnetic pressure
Bn t
Finite Element Method

How much shall we know FEM?
tn =
1 2 Bn Bt2 2 0 B B tt = n t
tn
Bt t t
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If the real model, which is a prototype, contains infinite number of degrees of freedom (d.o.f.) then the EC model incorporates too low d.o.f. (i.e. nodes) the FE gives an approximate solution to a physic problem described by differential or integral equations in a number of small regions finite number of d.o.f. The system equations are assembled according to the (main) solution methods: a variational method (integral kind) and a residual method (differential kind)
Field solution is based on solving potentials in accordance of the field equation and BC
2u = 0
Field solution is based on energy minimization (variational formulation)

W (u ) =
W (u ) =
1 2 u d 2
2u + g = 0
1 2 u d ugd 2
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Finite element
Interpolation of potential
2D 3D
1D
the potentials ae within the element bounds is interpolated between its values at the nodal points according to element shape function Ne
= 1 + 2 x = 1 x = N ie 1 = N 2
A geometric object is divided into finite number of simple shape elements Element joins geometry and material properties Element shape function interpolates the potential values within the element
1 = + x + y = 1 x y i 1 2 3 2 = N Ne = N e a e = NC 1 C j j 3 i = N ie N e N ke j = N e a e = NC 1 C j k
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Element shape functions

Ne i (x)=1+ 2x j 1 Nie(x) 0 xi l xj x Nje(x)
Differentiation
C=
1 xi 1 xj
det C = l
N ie =
1 (x x j ) l 1 Ne j = ( x xi ) l
For the FE formulation of residual kind, it is important to derive the gradient of potential In accordance with linear element expression, the potential gradient is constant within the element.
dN j d N e e dN ie = a = i + j = dx x dx dx 1 1 1 = N e a e = B e a e = l l 2
e
1 x1 C= 1 x2 1 x3
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y1 y2 y3
N ie =
1 (x j yk xk y j + (y j yk )x + (xk x j )y ) det C 1 (xk yi xi yk + ( yk yi )x + (xi xk ) y ) Ne j = det C 1 (xi y j x j yi + (yi y j )x + (x j xi )y ) N ke = det C

N e e a x = x = = e N ae y y N e N ie N ke j i j k x x = xe = N e a e = B e a e e e N i N j N k i k j y y y
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Weak formulation
Industrial Electrical Engineering and Automation Industrial Electrical Engineering and Automation
Weight function
In order to take the advantage of the weak formulation, a weight function needs to be chosen so that the residual of the solution of the unknown function and a known trial function is a minimum. In accordance with the Galerkin weighted residual method the weight function is chosen to be equal with the trial function which is in the case the shape functions. v = Nc = c T N T
dv dN dN T = c = cT = cT B T dx dx dx
Reformulation of strong form for FE implementation In the weak form only the first derivative of the (potential=) temperature is presented and the approximating functions need to be differentiable once To establish the weak of the strong form the latter is multiplied by an arbitrary weight function v and this multiplication is integrated over the pertinent region: l d d v A + Q dx = 0 dx dx 0 l l dv d A dx = ( vAq ) + ( vA ) h + vQdx = 0 x =0 x =l dx dx 0 0
FE formulation
2D FE formulation
Weak formulation (including convection term)
By substituting the derived expressions into weak formulation b l T b T cT B A B dx a + N Aq + N T Qdx = 0 a a 0
(v ) tD dA = vhtdL
T A Lh
Lg
vqntdL v ( amb )tdL + vQtdA

Lc A
=g
where cT is independent of x. The FE formulation is b l T b B ABdx a = N T Aq a + N T Qdx a 0
Temperature approximation, gradient and weight function = Na v = Nc = cT N T

= Na = Ba
v = Bc
FE formulation
T T T T T T A B tDBdA + LN NtdL a = LN htdL L N qntdL Tamb LN tdL + A N QtdA c h g c (K + K c ) a = fb + fl
which in compact form is expressed as Ka = f b + f l

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General form
2. diffusion
2D and 3D
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4. absorption
f ( f ) + v f + af = g t
3. convection 5. source
In the general 3-D case, A is a vector with three components. In the 2-D planar and axisymmetric cases, two of these three components are zero, leaving just the component in the out-off the page direction. The problem formulation on 3D magnetic field analysis may take advantage either on total scalar potential or on vector potential as the unknown in the node points.
1. parabolic, transient term
The general form of a differential equation with its possible coefficients in the particular terms In the coupled field problems, such coefficients are field dependent and represents the link between the various field types such as magnetic/thermal etc.
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Strong formulation
Magnetostatics
The problem in electromagnetic analysis on a macroscopic level is the problem of solving Maxwells equations subject to certain boundary conditions. Magnetostatic problems are problems in which the fields are time-invariant. The field intensity H and flux density B must obey the rules
d d A +Q = 0 dx dx ( D t ) + Q = 0 ( D ) + Q = 0
Thermal problem bases on a scalar field The stationary heat problem is described as a balance between heat supply and dissipation Formulation for 1D, 2D and 3D heat problem
H = J B = 0
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Constitutive relation
Magnetic vector potential

Subject to a constitutive relationship between B and H for each material:
B = H
If a material is nonlinear, the permeability, is actually a function of B:
Finite element magnetic solver calculates a field that satisfies via a magnetic vector potential approach. Flux density is written in terms of the vector potential, A, as:
B = A
B H (B )
By rewriting the equation by the Amperes circuit law
1 =J (B ) A M PM m
agn
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etisa t
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ion
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Time harmonic magnet problem

Ohms Law
J = E
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Cause for electric field intensity B E = Fixed frequency and phasor t transformation Replacing B by A A = Re a(cos t + j sin t ) = Re ae jt & E = A = A t Practical formulation er Consider 2D & umb nal t lex n ditio gradien p d m A integration e Co 1 oltag a = ja + J V & v E = A V (B ) eff
Adding new terms to Amperes Law 1 & (B ) A = A + J V
Finite Element Method Magnetics

FEMM for magnetic calculations
Electromagnetic device
Finite Element Analysis

Symmetry? Estimated magnetic flux flux=mmf/(Rg+Ry+Rt)=6e-4 Vs

mmf=N*I=180*2=360 A Rg=l/(0A)=6e+5 1/H Rt=l/(0A)=2e+4 1/H Ry=l/(0A)=4e+4 1/H
Pre-processing
Select appropriate size for the model Geometry Material properties and sources
Boundary conditions Discretization FE-mesh Processing Post-processing Field distribution, flow density, etc
Flux density B=flux/A=0.4T Force F=0.5B2/ 0A=177N
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Boundary conditions
FEMM Pre-Processor
The boundary conditions are used to reduce the size of the FE model and to constrain the field that surrounds the electrical device.
Dirichlet (essential) condition - flux (equi-potential) lines are parallel to the boundary Neumann's (natural) condition (/n, VM/n known) determines the surfaces that the magnetic flux crosses orthogonally Periodicity condition is set to reduce the size of the model according to the periodic structure.
Drawing the endpoints of the lines and arc segments for a region, Connecting the endpoints with either line segments or arc segments to complete the region, Defining material properties and mesh sizing for each region, Specifying boundary conditions on the outer edges of the geometry.
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Coil
FEMM Post-Processor
Flux lines show magnetic coupling between the magnetic conductive parts Flux density indicate magnetic loading Generally the forces are calculated by using weighted Maxwells stress tensor Flux linkage can be obtained from circuit-data
Wire specification (AWG) Coil & circuit specification (number of turns, parallel/series, current)
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Force calculation I
Force calculation II
Flux density, B Force integration lines
forces for 1 m long mover stator

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mover
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FEMM and LUA Script

Femm functions can be called by LUA Script Scripting is similar to Matlab, it is possible to create user-independent calculation loop Matlab can be used as a design environment that also generates LUA script
Home assignment
Performance analysis of a synchronous machine
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Synchronous machine
Analysis scope
q number of slots per phase and pole q=0.5, 1, 2 Np number of poles Np=2, 4, 6 Heat transfer analysis: find Jm Electromagnetism analysis: find Tm Understand results

phase a phase b phase c 1 0.866 0.5
Learning construction and energy conversion, Discover operation principle Current from heat transfer at given J@max Torque from magnetostatics T@Jmax
-0.5 -0.866 -1 0
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1/6
1/3
1/2
2/3
5/6
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Analysis goals
Apart from home assignments

Would it be enough to model just air-gap in order to focus on useful energy conversion in electrical machine? Are there any boundary conditions that match perfect?
Construction realization + Energy conversion implementation

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L4 Finite Element Method

L4: Finite Element Method

Formulation, implementation and experience

Industrial Electrical Engineering and Automation Lund University, Sweden

FEMM for magnetic calculations Prior to the second home assignment

Design of Electrical Machines

Industrial Electrical Engineering and Automation

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

Maxwells Stress Tensor

Magnetic force on a surface according to magnetic pressure

Finite Element Method

Design of Electrical Machines

Industrial Electrical Engineering and Automation Lund University, Sweden

Finite Element Method

Finite Element Method

Field solution is based on energy minimization (variational formulation)

Design of Electrical Machines

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

Element shape functions

Industrial Electrical Engineering and Automation

1 (x j yk xk y j + (y j yk )x + (xk x j )y ) det C 1 (xk yi xi yk + ( yk yi )x + (xi xk ) y ) Ne j = det C 1 (xi y j x j yi + (yi y j )x + (x j xi )y ) N ke = det C

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

By substituting the derived expressions into weak formulation b l T b T cT B A B dx a + N Aq + N T Qdx = 0 a a 0

vqntdL v ( amb )tdL + vQtdA

where cT is independent of x. The FE formulation is b l T b B ABdx a = N T Aq a + N T Qdx a 0

Temperature approximation, gradient and weight function = Na v = Nc = cT N T

which in compact form is expressed as Ka = f b + f l

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

1. parabolic, transient term

Design of Electrical Machines

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

Magnetic vector potential

Subject to a constitutive relationship between B and H for each material:

By rewriting the equation by the Amperes circuit law

Design of Electrical Machines

Design of Electrical Machines

Time harmonic magnet problem

Adding new terms to Amperes Law 1 & (B ) A = A + J V

Finite Element Method Magnetics

Industrial Electrical Engineering and Automation Lund University, Sweden

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

Finite Element Analysis

Symmetry? Estimated magnetic flux flux=mmf/(Rg+Ry+Rt)=6e-4 Vs

Flux density B=flux/A=0.4T Force F=0.5B2/ 0A=177N

Design of Electrical Machines

Design of Electrical Machines

Design of Electrical Machines

Design of Electrical Machines

EIEN20 Design of Electrical Machines, IEA, 2013

L4 Finite Element Method

Design of Electrical Machines