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Optimization of Eight Pole Radial Active Magnetic Bearing: K. P. Lijesh
Optimization of Eight Pole Radial Active Magnetic Bearing: K. P. Lijesh
Optimization of Eight Pole Radial Active Magnetic Bearing: K. P. Lijesh
is the area of air gap for one pole, G is the air gap, and g is the
Active Magnetic Bearing loss due to magnetic flux leakage and fringe effect. The value of g
can vary from 0.6 (for very closely spaced poles with leakage) to
0.9 (for very well spaced with low leakage).
K. P. Lijesh From Eq. (1), it can be inferred that designing a magnetic
Mechanical Department, bearing with more number of turns, higher current, and lesser air
Indian Institute Technology Delhi, gap increases the magnetic force. But with more number of
turns, the volume of the electromagnet increases. Increase in the
New Delhi 110016, India
current is limited by wire diameter and material saturation.
e-mail: lijesh_mech@yahoo.co.in Reducing the air gap reduces the reaction time for the controller
to react and increases the complexity of controller. Therefore,
Harish Hirani there is a need to follow a systematic procedure [6] for designing
Associate Professor the AMB.
Mechanical Department, Hsiao et al. [6] optimized the load carrying capacity and force
Indian Institute Technology Delhi, slew rate by constraining the bearing geometry. Hsiao et al. [6]
did not consider the losses, such as copper loss and iron loss,
New Delhi 110016, India
which constraint the performance of magnetic bearing. Further,
e-mail: hirani@mech.iitd.ac.in Hsiao et al. [6] put a constraint on the minimum distance between
the tips of the poles, which does not ensure the complete separa-
tion between the tips of winding. In the present study, both the
In the current paper, studies carried out to design an eight pole aspects (separation between winding, copper, and iron losses)
electromagnetic bearing have been presented. The magnetic have been accounted for maximization of the magnetic force.
levitation force, accounting the copper and iron losses, was Shelke and Chalam [7] optimized the weight of the electromag-
maximized for the given geometric constraints. Derivation of net and analyzed the losses (copper and iron loss) considering
winding constraint equation in terms of wire diameter, number of different number of poles and concluded that eight pole radial
turns, and dimensions of pole has been presented. Experiments magnetic bearing reduces the total losses. As per Shelke and
were conducted to establish the constraints related to temperature Chalam [7], on reducing outer diameter of magnetic bearing
rise. Finally, the dimensions of the electromagnet for maximizing copper loss increases. This may be due to higher current to be pro-
the force obtained using numerical optimization have presented. vided in shorter stator radius compared larger radius stator to
[DOI: 10.1115/1.4029073] achieve same magnetic force. On the other hand, increase in outer
diameter of the stator increases the core losses because the core
Keywords: electromagnet, optimization, losses in AMB loss proportionally increases with the increase in volume. Based
on these considerations Shelke and Chalam [7] suggested a wire
of cross-sectional area of 1.48 cm2 (1.38 cm diameter) for 30 A.
Bakay et al. [8] explored the effect of angular velocity of rotor on
Introduction copper and iron losses of AMB. As per Yanhua and Lie [9], the
Active magnetic bearings (AMBs), made of eight poles as iron loss is proportional to the thickness of lamination and it is a
shown in the Fig. 1(a), find their wider usage in flywheel energy higher-order function of flux density (B). For eddy currents, it is
storage systems [1], turbomolecular vacuum pump [2], artificial B2, and for hysteresis it is B1.6. It is noteworthy that various
heart blood pump [3], etc., due to their built-in fault diagnostics, researchers [8–10] analyzed the losses in electromagnet but did
vibration free operation, and friction and wear [2] characteristics. not consider losses as a constraint. In the present study, the losses
Each pair of pole makes an electromagnet consists of iron-core as constraints have been accounted.
and copper-winding. On passing the current through the copper- After reviewing the literature, it appears that researchers have
wire of electromagnet, it attracts the rotor. Using four pairs of either considered geometrical constraints or analyzed the losses
electromagnets, the motion of rotor in horizontal and vertical (x occurring in the electromagnet. Designing an efficient AMB
and y) directions can be controlled. The detailed description of requires considerations of all the geometrical constraints and
working of electromagnet has been provided by Schweitzer and losses. In the present work, constraint due to losses have been
Maslen [4]. included by equating the heat generation and heat liberated and
An electromagnet have been shown in the Fig. 1(b), where Ws an appropriate winding interference constraints have been
is the thickness of the outer rim of the stator; dp is the inner diam- considered. In the present research, an effort have been made to
eter of the stator at the poles; L is the width of the bearing along maximize load carrying capacity using numerical method, for the
the shaft axis; l is length of the pole; Wp is the width of the pole; given outer diameter of stator, shaft diameter, axial length, and
and a is the half angle made by the two consecutive poles at the the maximum permissible current.
centre of the bearing. The electromagnet is made of N turns of
copper wire having cross-sectional diameter dw. The A shaft of Formulations
diameter Dshaft is made of paramagnetic material and a ferromag-
netic sleeve of thickness Wrotor is mounted on the shaft. In the In AMB, the constraints can be classified as: (1) geometrical
present work, Wrotor ¼ Wp ¼ Ws has been considered to maintain and (2) losses. The limit on outer diameter of stator, limit on the
the same saturation limit for the magnetic flux density [4]. Using shaft diameter, winding space limitation, etc., belong to geometri-
these parameters, the attraction force, exerted by an electromagnet cal constraints. Limit on the maximum current to be supplied to
on the rotor (as illustrated in Fig. 1(b)), is given as [5] electromagnet, as a function of temperature rise, rotating speed,
etc., is categorized as loss. Explanation of each constraint is pro-
l0 AG vided below.
F¼g ðNIÞ2 cos a (1)
G2
Geometrical Constraints. Geometric constraints ensure the
physical nonintersection of the pole tips and sufficient gap
Contributed by the Tribology Division of ASME for publication in the JOURNAL OF
between the pole tips so that the wire can be wound onto the pole.
TRIBOLOGY. Manuscript received August 24, 2014; final manuscript received The winding space constraint limits the number of coils of any
November 9, 2014; published online December 18, 2014. Assoc. Editor: Bugra Ertas. particular diameter. The excessive current in the coil is limited by
the pole magnetic saturation limits. The excessive current causes where dw is the diameter of the winding, Lw is the length of the
excessive losses. winding, w is the thickness of winding, If dw is the wire diameter,
The geometrical constraints include: (1) wire diameter due to and “n” is the number of layer of winding then “w ¼ ndw.” Equa-
current, (2) area of pole, (3) maximum diameter of stator, (4) tion (3) is modified as
maximum diameter of rotor, (5) winding space, and (6) interfer-
ence of winding. The geometrical notations of the variables have dw ndw
been shown in Fig. 1(b). Ndw (4)
1
Pole Diameter. Shaft is made of paramagnetic material to allow Lw
minimum field (minimize loss) to pass through. A ferromagnetic
sleeve is used to respond the magnetic field generated by electro- Equation (4) makes sure that the number of layers of winding
magnet. With this arrangement, there will be very little flux in the should be more than or equal to one but cannot be less than one.
shaft and the position sensors would not be affected by it. The In order to prevent interference of the winding tips and to
radial thickness of this ferromagnetic ring (Wrotor) should be equal ensure that there is a minimum gap of 2dw between the tips, the
to the pole width (Wp) so that the shaft get saturated only when following condition expressed by Eq. (5) must be satisfied:
the poles get saturated; thus, shaft is surrounded by ring having
thickness Wrotor of ferromagnetic material. The air gap (G) is kept
8 Wp þ 2w þ 2 cos adw 2p 0:5dp þ t (5)
very less and so all the field is assumed to pass through the shaft
path. Thus, the inner diameter of the stator becomes
The use of Eq. (5) ensures that the sum of the sum of the width
dp ¼ Dshaft þ 2 Wp þ G (2) of the eight poles (along with the winding width) and minimum
gap on both sides of the pole is always lesser than the circumfer-
Interference of Winding. Bakay et al. [8] considered the inter- ence of circle of radius 0.5 dp þ t.
ference of the pole as constraint. As per authors of the present Wire Diameter Constraint Due to Current. Maximum current
paper, the minimum gap between of tips of winding, as shown in in the wire is limited by the area of the current carrying wire and
Fig. 2, must be greater than two times of wire diameter. Therefore, its current density. The equation is given below [7]
in the present work, the interference of winding has been
accounted. rffiffiffiffiffiffiffiffiffiffiffi
4Imax
The distance between the tips of winding must be at least twice dw (6)
np
the thickness of wire
2dw 2w (3) where n is the maximum current density of copper wire which
depends on the cooling mechanism, shape of winding and insula-
tion type, etc. In the present study, the current density is limited to
6 A/mm2 [6].
Area of the Pole. Ferromagnetic materials are made of ran-
domly distributed microscopic regions called as magnetic
domains (small magnets). The random distribution of the domains
results in zero net magnetic field. In the presence of externally
applied magnetic field (H), the magnetic domains align
themselves and increase in the magnetic flux density (B) of the
ferromagnetic material. The maximum value of flux density (B) is
limited by the onset of material saturation (B ¼ Bsat). Saturation
occurs when all of the domains have been aligned. Once the effec-
tive saturation limit has been reached, further increase in applied
field (i.e., amp-turns) will result in minimal gain of force output.
The flux generated in the air gap of the magnetic bearing due to
the current (I) and number of turns (N) must be less than the satu-
ration limit of the material hence the constraint due to saturation
Fig. 2 Winding constraint is given by
where S is the total surface area of contact between the fluid and
Fig. 3 Winding space and air gap the solid, natural convection coefficient (h) of 10 W/m2 K was
selected [10] for the analysis, and Ta represents the surface
temperature of the core exposed to the ambient, i.e., outer
Bsat l0 diameter of the bearing.
NI (7)
G Due to the limited temperature range expected, that radiation
influences will be negligible hence heat dissipation through radia-
Maximum Diameter of Stator. Maximum diameter of stator tion not considered in the optimization. The net heat dissipated
constraint is given as from the magnetic bearing is given below.
Dstator ¼ Dshaft þ 2 Lw þ Wp þ t þ G (8) Iron Losses. Based on iron loss models presented earlier
[10,11],
eddy current and hysteresis
losses
may be approximated
as 8:4tWp f 2 B2sat =qnpðV Þ þ Kh B1:6
sat fV
where t is gap given at the bottom of the pole for avoiding loosen-
ing of winding during operating condition
ðT1 Ta Þ
Q_ dis Q_ conv þ Q_ cond ¼ hSðT1 Ta Þ þ KA (14)
Winding Space Constraint. Maximum wire turns that can be L
accommodated around the pole are approximated by the area
between the two poles (Fig. 1(b)). This analysis assumes that 80% The core of an AMB is made from soft iron, which is a con-
of the coil slot area is usable based on close packed windings [6] ducting material with desirable magnetic characteristics. Any con-
as shown in Fig. 3. ductor will have currents induced in it when it is rotated in a
magnetic field. These currents, induced in the AMB armature
2ndw Lp 0:8 dp þ 2t þ Lw sinðaÞ Wp cosðaÞ Lp cosðaÞ (9) core, are called eddy currents. The power loss due to eddy current
must be minimized to reduce the heating of the core. The mag-
where Lp is the length of the pole. netic core of electromagnets is made of ferromagnetic material
which consists of numbers of domains. These domains are
arranged in such a random manner, that net resultant magnetic
Constraints Due to Losses. The losses (i.e., heat generation)
field is zero. Whenever external magnetic field is applied to that
constraints will drive the winding operational temperature that
substance, these randomly directed domains get arranged parallel
must be maintained below some limit to ensure long life. Losses
to the axis of applied field. After removing the external field, a
negatively impact the working efficiency of the machine, which
number of domains again come to random positions, but some of
could be very important in some applications like flywheels.
them still remain in their charged position. Because of these
The losses in the electromagnet can be divided into the catego-
unchanged domains, the substance becomes slightly magnetized
ries: (1) copper losses and (2) iron losses. The copper losses are
for longer duration. Some energy is required to neutralize those
due to the current flowing in the coils. The iron losses occur due
domains, which is termed as hysteresis loss. Hysteresis loss is pro-
to ferromagnetic material used in both the stator and the rotor.
portional to volume of the conductor, supplied magnetic field, and
Copper Losses. According to Joule’s law, the current (I) sup- frequency of domain reversal.
plied to wire having resistance (R) generates heat proportional to To reduce eddy currents losses in stator material lamina are
I2R, where I is the current flowing in the wire and R is the resist- used. However, in the presence of unbalance force, iron losses
ance of the wire occur in the stator and rotor
where qis the resistivity of current carrying wire and lw is the total where “t” is thickness of laminated core, length of the pole “l,”
length of the wire. “f” is the frequency of the rotation, and V is the volume of the
The generated heat is transferred through conduction, convec- conductor.
tion, and radiation methods. Heat transfer due to conduction by The total losses in the electromagnet is
solid material is given as [9]
Ploss ¼ Peddy þ Physt þ Q_ gen (16)
T1 Ta
Q_ cond ¼ KA (12)
L For the electromagnet to work for long time the heat generated
must be less than the heat dissipated, i.e.,
where K is the coefficient of thermal conductivity of the material.
For a free convection application (no forced air flow), much of the
heat is conducted from the windings into the poles and into the Q_ dis Ploss (17)
Fig. 5 Location of thermocouple: (a) experimental measurement and (b) schematic figure
pdw2
2N 0:8 0:021 þ 2Wp þ 1:1 0:0355 0:91Wp
4
sinð22:5 degÞ Wp cosð22:5 degÞ
Fig. 8 Reduction in magnetic flux density with rise in
temperature
0:0355 0:91Wp cosð22:5 degÞ
pdw2
) 2N 0:8 Wp þ 0:0601 sinð22:5 degÞ
Table 1 Parameter considered for the AMB 4
Wp cosð22:5 degÞ 0:0355 Wp
Outer diameter, Dstator 100 mm
Radial air gap, G 0.5 mm cosð22:5 degÞ
Diameter of the shaft, Dshaft 20 mm
Length of the AMB, L 35 mm pðdw Þ2
Saturation of the material (Bsat) 1.2 T ) 2N 0:8 0:0555 0:5421Wp
4
Copper current density (n) 6 A/mm2
Resistivity (q) 1.68 108 (X m) 0:0355 Wp cosð22:5 degÞ
Heat transfer coefficient (h) 10 W/(m2 K)
Maximum current (Imax) 4A ) Ndw2 0:475 0:002 0:0748Wp þ 0:5421Wp2
g 0.6
Ambient temperature (Ta) 35 C
Winding temperature (T1) 65 C Modified final equation is given by
) Ndw2 0:475 0:002 0:0748Wp þ 0:5421Wp2 0
4Imax Ndw
dw2 (19) 8 Wp þ 2 þ 2 cosð22:5Þdw 2p 0:5dp þ 0:1Lw
1:88 107 Lw
(3) By substituting the values of Bsat ¼ 1.2T, l0 ¼ 4p107, and 8Wp Lw þ 2Ndw þ 1:847dw Lw 3:14dp þ 0:628L2w
G ¼ 0.5 mm in Eq. (7)
0:287Wp 0:728Wp2 þ 2Ndw þ 0:066dw 1:67dw Wp
0:0005 1:2 0:11dp þ 2:857dp Wp þ 8:1 104 0:04Wp þ 0:5Wp2
IN
4p 107
On rearranging 0:327Wp 1:28Wp2 þ 2Ndw þ 0:066dw 1:67dw Wp
Final modified equation for power loss due to eddy cur- 4p 107 0:035Wp
rent is given by F ¼ 0:6 ðIN Þ2 cosð22:5 degÞ
0:000752 (25)
maxðFÞ ¼ 0:0433Wp ðIN Þ2
Peddy ¼ 1:11 105 Wp2 5:665 106 Wp3 (23a)
(b) Power loss due to hysteresis Numerical Optimization. For numerical optimization, in the
present work, MATLAB has been used for obtaining the optimum so-
lution. In MATLAB, the optimization has been carried out using con-
Physt ¼ Kh B1:6
sat fV strained minimization function (fmin) and “Interior Trust” method
Physt ¼ 0:06253f 0:1155 B2sat f Lw LWp for the considering all the specified constraints. Equation (26) was
converted to a minimization objective function and given as
Physt ¼ 0:1Wp 0:039 2Wp
minðFÞ ¼ 0:0433Wp ðIN Þ2 (26)
Physt ¼ 0:0039Wp 0:2Wp2
The nonlinear constraints is given as
Final modified equation for power loss due to hysteresis
is given by 9
14:78Ndw2 < 2:0718Wp2 0:16061Wp þ 0:0031 >
>
>
>
>
>
Physt ¼ 0:0039Wp 0:2Wp2 (23b) Imax >
>
4:7 106 >
>
dw2 >
>
>
>
(c) Heat generation in current carrying wire =
0:327Wp 1:28Wp2 þ 2Ndw þ 0:066dw 1:67dw Wp 0:11dp
qLw 2:857dp Wp 8:1 104 0 >
>
Qgen ¼ I 2 >
>
pdw2 =4 >
>
NI 477 0 >
>
>
>
6 3 5 2
5:51 10 Wp þ 1:71 10 Wp 1170Wp >
2 qN Wp þ L þ 0:001
>
>
>
Qgen ¼I ;
pdw2 =4 þ 2:13 108 Wp þ 7:48 1010 I 2 N=dw2 1:06 104 0
Qgen ¼ 2:13 108 Wp þ 7:48 1010 I 2 N=dw2 (27)
Final heat generation equation is given by The problem has been solved with the aid of MATLAB toolbox.
The functional and nonlinear constraint tolerance was considered
Qgen ¼ 2:13 108 Wp þ 7:48 1010 I 2 N=dw2 to be 106. The values of objective function with respect to num-
ber of iteration have been shown in Fig. 10. The number of
(23c)
ðTi Ta Þ
Q_ cond ¼ KLp Wp
L
Ti Ta
¼ 2:5 0:039 2Wp Wp
L
Fig. 10 Objective function with respect to the number of
¼ 83Wp 14512Wp2 (23e) iteration