energies

Article
Analytical Modeling and Comparison of Two
Consequent-Pole Magnetic-Geared Machines for
Hybrid Electric Vehicles
Hang Zhao 1,2 , Chunhua Liu 1,2, *, Zaixin Song 1,2 and Jincheng Yu 1,2
1 School of Energy and Environment, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon Tong,
Hong Kong, China; zhao.hang@my.cityu.edu.hk (H.Z.); zaixin.song@my.cityu.edu.hk (Z.S.);
jincheng.yu@my.cityu.edu.hk (J.Y.)
2 Shenzhen Research Institute, City University of Hong Kong, Nanshan District, Shenzhen 518057, China
* Correspondence: chunliu@cityu.edu.hk; Tel.: +852-34422885




Received: 11 April 2019; Accepted: 13 May 2019; Published: 17 May 2019


Abstract: The exact mathematical modeling of electric machines has always been an effective tool for
scholars to understand the working principles and structure requirements of novel machine topologies.
This paper provides an analytical modeling method—the harmonic modeling method (HMM)—for
two types of consequent-pole magnetic-geared machines, namely the single consequent-pole
magnetic-geared machine (SCP-MGM) and the dual consequent-pole magnetic-geared machine
(DCP-MGM). By dividing the whole machine domain into different ring-like subdomains and solving
the Maxwell equations, the magnetic field distribution and electromagnetic parameters of the two
machines can be obtained, respectively. The two machines were applied in the propulsion systems of
hybrid electric vehicles (HEVs). The electromagnetic performances of two machines under different
operating conditions were also compared. It turns out that the DCP-MGM can reach a larger
electromagnetic torque compared to that of the SCP-MGM under the same conditions. Finally, the
predicted results were verified by the finite element analysis (FEA). A good agreement can be observed
between HMM and FEA. Furthermore, HMM can also be applied to the mathematical modeling of
other consequent-pole electric machines in further study.

Keywords: harmonic modeling method; magnetic-geared machine; hybrid electric vehicle; magnetic
field; electromagnetic performance; analytical modeling

1. Introduction
The last decade has witnessed rapid developments of magnetic gears (MGs) and electric machines
that utilize the magnetic-gearing effect, which are also called magnetic-geared machines (MGMs) [1–3].
Ever since their invention in 2001 [4], MGs have become a research hotspot due to their high efficiency
and self-protection characteristics [5–7].
The concept of MGMs is derived from MGs. By substituting stator windings with AC current
for one rotating permanent magnet (PM) component, MGMs change one mechanical port of MGs
into an electrical port. Thus, the two rotating components of the MGM and its stator windings can
be regarded as a combination of a magnetic gear and an electric machine [8–10]. Indeed, with the
introduction of another rotating component and the ability to alternate the speed ratio and torque
ratio between two rotating components, MGMs have broadened the application scenarios of electric
machines [11–13]. A good example is that MGMs can serve as the power split component (PSC) in
hybrid electric vehicles (HEVs) to realize energy exchange among the internal combustion engine
(ICE), wheels, and battery [14–16]. The ICE and electric machine can provide traction for the wheels

Energies 2019, 12, 1888; doi:10.3390/en12101888 www.mdpi.com/journal/energies

Energies 2019, 12, 1888 2 of 25

independently. The electric machine can work as a generator and a motor. When the electric machine
serves as a generator, it can absorb power from the ICE or wheels (depending on working modes)
to get the battery charged. When the electric machine serves as a motor, the power flows from the
battery to the electric machine to drive the wheels. Hence, the ICE can always work at its highest
efficiency to save fuel by alternating the working modes of the electric machine. This application
scenario has drawn more and more attention as environmental problems become severe [17]. HEVs do
offer a chance to alleviate the exhaust gas emission problem caused by fuel vehicles [18]. Moreover,
compared to its counterpart, namely the mechanical gearbox with an electric machine, MGMs not only
save space, but also improve efficiency and reduce noise and vibration by eliminating the physical
contact of two gear sets [19,20].
Just like permanent magnet synchronous machines (PMSMs), MGMs utilize permanent magnets as
the magnetic sources instead of using the electrical excitation method. Thus, the carbon brush structure
can be eliminated and the durability of electric machines can be enhanced. However, the rare earth
elements make the price of PMs extremely expensive [21]. To solve this problem, a consequent-pole
structure can be adopted. The consequent-pole structure can not only reduce the flux linkage, but also
improve the torque density [22–24]. Two different topologies of consequent-pole MGMs, i.e., single
consequent-pole magnetic-geared machines (SCP-MGM) and dual consequent-pole magnetic-geared
machines (DCP-MGM) have been proposed [25], but their mathematical modeling has not been
well studied.
Although the MGMs offer many new possibilities for electric machines, their magnetic field
distribution is much more complex compared to traditional electric machines with one rotor. Many
scholars have focused on the magnetic field distribution calculation of MGMs [26–28]. Yet, to the best
of author’s knowledge, no literature has studied the magnetic field distribution of consequent-pole
MGMs. The introduction of soft magnetic material (SMM) to replace the PM part will make the
magnetic field distribution of consequent-pole MGMs even more complicated. Research [29] has
solved the magnetic field distribution of a PMSM with PMs inserted into the SMM part, but did not
consider of the saturation of SMM. Additionally, the subdomain division method [30] is not suitable for
MGMs, since too many subdomains increase the calculation time rapidly. Research [31] has proposed
a new harmonic modeling method (HMM) to calculate the magnetic distribution of electric machines.
By introducing complex Fourier series and a convolution matrix of permeability, HMM can reduce the
number of subdomains to within ten. This is because the total number of these ring-like subdomains
will not increase with the increase of modulator pieces and slots.
In this paper, two consequent-pole MGMs were studied using HMM. The paper is organized as
follows. Section 2 discusses the configurations and operating principles of consequent-pole MGMs.
Mathematical models of SCP-MGM and DCP-MGM considering iron saturation are then proposed
and elaborated in Section 3. Finally, the effectiveness of proposed HMM is validated by using finite
element analysis (FEA) in Section 4.

2. Configurations and Operating Principles of SCP-MGM and DCP-MGM

When the MGM (either SCP-MGM or DCP-MGM) is applied in HEV, its inner rotor can be
connected to the ICE, while the outer rotor can be connected to a permanent magnet synchronous
machine (PMSM), which will be further connected to the differential to drive the wheels; the battery
provides energy to the windings of both the MGM and PMSM via an inverter. The whole system
configuration can be seen in Figure 1. The MGM together with the PMSM can be regarded as the E-CVT
in a Toyota Prius. They can cooperate with each other according to different working conditions of
HEVs [32]. Briefly speaking, either the torque from the ICE or the torque on the outer rotor driven by
AC current can be the prime power to drive the HEV, and they can also work together to enhance the
output power. Additionally, the battery can be charged under a regenerative braking state. The concept
that a PMSM is added after the CP-MGM is derived from that in E-CVT [33]. The PMSM in Figure 1 is
used to regulate the performances of the outer rotor. For instance, it can be used to drag the outer
Energies 2019, 12, 1888 3 of 25

rotor of CP-MGM to a synchronous state (the rated rotating speed) at startup state. In addition, it
can deliver extra output torque to the outer rotor shaft if the output torque of the CP-MGM cannot
meet the requirement. Since this paper mainly focuses on the operating modes of the CP-MGM, it is
reasonable to assume
Energies 2019, 12, x FOR that
PEER there
REVIEWis no power flow between the PMSM and the outer rotor shaft at the
3 of 25
four steady states mentioned in this paper. In fact, power exchange between the PMSM and the wheels
wouldMGMnotcannot
affect themeet the requirement.
conclusion Since
obtained this paper
in this paper.mainly focuses on the operating modes of the
CP-MGM, it is reasonable to assume that there is no power flow between the PMSM and the outer
The working principle of MGMs is similar to that of magnetic gears. By adopting a modulator layer,
rotor shaft at the four steady states mentioned in this paper. In fact, power exchange between the
the magnetic field distribution can be changed. Assuming that the pole pair number of the original
PMSM and the wheels would not affect the conclusion obtained in this paper.
magneticThe field is Pi , and
working
the modulator number is Q, then a novel magnetic field will have a component
principle of MGMs is similar to that of magnetic gears. By adopting a modulator
that layer,
has (Qthe −P i ) pole
magnetic pairs. Thus, the fundamental
field distribution structural
can be changed. requirement
Assuming of anpair
that the pole MGM is [4]:of the
number
original magnetic field is Pi, and the modulator number is Q, then a novel magnetic field will have a
component that has (Q − Pi) pole pairs. Thus, Pi+
the Ps = Q
fundamental structural requirement of an MGM is [4]: (1)
Pi + Ps = Q (1)
where Ps is the pole pair number of stator windings.
UnderPssteady
where working
is the pole conditions,
pair number the
of stator rotating speed of two rotating rotors and the current
windings.
frequency f within stator windings should then
Under steady working conditions, the rotatingsatisfy:
speed of two rotating rotors and the current
frequency f within stator windings should then satisfy:
Pi ωi − Qωo = Ps ws = 60 f (2)
Pi ω i − Q ω o = Ps w s = 60 f (2)
where ωi , ω
where ωoi,, ω
and ωsωare
o, and the
s are therotating
rotatingspeed
speed of the
the inner
innerrotor,
rotor,outer
outer rotor,
rotor, and
and thethe equivalent
equivalent rotating
rotating
speed of stator
speed of statorwindings.
windings.

Inverter Battery

Fuel tank ICE Differential

CP-MGM PMSM

Driving direction

Figure
Figure 1. Propulsion
1. Propulsion system
system configuration of
configuration of the
the consequent-pole
consequent-polemagnetic-geared
magnetic-gearedmachine (MGM)
machine (MGM)
applied in hybrid electric vehicles (HEVs).
applied in hybrid electric vehicles (HEVs).

Since
Since thethe
ICEICE reaches
reaches itsits highestefficiency
highest efficiency at the
the range
rangeofof~2000
~2000 r/min–3000
r/min–3000 r/min, the the
r/min, rotating
rotating
speed of outer rotor and the current frequency of stator winding must cooperate
speed of outer rotor and the current frequency of stator winding must cooperate with the rotating with the rotating
speed
speed of the
of the inner
inner rotor
rotor to to ensurethe
ensure thehighest
highest efficiency
efficiency ofofthe
theICE.
ICE.However,
However,if the stator
if the windings
stator windings
need to provide energy for the HEV, the rotating speed of the inner rotor must be smaller than that
need to provide energy for the HEV, the rotating speed of the inner rotor must be smaller than that of
of the outer rotor. Thus, a gearbox must come into service under hybrid mode to reduce the rotating
the outer rotor. Thus, a gearbox must come into service under hybrid mode to reduce the rotating
speed of the inner rotor. Therefore, the operation modes of the proposed HEV propulsion system can
speed of the inner rotor. Therefore, the operation modes of the proposed HEV propulsion system can
be divided into four kinds, and their typical operating parameters are shown in Table 1. The rotating
be divided
speed ofinto
the four
outerkinds,
rotor isand their typical
calculated operating
according to the parameters are shown
different driving speeds in
of Table
the HEV,1. The
androtating
the
speed of the outer rotor is calculated according to the different
current frequency of stator winding is obtained via Equation (2). driving speeds of the HEV, and the
current frequency of stator winding is obtained via Equation (2).
Table 1. Operating parameters of MGM under different modes of HEV.
Table 1. Operating parameters of MGM under different modes of HEV.
Rotating Speed of Inner Rotating Speed of Outer Current
Operation Modes
Rotor
Rotating ωo of Inner
Speed Rotor
Rotating ωi of
Speed Frequency f
Operation Modes
Pure electric mode r/min ωo
0Rotor r/min ω
500Rotor Current Frequency
108.3 Hz f
Outer i
Pure mechanical mode 1200 r/min 1015 r/min 0 Hz (DC)
Pure electric mode
Hybrid mode
0 r/min
1200 r/min
500 r/min
2000 r/min
108.3 Hz
213.3 Hz
Pure mechanical mode
Regenerative braking
1200 r/min 1015 r/min 0 Hz (DC)
Hybrid mode 01200
r/min
r/min 1000 r/min
2000 r/min 216.6
213.3Hz
Hz
mode
Regenerative braking mode 0 r/min 1000 r/min 216.6 Hz
The topologies of SCP-MGM and DCP-MGM are shown in Figure 2. By substituting SMM for
PMs with the same polarity, a consequent-pole structure is obtained. The name “consequent-pole” is
due to SMM, and PM appears alternately on the circumferential direction. Although SMM cannot
 Energies 2019, 12, 1888 4 of 25

The topologies of SCP-MGM and DCP-MGM are shown in Figure 2. By substituting SMM for
PMs with the same polarity, a consequent-pole structure is obtained. The name “consequent-pole” is
Energies 2019, 12, x FOR PEER REVIEW 4 of 25
due to SMM, and PM appears alternately on the circumferential direction. Although SMM cannot
generateaamagnetic
generate magneticfieldfielditself,
itself,ititcan
canbebeeasily
easilymagnetized
magnetizedto toconduct
conductfluxfluxlines.
lines.Hence,
Hence,SMMSMMininaa
consequent-pole structure can be regarded as a magnetic source to some degree.
consequent-pole structure can be regarded as a magnetic source to some degree. The greatest The greatest advantage
of using the
advantage of consequent-pole structure structure
using the consequent-pole is saving is
PM material,
saving which is which
PM material, the most expensive
is the material
most expensive
in an electric machine. Both SCP-MGM and DCP-MGM utilize a consequent-pole
material in an electric machine. Both SCP-MGM and DCP-MGM utilize a consequent-pole structure structure to save
PM
to material.
save The SMM
PM material. part in
The SMM theinouter
part rotorrotor
the outer of a DCP-MGM
of a DCP-MGM not only works
not only worksas aas
consequent-pole
a consequent-
structure for the PMs inserted in the outer rotor, it also modulates the magnetic
pole structure for the PMs inserted in the outer rotor, it also modulates the magnetic field of field ofthe
theinner
inner
rotor. Thus, the P -th harmonic component within the DCP-MGM is larger
rotor. Thus, the Pss-th harmonic component within the DCP-MGM is larger than that of the SCP- than that of the SCP-MGM.
Additionally,
MGM. the saturation
Additionally, of the DCP-MGM
the saturation is moreissevere
of the DCP-MGM more than
severethat of the
than thatSCP-MGM.
of the SCP-MGM.

Windings Air Windings Unipolar PMs

7 6 5 7 6 5
8 4 8 4
9 3
Unipolar PMs
9 3
10 2 10 2
11 1 11 1
12 24 12 24
13 23 13 23
14 22 14 22
15 21 Inner rotor 15 21 Inner rotor
16 20 16 20
17 18 19 Outer rotor 17 18 19 Outer rotor
Stator Stator
(a) (b)
Figure
Figure2.2.Proposed
Proposedmachine topologies:
machine (a) single
topologies: consequent-pole
(a) single magnetic-geared
consequent-pole machines
magnetic-geared (SCP-
machines
MGMs); (b) dual
(SCP-MGMs); (b)consequent-pole magnetic-geared
dual consequent-pole machines
magnetic-geared (DCP-MGMs).
machines (DCP-MGMs).

3.3.Mathematical
MathematicalModeling
Modelingof
ofSCP-MGMs
SCP-MGMsand
andDCP-MGMs
DCP-MGMs

3.1. Assumption and Parameter Definition

3.1. Assumption and Parameter Definition
The machine structure chosen to be studied in this paper was a 24 slot 11 pole-pair SCP-MGM
The machine structure chosen to be studied in this paper was a 24 slot 11 pole-pair SCP-MGM
and DCP-MGM, as shown in Figure 2. A few assumptions must be made to simplify the mathematical
and DCP-MGM, as shown in Figure 2. A few assumptions must be made to simplify the
modeling:
mathematical modeling:
•• Thegeometrical
The geometricalshape
shapeof ofthe
themachine
machinehas hasaaradial
radial side
side and
and aa tangential
tangential side;
side;
•• Themagnetic
The magneticfield
fielddistribution
distributionisisconstrained
constrained in in the
the 2D
2D plane:
plane: the theaxial
axialcomponent
componentisisignored;
ignored;
•• The machine has infinite axial length, so the end
The machine has infinite axial length, so the end effect is ignored; effect is ignored;
•• The radial component
The componentofofthe thepermeability
permeability of SMM
of SMM within a certain
within regionregion
a certain is regarded as a constant;
is regarded as a
• Eddy–current effects within SMM and PMs are ignored.
constant;
• Eddy–current effects within SMM and PMs are ignored.
Since there exists a z-direction current within the windings of the studied machines and the
Sincetopology
machine there exists
hasaa z-direction
circular shape, current within
a vector the windings
magnetic potential of (VMP)
the studied
Az inmachines and the
a polar coordinate
machine topology has a circular shape, a vector magnetic potential (VMP)
is adopted to calculate the magnetic flux density distribution within the machines. The machine A z in a polar coordinate is
adopted
structures toare
calculate the magnetic
then divided into severalfluxring-like
densityregions
distribution
based within the machines.
on the different material The machineas
interfaces,
structures
can be seen are
inthen
Figuredivided
3, where intoα several
represents ring-like regions
the angle of thebased
inneron PM the β represents
different
arc, material interfaces,
the angle of the
asslot opening in the modulator, δ is the slot opening angle, and γ is the stator slot angle. The whole
can be seen in Figure 3, where α represents the angle of the inner PM arc, β represents the angle of
the slot opening
machine in the
is divided modulator,
into ten subdomains:δ is the slot opening angle,
the innermost and γ isI)the
one (region stator slot
represents theangle.
shaft The
part;whole
region
machine
II is the rotor yoke; region III is the inner consequent-pole PM; region IV is the inner air gap; regionIIV
is divided into ten subdomains: the innermost one (region I) represents the shaft part; region
isisthe
therotor yoke; region
modulator pieces (itIII should
is the inner consequent-pole
be noted PM; region
that for SCP-MGMs, IV isbetween
the gap the inner air two
each gap;modulator
region V
ispieces
the modulator
is air, whilepieces (it should bebipolar
for DCP-MGM, noted PMsthat for
areSCP-MGMs,
inserted in that thegap).
gap between
Region VI each twoouter
is the modulator
air gap;
pieces is air, while for DCP-MGM, bipolar PMs are inserted in that gap). Region VI is the outer air
gap; region VII is the stator teeth; region VIII is the stator slots together with windings; region IX is
the stator yoke; region X is the outside of the studied machines.
The angular position of the j-th PM part of the inner rotor θPM, the position of the k-th modulator
piece θMod, the position of the t-th stator tooth part θtooth, and the position of the s-th stator slot part
θslot can be defined, respectively, as:
Energies 2019, 12, 1888 5 of 25

region VII is the stator teeth; region VIII is the stator slots together with windings; region IX is the
stator yoke; region X is the outside of the studied machines.
Energies 2019, 12, x FOR PEER REVIEW 5 of 25
The angular position of the j-th PM part of the inner rotor θPM , the position of the k-th modulator
piece θMod , the position of the t-th stator tooth part θtooth , and the position of the s-th stator slot part
θslot can be defined, respectively, as: j ⋅ 2π
θ PM = ϕ in + (3)
jP· i2π
θPM = ϕin + (3)
Pi
k ⋅ 2π β
θ Mod =k · 2π + θ0 − β (4)
θMod = Q + θ0 −2 (4)
Q 2
θ tooth = t ⋅ 2π / P (5)
θtooth = t · 2π/P (5)
θ = s ⋅ 2π / P (6)
θslot
slot
= s · 2π/P (6)
where φin, and θ0 the initial angular positions of the inner rotor and outer rotor, respectively. Due to
where ϕin , and θ0 the initial angular positions of the inner rotor and outer rotor, respectively. Due to
the symmetrical structure of the inner rotor and outer rotor, φin, θ0 has a range of [0, 2π/Pi], [0, 2π/Q],
the symmetrical structure of the inner rotor and outer rotor, ϕin , θ0 has a range of [0, 2π/Pi ], [0, 2π/Q],
respectively. Specifically, φin is defined as zero when the lower edge of the PM in the inner rotor
respectively. Specifically, ϕin is defined as zero when the lower edge of the PM in the inner rotor
coincides with the positive direction of the angular axis; θ0 is defined as zero when the center of the
coincides with the positive direction of the angular axis; θ0 is defined as zero when the center of the
slot of the outer rotor (air in SCP-MGM and PM in DCP-MGM) coincides with the positive direction
slot of the outer rotor (air in SCP-MGM and PM in DCP-MGM) coincides with the positive direction of
of the angular axis, as shown in Figure 2.
the angular axis, as shown in Figure 2.

SCP-MGM y DCP-MGM

VI

α
R5
γ R4 t
IV V
IX
s
δ VIII
k VII
I II III j X
0 R1 R2R3 R6 R7 R8 R9 x
Figure 3. Subdomain divisions of SCP-MGM and DCP-MGM.
Figure 3. Subdomain divisions of SCP-MGM and DCP-MGM.
→ → →
The VMP A,the magnetic flux density B, the  magnetic field strength H, and the
 current density
The VMP→ A , the magnetic flux density B , the magnetic field strength H , and the current
distribution J in stator windings can be written in vector form as:
density distribution J in stator windings can be written in vector form as:
→ →
 
=
AA =AA ( rθ
z (r, , θ))·⋅ u
z
uz z
(7)
(7)
→   
B =B B=r B r ,)θ·)→
(r,r (θ B θ ((rr,, θθ))⋅ ·u→
u⋅ ur r++ B u
θ (8)
(8)
θ θ
  
→ H = H ( r , θ )→
⋅ u r + H θ ( r , θ ) ⋅ u→θ
H = Hr (r, θ) · u r + Hθ (r, θ) · u θ
r (9)
(9)
 
→ J = J z ( r , θ ) ⋅→
uz (10)
J = Jz (r, θ) · u z (10)
To simplify the solving process, all the parameters related to magnetic field are expressed in
To simplify the solving process, all the parameters related to magnetic field are expressed in terms
terms of complex Fourier series. Thus, the vector amplitude above can be further expressed as:
of complex Fourier series. Thus, the vector amplitude above can be further expressed as:
n =∞
=
A z ( r ,θ ) =nX ˆ ( r ) ⋅ e − inθ
∞ A z ,n (11)
Az (r, θ) = n =−∞ Âz,n (r) · e−inθ (11)
n =∞ n=−∞ n=∞
Br ( r ,θ ) = 
n =−∞
Bˆ r ,n (r ) ⋅ e − inθ and Bθ ( r ,θ ) =  Bˆθ
n =−∞
,n
( r ) ⋅ e − inθ (12)

n =∞ n =∞
H r (r ,θ ) =  Hˆ
n =−∞
r ,n
(r ) ⋅ e − inθ and Hθ (r ,θ ) =  Hˆ θ
n=−∞
,n
(r ) ⋅ e − inθ (13)
Energies 2019, 12, 1888 6 of 25

=∞
nX =∞
nX
Br (r, θ) = B̂r,n (r) · e−inθ and Bθ (r, θ) = B̂θ,n (r) · e−inθ (12)
n=−∞ n=−∞
=∞
nX =∞
nX
Hr (r, θ) = Ĥr,n (r) · e−inθ and Hθ (r, θ) = Ĥθ,n (r) · e−inθ (13)
n=−∞ n=−∞
=∞
nX
Jz (r, θ) = Ĵz,n (r) · e−inθ (14)
n=−∞

where n represents the n-th order coefficient of the corresponding Fourier series. It should be noticed
that, in numerical calculation, a reasonable harmonic order N is used to truncate the infinite Fourier
series. If N is too small, the Fourier series will have a large error, if N is too large, the calculation time
will be rather long.

3.2. Partical Differential Equation Solution

The magnetic field within the machine follows quasistatic Maxwell equations:
→ →
∇×H = J (15)
→
∇· B = 0 (16)
→ →
The relationship between B and A can be further expressed as:
→ →
B = ∇×A (17)
→
The radial component and tangential component matrix of magnetic flux density B are then
obtained in matrix form as [31]:
1 ∂Az 1
Br = = −i KAz (18)
r ∂θ r
∂Az
Bθ = − (19)
∂r
where K represents the harmonic order coefficient diagonal matrix that is related to N, given by:
 
 −N ··· 0 
 . ..
 
K =  .. .. 
(20)
 . . 

0 ··· N
 

Similar to Equations (11)–(14), the relative permeability of each region can also be expressed in a
complex Fourier series form:
=∞
nX
µ(θ) = µ̂n · e−inθ (21)
n=−∞
→ →
Next, based on the relation between B and H, as expressed below:
→ → →
B = µH + µ0 M (22)
→
where M is the magnetization vector. The first item on the right is a product of two Fourier series,
which can be rewritten in matrix form by using the Cauchy product theorem:

Br = µr,cov Hr + µ0 Mr (23)
Energies 2019, 12, 1888 7 of 25

Bθ = µθ,cov Hθ + µ0 Mθ (24)

where µr,cov and µθ,cov are convolution matrices of the radial and tangential components of permeability,
Energies 2019, 12, xM
respectively. FOR PEERM
r and REVIEW
θ are
the radial and tangential components of magnetization intensity,7 of 25
respectively. Mr and Mθ can all written in complex Fourier series. The convolution matrix µr,cov can
be defined as:  μˆ 0  μˆ −2 N  
 µ̂0 · · · µ̂−2N 
μ r ,cov = .  ..  .   (25)
µr,cov =  .. . ..  (25)
 μˆ 
 2 N  μˆ 0  

µ̂2N · · · µ̂0
where µ̂μ̂nn isisthe
where then-th
n-thorder
ordercoefficient
coefficientofofthetheFourier
Fourierseries
seriesofofcorresponding
correspondingµ.μ.
In
In Equation (24), Hθθ is is continuous
continuous at at the
the interface
interface between
between twotwo regions,
regions, but
but BBθθ isisdiscontinuous
discontinuous
at
at the interface. Hence,
Hence, the matrix μ θ,cov cannot
µθ,cov cannotbe besettled
settledusing
usingEquation
Equation(25).
(25).Instead,
Instead,aafastfastFourier
Fourier
factorization is applied to calculate µ
factorization θ,cov, ,for
μθ,cov forthe
thesake
sakeofofkeeping
keepingthetherate
rateofofconvergence
convergencethe thesame
samefor
for
the
the left and right side of Equation (24) [34]. μ µθ,cov
θ,covcan
canbebegiven
given by
by[31]:
[31]:
−1
  μˆrec  −1
 µ̂00  · · · μˆµ̂−2rec
rec rec

 
N
−2N
μθ ,cov =  ..   ..   (26)

µθ,cov =  . .. (26)
  μˆ rec . μˆ rec.  

  rec 0 rec 
µ̂2N · · · µ̂0
2N

From Equation (26), it can be seen that μθ,cov is acquired by replacing μ̂n with the corresponding
From Equation (26), it can be seen that µθ,cov is acquired by replacing µ̂n with the corresponding
-th order
nn-th order Fourier
Fourier coefficient
coefficient of 1 / μθθ for
of 1/µ foreach
eachelement,
element,and
andthere
thereisisa amatrix
matrixinversion
inversionoutside.
outside.
The region
The region V V in
in SCP-MGM
SCP-MGM is is used
used to
to illustrated
illustrated the
the convolution
convolution matrix
matrix with
withrespect
respectto
torelative
relative
permeability, as shown in Figure
Figure 4.
4.

Modulator piece (SMM) 2 kπ

ϕout +
Q

Region V Air 1 Air 2 Air 3 Air 4 Air k

2π
ϕout + β 2π ϕout + Q + β
...
2(k − 1)π
ϕout + ϕout + +β
Q Q
Thecalculation
Figure4.4.The
Figure calculationinstance
instanceof
ofthe
theconvolution
convolutionmatrix
matrixwith
withrespect
respectto
torelative
relativepermeability.
permeability.

The relative permeability distribution on the circumferential direction can be expressed as:
The relative permeability distribution on the circumferential direction can be expressed as:
2(k−1)π k−1)π
[ϕ+out2(+k − 1)Qπ ,ϕ, ϕout π

2( k 2−(1)
 μ0 µ0 θ ∈ θ [∈
ϕ + + Q ++ β )β)


µ(θ) = 

out out (27)
 Q 2 ( k−1 ) π Q
μ (θ ) =  µiron,k θ ∈ [ϕout + Q + β, ϕout + 2kπ

) (27)
μ 2( k − 1)π 2 kπ Q
iron , k θ ∈ [ϕ out + + β ,ϕ out + )
β  Q Q
where ϕout = θ0 − 2 .
When a Fourierβ expansion on [0, 2π] is applied to Equation (27), the expressions of µ̂k and µ̂rec are
where ϕout =θ 0 − . k
given by: 2
μ̂k μ̂ krec
When a Fourier expansion on [0, 2π] is applied to Equation (27), the expressions of and

Q Q β
µ0 in( Q +θ0 )
2kπ inβ inβ µiron,k in( 2kπ 2π inβ
Q +θ0 ) (ein( Q − 2 ) − e 2 )n , 0

(e 2 − e− 2 ) +
 P P
2πin e 2πin e

are given by:  

 k =1 k =1
µ̂n = 

(28)

Q 2 kπ 2 kπ 2π β
Q 2π
μ inβ inβ Q μ inβ

in ( µ +θ ) − in( +θ 0 ) in( − )
 
P
-0e 2 ）+ 
Qβµ +( −β )
 0
0 iron,k 2
-e 2 ） n ≠ 0
 Q0 iron , k
ek=1 Q
（ne = 2
e Q
（e Q


 k =1 2π2π k =1 2π in

in
μˆ n =  2π Q (28)
 Q βμ0 + ( − β ) μiron ,k
 Q k =1
n=0
 2π
Energies 2019, 12, 1888 8 of 25


Q inβ inβ Q β inβ
in( 2kπ
Q + θ0 ) ( e 2 in( 2kπ +θ ) 2π
(ein( Q − 2 ) − e

1 1
− e− 0
 P P



 2πinµ0 e
2 )+ 2πinµiron,k e
Q 2 )n , 0
k =1 k =1
µ̂rec

= (29)

n Q
 Qβ 2π P 1
µ0 +( Q −β)

µ


k=1 iron,k

n=0


2π

The convolution matrices µr,cov and µθ,cov can then be obtained by substituting Equations (28)
and (29) into (25) and (26).
Combining Equations (18)–(26) together, the VMP satisfies:

∂2 Akz 1 ∂Akz VAkz µ0

+ − 2 = −µθ,cov Jz − (Mθ + iUMr ) (30)
∂r2 r ∂r r r

where V = µθ,cov Kµ−1 −1

r,covc K and U = µθ,cov Kµr,covc . The derivation process of Equation (30) is given in
Appendix A.
Equation (30) is a Cauchy–Euler differential equation system [35]. The general solution of a single
differential equation in Equation (30) is given by:
1 1
y = c1 rv 2 + c2 r−v 2 (31)

where c1 , c2 are unknown coefficients. Similarly, the general solution of the differential equation system
in Equation (30) can be written in a matrix form, where the new element (i, j) in matrix rV is defined as:

rV (i, j) = rV(i,j) (32)


Hence, the complementary solution of Equation (30) Akz com can be written as:

 1 1
Akz com = rV 2 C1 + r−V 2 C2 (33)

1
where C1 and C2 are unknown coefficient vectors. Matrix rV 2 can be factorized as:
1
rV 2 = Prλ P−1 (34)

where λ is the eigenvalue matrix of V1/2 , and matrix P is the eigenvector matrix of V1/2 . Therefore,
Equation (33) can be simplified as:

Akz com = Prλ (P−1 · C1 ) + Pr−λ (P−1 · C2 ) = Prλ D + Pr−λ E (35)

As for the particular solution of Equation (30), Akz par is given by:

Akz par = r2 F + rG (36)

where F = (V − 4I)−1 µθ,cov Jz , G = µ0 (V − I)−1 (Mθ + iUMr ).

The general solution of VMP in Equation (30) is the sum of the complementary solution of
Equation (35), and particular solution Equation (36):
 
Akz = Akz com + Akz par (37)

The expression of VMP in each subdomain is given in Appendix A.

According to the geometrical characteristic of SCP-MGMs and DCP-MGMs, the magnetization
intensity only exists in region III and region V, and the current density distribution only exists in region
VIII. Their distribution waveforms and Fourier series coefficients can be seen in Table 1. Additionally,
Energies 2019, 12, 1888 9 of 25

Energies2019,
for Energies
Energies
regions 2019,
2019, 12,
12,
12,
I, II, x xxFOR
IV, FOR
FOR PEER
VI,PEER
PEER REVIEW
REVIEW
IX, andREVIEWX, there only exists one material type, so the coefficients within 9 99ofof2525
of
the 25

convolution matrix are a constant. However, the permeability distributions are different in region III,
Additionally,for
Additionally,
Additionally, forregions
regionsI,I,I,II,II,
II,IV,IV,VI, VI,IX, IX,and andX,X, X,therethereonly onlyexists existsone onematerial materialtype, type,so
sothethecoefficients
coefficients
V, VII, and VIII, asfor regions
shown in Table IV, 2;VI, IX,
their and
coefficients there only
can be existsobtained one material type,
by substituting so the
a, b,coefficients
and c in
withinthe
within theconvolution
convolutionmatrix matrixare areaaaconstant.
constant.However, However,the thepermeability
permeabilitydistributions distributionsare aredifferent
different
Tablewithin
3 intothe theconvolution
following equations:matrix are constant. However, the permeability distributions are different
inregion
inin regionIII,
region III,V,
III, V,VII,
V, VII,and
VII, andVIII,
and VIII,asas
VIII, asshown
showninin
shown inTable
Table2;2;
Table 2;their
theircoefficients
their coefficientscan
coefficients canbe
can beobtained
be obtainedby
obtained bysubstituting
by substituting
substituting
aa,a,b, b,b,and
, and
andcccinin
inTable
Table333into
Table intothe
into thefollowing
1theX
cfollowing
Z a+b equations:
following equations:X
equations: c Z a+2π/c
inθ
µ̂n = ( µ 0 e dθ + µiron (k)einθ dθ) (38)
2π 1a11 c cc a +aab++bb inθininθθ c cc a +aa2++π22/ππc//cc
μμnˆ nn== (  (  μμe0e dθdθ++ a+aab++bb μμironiron
22π2ππ k =kk1==11 aaa 0 0
a+b inθθ
ˆkμˆ
= 1 = ( μ e d θk =+1 μ iron
( k ) inθin
( k( k) e) e dθdθ) )
e d θ ) (38)
(38)
(38)
k =kk1==11
Energies 2019, 12, x FOR PEER REVIEW 9 of 25
c c
1 X 1 1 a+c bcc eainθ a+2π/c inθ
Z Z
inθθ
inθin c cc a +aa2++π22/ππc//cc inθin inθeθ
X
µ̂rec 1 +aab++be
be e e ee
n nn = a  θθ+++
= ( ( (( 
dθ +
  ))dθ) so the coefficients (39)
aaa0 μμ aa++
Additionally, for regionsn μ
I,2π ˆμμ
II, recrec
rec
= IX,
ˆˆIV,=VI, andµX, there dθddonly exists one material µiron,k dθddθθ) type, (39)
(39)
(39)
k = 12π
22 π
within the convolution matrix are a constant. However, π k =
k1
k==1
1 μ
0 00 k = k1=k
k1=
= 1
aab++bbb μμ
the permeability
1 μ
iron , k ,,kk distributions are different
iron
iron
in region III, V, VII, and VIII, as shown in Table 2; their coefficients can be obtained by substituting
a, b, and c in Table 3 into the following equations:
Table 2. Mathematical
Table
Table
Table2.2. modeling
2.Mathematical
Mathematical
Mathematical of of
modeling
modeling
modeling magnetic
of sources
ofmagnetic
magnetic
magnetic within
sources
sources
sourceswithinSCP-MGMs
within
withinSCP-MGMsand
SCP-MGMs
SCP-MGMs DCP-MGMs.
and
and
and DCP-MGMs.
DCP-MGMs.
DCP-MGMs.
c c
1 a+b a + 2π / c
μˆ n = (
Waveforms μ 0 e inθ dθ + 
a + b μ iron ( k ) e inθ dθ ) (38)
Sources
Sources
Sources
Sources 2π k =1 Waveforms
Illustrative
Illustrative
Illustrative a
Waveforms
Waveformsk =1 Fourier
FourierSeries
Fourier
FourierSeriesCoefficients
Series
Series Coefficients
Coefficients
Coefficients
1 c a+b e inθ c a + 2π / c e inθ
r 1rr11 (  dθ +  
B
μˆ nrec B=B a dθ ) α
ααPP
PBB
i iiB
(39)
μμμ2π k =1 μ0 μiron ,k
a+b
k =1 r1rr11
0 00  αP i2Bπμ πμ0 00
n=0
n=0
n=0
   22r1πμ n=0
  

Inner PM 2πµ
InnerInner
Inner PM
PM
 0
))===Br1BB

PM (Region n((DCP-MGMs.
Mri)ri(ri= nn
MriM (M )

B inP ϕiinP
(Region
(Region III) Table 2. Mathematical modeling of magnetic sources within SCP-MGMs
III) III)
(Region III) nand inP ϕ
e ee ·iϕiiϕ⋅ii ⋅⋅
r1err11 i inP
 2nπµ  2n 0i

2 2
n πμ πμ
πμ i i

Sources Illustrative Waveforms Fourier Series

(e inPinP
 CoefficientsinP n α i
θθθ 0

00
α− αα 1) n,0
i
000
(e((ee i ii −−−1)11)) nnn≠≠≠000
inP

Br1 ϕϕin in ααα2π22ππ+++ϕϕinϕinin

ϕin ϕϕinϕinin+++
PiPPii  α P B
μ0 
i r1
n=0
 2πμ 0

M ri ( n) =  B  ββQB
Inner PM B
BBr 2rr22 βinP QB
QB
ϕ r 2rr22
  βQB e2πμ ⋅ n=0
r1
(Region III)
μμ0μ00 n=0
n=0 i i

OuterPM
Outer
Outer PM
PM
θ  inP2 n πμ 0  2πμ
i
α 2πµ 2
r2 πμ0 00 n=0
0

( e   −1) n≠0

Outer(Only
PM (Only
(Only
(Only for for
for
for ϕin ϕin + α 2π + ϕin
 0 i

))===Br1BBB

MroM M
(M (= n((n)n rr1inQθ
1 ·θ 0θθ0⋅0 ⋅⋅
inQ
DCP-MGM)
DCP-MGM)
DCP-MGM)
DCP-MGM) Pi nro)roro
 22n 2nπµ
r1e
i e einQ
e0inQ
2 πμ πμ
πμ
 0
nn i ii

(Region V)
   2inQ 0 00−inQβ
 inQβ
(Region
(Region
(Region V)V)
V) B  β QB

β ββ
e 2− inQ −−inQ β ββ
θθθ
inQ
r 2(e
inQ
− )inQ n,0

000r 2 2 π2 ππ  
Outer PM μ0 θ θ θ θ+ +β β
θ0 00 θ0 00 + β
2
++ϕ
+ ϕ
ϕ 
2 πμ  (
 e(
( e
e 2 22 n=0
− −−e e
e 2 22
) )) nnn≠≠≠000
QQ Q
out
outout  0
(Only for 
M ro ( n) =  Br1
DCP-MGM) e inQθ0 ⋅
 2nπμ i
(Region V) J(1)
(1)
J J(1) J(2)
(2)
J J(2)  inQβ 0 − inQβ
0 θ
2π
+ ϕout
( e 2 − e 2 ) n≠0
θ0 θ0 + β
Q
Stator
Stator
Stator γ γγ 2 k22πkkππ
γγ
inin inγ
− in γγ
− in− inγ
−−− J (1) P PP
P JJ((JkJk((k)k)) in
inin

=))===2nπi
Stator windings J (2) ⋅ e⋅⋅(inγ
2kπPsPPss
e2((ee2−22 − −e2ee2)22 ) ))
−−inγ
J (Jn(JJ)n((n)n
) ine ePe
windings 222
P
windings
windings e
πnππi ii
2n
22n
s · ( e
(Region VIII) k =1
k =k1=1
k= 1
(RegionVIII)
(Region
(Region VIII)
VIII)
Stator γ 000 θθθ 2 kπ inγ − inγ
− γ γγ γ γγ 2π22ππ
P
J( k ) in

2 J ( n) =  e Ps
⋅ (e 2
−e 2
)
windings −−− +++ k =1 2 nπ i
(Region VIII) ...J J(JP
...... ((PP−−−2)2) ((PP−−−
2)J J(JP 1)
1)1) 222 222 PPPJ J(3)
J(3) J(4)
(3) J J(4) ...
(4)θ......
0
γ γ 2π
− +
... J ( P − 2) J ( P − 1) 2 2 P J (3) J (4) ...
Table
Table
Table
Table 3.Mathematical
3.3. Mathematical
Mathematical
3. Mathematical modeling
modeling
modeling
modeling of
of theofof thepermeability
the
the permeability
permeability
permeability distribution
distribution
distribution
distribution ofdifferent
ofof
of different different regionswithin
regionsregions
different regions
within withinSCP-
within
SCP-MGMsSCP-
SCP-
MGMsTable
andMGMs
MGMs
DCP-MGMs.andDCP-MGMs.
and
and DCP-MGMs.
DCP-MGMs.
3. Mathematical modeling of the permeability distribution of different regions within SCP-
MGMs and DCP-MGMs.
Regions
Regions
Regions
Regions IllustrativeWaveforms
Illustrative
Illustrative
Illustrative Waveforms
Waveforms
Waveforms Coefficients
Coefficients
Coefficients
Coefficients
III Regions
III
III Illustrative Waveforms Coefficients
a=φφ
a=a= φ , b=
,in,b=
inin b=α,α,
α,c=c=
c=PPPi ii

VVV
III μμμ a= φin, b= α, c= Pi
aa==φϕ a=a=
a=
b= φ φ
φ , ,
in,b=b=
b=β,β,
β,c= c=
c=Q QQ
c= α,
Q c = Pi
iron
V μiron
iron
iron
b=, β,
in,in
inin

VIIIII
VII
VII VII a= δ/2, b= a=
a=a= δ/2,
δ/2,
2π/Pδ/2, b=2π/P
b=b= 2π/P
2π/P
s- δ, c= Ps
- δ,
s-ss-δ,δ,c=c=
c=PPP
s ss

a = ϕin , b = β, c = Q
V
a = δ/ 2, b = 2π/Ps − δ, c = Ps
VII VIII a= γ/2, b= 2π/Ps − γ, c= Ps
VIII
VIII
VIII μ0
a=γ/2,
a=a= γ/2,b=b=
γ/2, b=2π/P
2π/P
2π/Ps s−
s−−γ,γ,
γ,c=c=
c=PPP
s ss

μμμ
0 00 2π
a = γ/ 2, b = 2π/Ps − γ, c = Ps
VIII 0 a a+b a+ θ
c
2π22ππ θθθ
000 aaaaaa+++bbb a a+a ++
c cc
Energies 2019, 12, 1888 10 of 25

3.3. Bondary Condition Application

→
At the interfaces between two different subdomains, the radial component of B and the tangential
→
component of H should be continuous across the boundary. Due to their ring-like shapes, each
subdomain only interfaces with two subdomains at most, and region I and X have only one interface.
Hence, all the boundary conditions can be written as:

Bkr (Rk ) = Bkr +1 (Rk ) (40)

Hkθ (Rk ) = Hkθ+1 (Rk ) (41)

where k represents the k-th subdomain of the proposed machine, and 2 ≤ k ≤ 9.

Suppose the subdomain number of the proposed machine is L, and the harmonic order to be
calculated is N. By applying the above boundary conditions to each interface of the machines, a system
of 2*(L − 1) linear equations with 2*(L − 1) unknowns can be obtained, and each unknown is an (N × 1)
vector. The system of linear equations can be further written in matrix form, as below:

SX = T (42)

where the expressions of S, X, and T in this paper are given in Appendix A.

As long as the coefficient matrix S is invertible, the unknown vector X can be acquired.
The numerical solution of Equation (42) can be obtained in the MATLAB software.

3.4. Saturation Consideration of Soft-Magnetic Material

For the SMM in the consequent-pole part, modulator, and stator teeth, the flux line is concentrated,
thus, the saturation of the SMM must be considered. The nonlinear B-µ curve of 50JN1300 is given in
Figure 4. In HMM, the relative permeability µ is obtained by an iterative method, as shown by the
dot lines in Figure 5, where the number “1, 2, 3, 4” means the iteration number. The detailed iterative
process is shown in Figure 6. First, an initial value, namely µ0 = 1500, is assigned to a given region
→
with SMM for the first iteration. In the k-th iteration, the average flux density B of a specific region
can be obtained by substituting µi,k and solving the matrix Equation (42). A new average relative
permeability µi,cal in region i can then be acquired. Where i belongs to {III, V, VII, VIII}. The average
relative permeability µi,k+1 for the (k + 1)-th iteration in region i is given as:

µi,k + µi,kcal
µi,k+1 = (43)
2
The iteration will stop only if the iteration time ni exceeds the maximum number of iterations Ni
(Ni is set to be 50 here), or the maximum error ∆ in all these regions is below the error requirement ξ,
∆ is defined as:    
 µi,k − µi,cal  
 
∆ = max

, i ∈ {III, V, VII, VIII} (44)

µi,k
 

 

where ξ is set to be 0.05 in this paper. The saturations of SMM in SCP-MGMs and DCP-MGMs are
calculated respectively using this method. The relative permeabilities of each region under on-load
conditions are shown in Table 4. It can be observed that the saturation of regions V and VII is more
severe in DCP-MGMs, since there are PMs inserted in the modulator, thus, there are more flux lines in
the modulator and stator teeth.
Energies
Energies 2019, 12,
2019, 12,
Energies 2019, xx FOR
FOR PEER
12, 1888 PEER REVIEW
REVIEW 11
11of
11 of 25
of 25
25

Initial
Initial value
value

11 33 44 22

Figure
Figure 5.
5. Iterative
Iterative process illustration.
Iterative process
process illustration.
illustration.

Start
Start

Subdomain
Subdomain division
division Solving
Solving the
the HMM
HMM matrix
matrix

Applying
Applying boundary
boundary Calculate
Calculate the
the average
average flux
flux density
density in
in
condition
condition the
the soft-magnetic material part
soft-magnetic material part in
in
region
region III,
III, V,
V, VII,
VII, VIII,
VIII, respectively
respectively
Set
Set the
the initial
initial relative
relative Recalculate
Recalculate the
the average
average relative
permeability
permeability μ μ00 for
for SFM
SFM in
relative
in permeability
permeability based
based on
on μ-H
μ-H curve
region
region III,
III, V,
V, VII
VII and
and VIII
VIII to
to
curve
be
be 1500
1500 Calculate
Calculate the
the errorerror Δ
Δ between
between
 i , k and 
μi ,k and μi,,kcal
i
Calculate
Calculate the
the flux
flux density
density
kcal

distribution
distribution in different
in different Judge
Judge Max(Δ)<ξ
Max(Δ)<ξ or
or n
nii>N
>Nii
regions
regions

Draw Set
Set new relative
relative permeability to
to be
Draw the
the flux
flux density
density figure
figure new

μii,,kk+11 = ((
permeability
μii,,kcal   i ,k ) / 2 be
for kcal + μi ,k ) / 2
for whole
whole machine
machine

End
End

Figure
Figure 6.
Figure 6. Fast
6. FastFourier
Fast Fourier transform
transform (FFT)
Fourier transform
(FFT) of
(FFT) no-load
of no-load outer-air-gap
outer-air-gap radial
radial magnetic
of no-load outer-air-gap
magnetic flux
flux density
radial magnetic
density for
for SCP-
flux density for
SCP-
MGMs
MGMs and
and DCP-MGMs.
SCP-MGMs and DCP-MGMs.
DCP-MGMs.

Table
Table 4.
Table 4. Relative
Relative permeabilities
Relative permeabilities of
permeabilities of different
of different regions
different regions within
within SCP-MGMs and DCP-MGMs.
SCP-MGMs and DCP-MGMs.

Regions
Regions SCP-MGM DCP-MGM
Regions SCP-MGM
SCP-MGM DCP-MGM
DCP-MGM
III
IIIIII 27.46
27.46 27.92
27.92
27.46 27.92
VVV 1309.15
1309.15
1309.15 1257.49
1257.49
1257.49
VII
VII
VII 888.05
888.05
888.05 838.35
838.35
838.35
VIII
VIII
VIII 1013.2
1013.2
1013.2 917.24
917.24
917.24

3.5.
3.5. Electromagnetic
3.5. Electromagnetic Parameters
Electromagnetic Parameters Calculation
Parameters Calculation
Calculation
Once
Once the
Once the VMP
the VMP is
VMP is solved
is solved in
solved in Equation
in Equation (42),
Equation (42), the
(42), the related
the related electromagnetic
related electromagnetic parameters
electromagnetic parameters of
parameters of the
of the two
the two
two
machines
machines can be
can be
machines can calculated.
becalculated. The
calculated.TheTheelectromagnetic
electromagnetic
electromagnetic torque of
torque
torque the
of the two
of two rotors
the rotors of
two rotorsSCP-MGMs and
of SCP-MGMs
of SCP-MGMs DCP-
and
and DCP-
MGMs
MGMs can
can be
DCP-MGMs calculated
becan by
by using
be calculated
calculated the
the Maxwell
by using
using stress
the Maxwell
Maxwell tensor.
stressstress
tensor.tensor.
The
The flux
flux linkage
linkage of
of each
each coil
coil side
side can
can be
be given
given by
by [36]:
[36]:
Energies 2019, 12, 1888 12 of 25

The flux linkage of each coil side can be given by [36]:

γ 2kπ
2+ P R8
Z Z
Nturn L
ϕk = γ
AVIII
z (r, θ)rdrdθ (45)
Scoil − 2 + 2kπ R7
P

where Nturn is the number of coil turns in each slot, and Scoil is the cross section area of a single slot.
When all the coils in each phase are in series, the three-phase flux linkage can be written as:

 ψA
 
 h i
ψ =  ψB  = Cturn ϕ1 ϕ2 ϕ24
 
 ··· (46)
ψC
 

where Cturn is coil-connecting matrix of the proposed machine, the coil number is given in Figure 2,
and Cturn can be expressed as:
 
 1
 0 0 0 0 −1 −1 0 0 0 0 1 1 0 0 0 0 −1 −1 0 0 0 0 1 
 
Cturn =  0 0 0 1 1 0 0 0 0 −1 −1 0 0 0 0 1 1 0 0 0 0 −1 −1 0 

(47)
 
 
0 −1 −1 0 0 0 0 1 1 0 0 0 0 −1 −1 0 0 0 0 1 1 0 0 0 

The back electromotive force (EMF) is computed by the derivative of ψ with respect to time:

dψ dψ
EABC = = ·ω (48)
dt dθ
where ω is the rotating speed of the magnetic field in the outer air gap.
The electromagnetic torque is calculated by using a Maxwell stress tensor. Thus, the electromagnetic
torque of the inner rotor Tin equals the calculus of the Maxwell stress tensor of the inner air gap along
the circumferential direction, and the electromagnetic torque of the outer rotor Tout equals the algebraic
sum of the calculus of the Maxwell stress tensor of both the inner air gap and the outer air gap along
the circumferential direction. They can be expressed as:

LR2i 2π
Z
Tin = BIV IV
r (Ri , θ)Bθ (Ri , θ)dθ (49)
µ0 0

LR2o 2π LR2i 2π
Z Z
Tout = BVI VI
r (Ro , θ)Bθ (Ro , θ)dθ − BIV IV
r (Ri , θ)Bθ (Ri , θ)dθ (50)
µ0 0 µ0 0

where Ri and Ro are the middle radius of the inner air gap and outer air gap, respectively.

4. Validation and Comparison

4.1. Simulation Environment and Machine Parameters

To make quantitative comparison between the SCP-MGMs and DCP-MGMs, all the geometrical
parameters of these two machines should be set as the same, and other parameters, such as the
slot filling factor and root mean square value of the winding current should be also set as the same,
as shown in Table 5. The analytical prediction of the HMM was carried out using MATLAB, and the
FEA model was constructed and run in JMAG software. The FEA model had 35,597 elements and
25,368 nodes; the element size near the air gap was set as 1 mm, to maintain calculation accuracy. It took
4.6 s for the computer to obtain the magnetic field distribution for one step. The computer system
configuration was as follows: Processor: Intel Core i7-4790 CPU @ 3.60 GHz; Installed Memory (RAM):
Energies 2019, 12, 1888 13 of 25

28.0 GB-System type: 64-bit Windows Operating System. Additionally, the mean error percentage ε1
and maximum difference ε2 of the two methods was defined as:

Nc  
1 X VFEA,n − VHMM,n 
ε1 =  × 100% (51)
Nc VFEA,n

n=1
n o o
ε2 = max VFEA,n − VHMM,n  , n ∈ {1, 2, . . . , Nc (52)
Energies V
where 2019,
HMM,n12, xis n-thREVIEW
thePEER
FOR value, calculated using the HMM, and VFEA,n is n-th the value obtained
13 ofby
25
FEA. Nc is the total number of calculated points.
where VHMM,n is the n-th value, calculated using the HMM, and VFEA,n is n-th the value obtained by
4.2.
FEA.Comparison between
Nc is the total HMM
number ofand FEA points.
calculated
Based on the calculation and simulation, a good agreement between the HMM and FEA can
4.2. Comparison between HMM and FEA
be observed in Figures 7–12 for SCP-MGMs and DCP-MGMs. It was also found that the difference
Based
between on the
HMM andcalculation and simulation,
FEA at a no-load a good
condition agreement
was less compared between
to thatthe
at HMM
a load and FEA can
condition. be
This
observed
is in Figures
due to the truncation7–12of for
the SCP-MGMs
infinite Fourierandseries;
DCP-MGMs. It was also
the high-order found that
components takethe
updifference
a greater
between HMM
proportion at a and FEAcondition,
no-load at a no-load condition
leading to awas lesserror
larger compared
for HMM.to that at a load condition.
Additionally, This is
the numerical
due to the truncation of the infinite Fourier series; the high-order components
values calculated via MATLAB were constrained by the computational accuracy. Values exceeding the take up a greater
proportion at aaccuracy
computational no-load were
condition,
ignored,leading
whichtoled
a larger
to errorserror formagnetic
of the HMM. Additionally, the numerical
field calculation. Generally,
values
if calculated
the harmonic via MATLAB
order were constrained
and computational accuracy byisthe computational
improved, accuracy.
the error Values exceeding
will decrease. However,
computational time
the computational accuracy were rapidly
increases ignored,with
which
the led to errors
increase of the magnetic
of harmonic order and field calculation.
computational
Generally,Thus,
accuracy. if thethere
harmonic order and
is a tradeoff computational
between calculation accuracy
accuracy is and
improved, the error
calculation time.will decrease.
In this paper,
However, the computational time increases
the computational accuracy of MATLAB was set as 32 bits. rapidly with the increase of harmonic order and
computational accuracy.
The mean error percentage ε1 and
Thus, there is maximum
a tradeoff between ε2 for the SCP-MGM
differencecalculation accuracy and andcalculation
DCP-MGM time.
are
In thisinpaper,
listed Table the
6. computational accuracy of MATLAB was set as 32 bits.

Inner gap predicted Inner gap FEA

0.5

-0.5

-1

-1.5

0 60 120 180 240 300 360

Mechanical angle/degree
(a) (b)
Figure 7. On-load inner and outer air-gap radial magnetic
Figure magnetic flux
flux density
density distribution
distribution of
of the
the SCP-MGM:
SCP-MGM:
(a)
(a) outer
outer air
air gap;
gap; (b)
(b) inner
inner air
air gap.
gap.

(a) (b)
 0 60 120 180 240 300 360
Mechanical angle/degree
(a) (b)

EnergiesFigure 7. 1888
2019, 12, On-load inner and outer air-gap radial magnetic flux density distribution of the SCP-MGM: 14 of 25
(a) outer air gap; (b) inner air gap.

(a) (b)
Figure
Figure
Energies 8.8.12,
2019, On-load
On-load and outer
outer air-gap
innerREVIEW
x FOR PEER air-gapradial
radialmagnetic
magneticflux
fluxdensity
densitydistribution
distributionof of
thethe
SCP-MGM:
SCP-MGM:
14 of 25
(a)outer
(a)
Energies outer12,
2019, air
air gap;(b)
xgap;
FOR (b)inner
PEER inner air gap.
air
REVIEW gap. 14 of 25

(a) (b)
(a) (b)
Figure 9. Comparison of on-load magnetic flux density distribution of the SCP-MGM, drawn by
Figure
Figure9.9. Comparison
harmonic Comparison of
of on-load
on-load
modeling method (HMM) magnetic
magnetic flux
flux
and finite density
density
element distribution
distribution
analysis (FEA):of ofthe
(a) theSCP-MGM,
HMM;SCP-MGM, drawn
(b) FEA.drawn byby
harmonic
harmonicmodeling
modelingmethod
method(HMM)
(HMM) and
and finite
finite element
element analysis (FEA):
(FEA): (a)
(a) HMM;
HMM;(b)(b)FEA.
FEA.

Outer gap predicted Outer gap FEA

1 Outer gap predicted Outer gap FEA
1
0.5
0.5
0
0
-0.5
-0.5
-1
-1
-1.5
-1.5
0 60 120 180 240 300 360
0 60Mechanical
120 180 240 300
angle/degree 360
Mechanical angle/degree
(a) (b)
(a) (b)
Figure10.10.No-load
Figure No-load inner
inner and
and outer
outer air-gap
air-gap radial
radial magnetic
magnetic fluxflux density
density distribution
distribution of DCP-MGM:
of the the DCP-
Figure
MGM: 10.
(a) No-load
outer air inner
gap; and
(b) outer
inner
(a) outer air gap; (b) inner air gap. air air-gap
gap. radial magnetic flux density distribution of the DCP-
MGM: (a) outer air gap; (b) inner air gap.
 0 60 120 180 240 300 360
Mechanical angle/degree

(a) (b)
Figure
Energies 2019, 10. No-load inner and outer air-gap radial magnetic flux density distribution of the DCP-
12, 1888 15 of 25
MGM: (a) outer air gap; (b) inner air gap.

(a) (b)
Figure
Figure 11. 11. On-load
On-load inner
inner andand outer
outer air-gap
air-gap radial
radial magnetic
magnetic fluxflux density
density distribution
distribution of of
thethe DCP-
DCP-MGM:
Energies 2019,air
MGM:
(a) outer 12,gap;
(a) xouter
FOR PEER
air
(b) REVIEW
gap;
inner (b)
air inner
gap. air gap. 15 of 25

(a) (b)
Figure
Figure 12. 12. Comparisonofofon-load
Comparison on-loadmagnetic
magnetic flux
flux density
densitydistribution
distributionofof
thethe
DCP-MGM drawn
DCP-MGM by by
drawn
HMMHMM andand FEA:
FEA: (a)(a) HMM;
HMM; (b)(b)FEA.
FEA.

Table
The mean error 5. Geometrical
percentage ε1 andparameters
maximumofdifference
the SCP-MGM
ε2 forand
theDCP-MGM.
SCP-MGM and DCP-MGM
are listed in Table 6.
Parameters Symbols Values Units
Number
Table of inner PM
5. Geometrical parameters Pi
pole pairsof the SCP-MGM and11DCP-MGM.
-
Number of modulator pieces Q 13 -
NumberParameters
of stator slots Symbols
P Values
24 Units
-
Number of stator winding
Number of inner PM pole pairs pole pairs P Pi
s 211 - -
Axial length L 110 mm
Number of modulator pieces Q 13 -
Outer radius of shaft R1 25 mm
Number of stator
Inner radius of inner PM slots R2P 24
55.5 mm-
Number of stator
Outer radiuswinding pole pairs
of inner rotor RP3 s 63.22 mm -
Inner Axial
radiuslength
of outer rotor R4L 63.8
110 mmmm
Outer
Outer radius
radius of outer rotor
of shaft RR51 74.4
25 mmmm
Inner radius of stator R6 75 mm
Inner radius of inner PM R2 55.5 mm
Radius of stator slot bottom R7 78 mm
Outer
Outer radius
radiusofofinner
statorrotor
slot RR8
3 63.2
109 mmmm
Inner radius
Outer of outer
radius rotor
of stator RR9 4 63.8
120 mmmm
Angle
Outer radiusof inner PM arc
of outer rotor αR5 0.286
74.4 rad
mm
Angle
Inner of Modulator
radius piece
of stator βR6 0.242
75 rad
mm
Angle of slot opening δ 0.032 rad
Radius of stator slot bottom R7 78 mm
Angle of stator slot γ 0.168 rad
OuterSlotradius of stator
filling factor slot FaR 8 60% 109 -mm
Outer
Current radius
density of stator
in stator windings IDR9 5120 A/mm
mm 2

Angle of inner PM arc α 0.286 rad

Angle of Modulator piece β 0.242 rad
Angle of slot opening δ 0.032 rad
Angle of stator slot γ 0.168 rad
Slot filling factor Fa 60% -
Current density in stator windings ID 5 A/mm2
Energies 2019, 12, x FOR PEER REVIEW 16 of 25

A fast Fourier transform (FFT) was executed on the no-load radial component of the magnetic
flux density of the outer air gap for both the SCP-MGM and DCP-MGM, as shown in Figure 13. It
can be seen that the second harmonic component was much higher for the DCP-MGM, since the
Energies 2019, 12, 1888 16 of 25
inserted PM on the outer rotor produced a second magnetic field after the modulation of the
consequent-pole iron part of the inner rotor. Hence, the consequent-pole structure of the inner rotor
and outer
Table 6.rotor
Mean oferror
the DCP-MGM
percentage and could modulate
maximum the magnetic
difference field generated
of the magnetic bydistributions
flux density its counterpart.
The electromagnetic
between the FEA and torque
HMM of of
thetheDCP-MGM wasDCP-MGM.
SCP-MGM and expected to be larger than that of the SCP-MGM
under the same working conditions. Additionally, the difference of each frequency component
SCP-MGM DCP-MGM
between the HMM and FEA was very small. Specifically, the error percentages of the second
State
harmonic component for Inner Rotor
the SCP-MGM Outer Rotor
and the DCP-MGM Inner Rotor
using HMMOuter Rotor
and FEA were 4.14% and
2.15%, respectively. ε1 ε2 ε1 ε2 ε1 ε2 ε1 ε 2

No-load 9.3% 0.55 T 15.9% 0.11 T 11.4% 1.06 T 14.4% 0.70 T

On-load
4.3. Electromagnetic 14.2% Analysis
Performance 1.62 T under
14.3% Different
0.83 T Working
20.8% Conditions
3.11 T 16.7% 1.36 T

The electromagnetic performances of the two MGMs are predicted by HMM and simulated in
FEA A fast Fourier
software undertransform
different (FFT) was executed
operating onwhere
conditions, the no-load radial speed
the rotating component
of twoofrotors
the magnetic
and the
flux density of the outer air gap for both the SCP-MGM and DCP-MGM, as shown
current frequency of stator windings are set to cooperate with the practical driving conditions of in Figure 13. It can
the
be seen that the second harmonic component was much higher for the DCP-MGM,
HEC, as shown in Table 1. Since the ICE is connected to the inner rotor to provide the power; the since the inserted
PM
outeronrotor
the outer rotor produced
is connected a second magnetic
to the differential, which isfield afterconnected
further the modulation
to theofwheels;
the consequent-pole
the battery is
iron part of the inner rotor. Hence, the consequent-pole structure of the inner
connected to the stator windings, and there can be two-way power flow between the battery rotor and outer and
rotorthe
of
the DCP-MGM could modulate the magnetic field generated by its counterpart.
stator windings. Thus, the power transmission relation among inner rotor, outer rotor and stator The electromagnetic
torque
windingsof the DCP-MGM
is equal to thewas expected
power to be larger
transmission than among
relation that of the
ICE,SCP-MGM
wheels andunder the same
battery. working
Assume the
conditions. Additionally, the difference of each frequency component between the HMM and
anti-clock direction is positive, the torque is positive if it’s on the anti-clock direction, otherwise it’s FEA was
very small.The
negative. Specifically,
power of athe error percentages
component is definedof as
theasecond
positiveharmonic
one when component for theisSCP-MGM
this component inputting
and the DCP-MGM using HMM and FEA were 4.14% and 2.15%, respectively.
energy; when a component is outputting energy, its power is defined as a negative one.

(a) (b)
FFTofofno-load
Figure 13. FFT no-load outer-air-gap
outer-air-gap radial
radial magnetic
magnetic fluxflux density
density forSCP-MGM
for the the SCP-MGM and
and the the
DCP-
DCP-MGM: (a) SCP-MGM;
MGM: (a) SCP-MGM; (b) DCP-MGM.
(b) DCP-MGM.

4.3. Electromagnetic Performance Analysis under Different Working Conditions

4.3.1. Back EMF under No-Load Condition
The electromagnetic performances of the two MGMs are predicted by HMM and simulated in FEA
The amplitude of back EMF was determined by the rotating speed of both the inner rotor and
software under different operating conditions, where the rotating speed of two rotors and the current
the outer rotor. Figure 14 shows the no-load back EMF of the SCP-MGM and the DCP-MGM under
frequency of stator windings are set to cooperate with the practical driving conditions of the HEC,
the same operating conditions, namely ωi = 1200 r/min, ωo = 1500 r/min. It can be seen that there was
as shown in Table 1. Since the ICE is connected to the inner rotor to provide the power; the outer rotor
an error between the predicted back EMF and FEA result; because the back EMF was calculated as
is connected to the differential, which is further connected to the wheels; the battery is connected to the
the derivative of flux linkage with respect to time, a small error of flux linkage will be amplified on
stator windings, and there can be two-way power flow between the battery and the stator windings.
the back EMF. Additionally, the back EMF of the DCP-MGM was larger than that of the SCP-MGM,
Thus, the power transmission relation among inner rotor, outer rotor and stator windings is equal to
due to the flux enhancing effect of the PMs inserted into the modulator. The maximum errors for the
the power transmission relation among ICE, wheels and battery. Assume the anti-clock direction is
SCP-MGM and DCP-MGM were 165 V and 520 V, respectively. The average errors of the SCP-MGM
positive, the torque is positive if it’s on the anti-clock direction, otherwise it’s negative. The power of a
and DCP-MGM were 3.7% and 6.9%, respectively.
component is defined as a positive one when this component is inputting energy; when a component
is outputting energy, its power is defined as a negative one.
Energies 2019, 12, 1888 17 of 25

4.3.1. Back EMF under No-Load Condition

The amplitude of back EMF was determined by the rotating speed of both the inner rotor and the
outer rotor. Figure 14 shows the no-load back EMF of the SCP-MGM and the DCP-MGM under the
same operating conditions, namely ωi = 1200 r/min, ωo = 1500 r/min. It can be seen that there was
an error between the predicted back EMF and FEA result; because the back EMF was calculated as
the derivative of flux linkage with respect to time, a small error of flux linkage will be amplified on
the back EMF. Additionally, the back EMF of the DCP-MGM was larger than that of the SCP-MGM,
due to the flux enhancing effect of the PMs inserted into the modulator. The maximum errors for the
SCP-MGM and DCP-MGM were 165 V and 520 V, respectively. The average errors of the SCP-MGM
and DCP-MGM
Energies
Energies 2019, 12,
2019, were
12, xx FOR
FOR 3.7%
PEER
PEER and 6.9%, respectively.
REVIEW
REVIEW 17 of
17 of 25
25

(a)
(a) (b)
(b)
Figure 14.
Figure 14.Analytically
14. Analyticallypredicted
Analytically predictedand
predicted and
andFEAFEA
FEA simulated
simulated back
back
simulated electromotive
electromotive
back force
forceforce
electromotive (EMF) (EMF) ofSCP-MGM
of theof
(EMF) the SCP-
the SCP-
MGM
and
MGM and
DCP-MGM:DCP-MGM: (a)
(a) SCP-MGM;
and DCP-MGM: SCP-MGM; (b)
(b) DCP-MGM.
(a) SCP-MGM; DCP-MGM.
(b) DCP-MGM.

4.3.2. Pure
4.3.2. Pure
4.3.2. Electric
Pure Electric Mode
Electric Mode (Mode
(Mode 1)
Mode (Mode 1)
1)
Under
Under this
Under this mode,
this mode, the
mode, HEV
the HEV
the HEV isis at
at aaa low
is at low driving
low driving speed,
driving speed, the inner
speed, the inner rotor
rotor is
is locked,
locked, and
and the
the ICE
ICE does
does
not
not come
come into service; stator
stator windings
windings only
only work
work to
to provide
provide the
the power
power that
that the
the
not come into service; stator windings only work to provide the power that the HEV needs. Thus, ω HEVHEV needs.
needs. Thus,
Thus, ωii
ω = 0 r/min,
==i00 r/min,
r/min, ω ω =
ωoo ==o500500 r/min.
500 r/min.
r/min. The The torque
The torque
torque waveformswaveforms
waveforms of of the
of the power
the power distribution
power distribution
distribution ofof the
of the two
the two machines
two machines are
machines are
shown
shown in
in Figures
Figures 15
15
shown in Figures 15 and 16. and
and 16.
16.

Inner rotor predicted Outer

Outer rotor
rotor predicted
predicted FEA
FEA
400 Inner rotor predicted
400

200
200
Torque/Nm
Torque/Nm

00

-200
-200

-400
-400
00 60
60 120
120 180
180 240
240 300
300 360
360
Electrical angle/degree
Electrical angle/degree
(a)
(a) (b)
(b)
Figure
Figure Analytically
15. Analytically
Figure 15. Analytically predicted
predicted
predicted and
and and
FEA
FEAFEA simulated
simulated
simulated torque
torque
torque waveforms
waveforms
waveforms of the
of ofSCP-MGM
the the SCP-MGM
SCP-MGM and
and DCP-
and DCP-
DCP-MGM
MGM under
MGM under
under pure pure electric
pure electric
electric mode:mode:
mode: (a) (a) SCP-MGM;
(a) SCP-MGM;
SCP-MGM; (b) (b) DCP-MGM.
(b) DCP-MGM.
DCP-MGM.
 -400
0 60 120 180 240 300 360
Electrical angle/degree
(a) (b)
Figure 15. Analytically predicted and FEA simulated torque waveforms of the SCP-MGM and DCP-
Energies 2019, 12, 1888 18 of 25
MGM under pure electric mode: (a) SCP-MGM; (b) DCP-MGM.

(a) (b)
Figure 16.Power
Figure16. Powerdistribution
distributionamong
amongthe
theinternal
internalcombustion
combustionengine
engine(ICE),
(ICE),battery,
battery,and
andwheels
wheelsunder
under
pure
pureelectric
electricmode:
mode:(a)
(a)SCP-MGM;
SCP-MGM;(b)
(b)DCP-MGM.
DCP-MGM.
Energies 2019, 12, x FOR PEER REVIEW 18 of 25
Energies
4.3.3. 2019, 12, x FOR PEER REVIEW 18 of 25
4.3.3.Pure
PureMechanical
MechanicalMode Mode(Mode
(Mode2)2)
UnderUnder this mode, HEVthe HEV is runninga at a medium speed, so the battery does output
not output power
Under this
this mode,
mode, the
the HEV is is running
running atat a medium
medium speed,
speed, so
so the
the battery
battery does
does not
not output power
power
anymore
anymore and andICE
the thecomes
ICE comes
into intoHowever,
use. use. However,
to to maintain
maintain the the magnetic
magnetic field, field,
the thewindings
stator stator windings
are
anymore and the ICE comes into use. However, to maintain the magnetic field, the stator windings
are electrified
electrified with DC with DC current
current [14]. The[14]. The rotating
rotating speeds speeds
of two of two rotors
rotors are: ω are:
= ωi = 1200
1200 r/min,r/min,
ω = o = 1015 r/min.
ω1015 r/min.
i o
are electrified with DC current [14]. The rotating speeds of two rotors are: ωi = 1200 r/min, ωo = 1015 r/min.
The The torque waveformsthe of the power distribution of the
twotwo machines are shown in Figures 17 and18.18.
Thetorque
torque waveforms
waveforms of of the power
power distribution
distribution ofof the
the two machines
machines areshown
are shown inFigures
in Figures 17and
17 and 18.

(a) (b)
(a) (b)
Figure 17. Analytically predicted and FEA simulated torque waveforms of SCP-MGM and DCP-
Figure 17.Analytically
Figure17. Analyticallypredicted
predictedand FEA
and simulated
FEA torque
simulated waveforms
torque of SCP-MGM
waveforms and DCP-MGM
of SCP-MGM and DCP-
MGM under pure mechanical mode: (a) SCP-MGM; (b) DCP-MGM.
under
MGM pure
undermechanical mode: (a)
pure mechanical SCP-MGM;
mode: (b) DCP-MGM.
(a) SCP-MGM; (b) DCP-MGM.

(a) (b)
(a) (b)
Figure
Figure Power
18. 18. Powerdistribution
distributionamong
among ICE, battery
batteryand
andwheels
wheels under
under pure
pure mechanical
mechanical mode:
mode: (a) SCP-
Figure 18. Power distribution among ICE, battery and wheels under pure mechanical mode: (a) SCP-
(a) SCP-MGM;
MGM; (b) (b) DCP-MGM.
DCP-MGM.
MGM; (b) DCP-MGM.
4.3.4. Hybrid Mode (Mode 3)
4.3.4. Hybrid Mode (Mode 3)
When the HEV needs to further accelerate, the ICE alone is not enough to provide the power
When the HEV needs to further accelerate, the ICE alone is not enough to provide the power
that the HEV needs. The SCP-MGM and DCP-MGM can then switch into hybrid mode. In this mode,
that the HEV needs. The SCP-MGM and DCP-MGM can then switch into hybrid mode. In this mode,
both ICE and battery provide the energy for the wheels. The rotating speeds of two rotors are: ωi =
both ICE and battery provide the energy for the wheels. The rotating speeds of two rotors are: ωi =
1200 r/min, ωo = 2000 r/min. The torque waveforms of the power distribution of the two machines
Energies 2019, 12, 1888 19 of 25

4.3.4. Hybrid Mode (Mode 3)

When the HEV needs to further accelerate, the ICE alone is not enough to provide the power
that the HEV needs. The SCP-MGM and DCP-MGM can then switch into hybrid mode. In this
mode, both ICE and battery provide the energy for the wheels. The rotating speeds of two rotors
are: ωi = 1200 r/min, ωo = 2000 r/min. The torque waveforms of the power distribution of the two
machines are
Energies 2019, 12,shown in Figures
x FOR PEER REVIEW19 and 20. 19 of 25

Energies 2019, 12, x FOR PEER REVIEW 19 of 25

(a) (b)
(a) (b)
Figure 19. Analytically predicted and FEA simulated electromagnetic torque of SCP-MGM and DCP-
Figure
MGM Analytically
19. Analytically
under predicted
hybridpredicted
mode: and
(a)and FEA
FEA simulated
simulated
SCP-MGM; electromagnetic
electromagnetic
(b) DCP-MGM. torque
torque of SCP-MGM
of SCP-MGM and
and DCP-
DCP-MGM
MGM underunder hybrid
hybrid mode:mode: (a) SCP-MGM;
(a) SCP-MGM; (b) DCP-MGM.
(b) DCP-MGM.

40 80
40 80
60
60
Power/kW

20 40
Power/kW

Power/kW

20 40
Power/kW

20
20
0
0 0
0
-20
-20 -20
-20 -40
ICE Battery Wheels -40 ICE Battery Wheels
ICE Battery Wheels ICE Battery Wheels
(a) (b)
(a) (b)
Figure 20. Power
Figure distribution
20. Power among
distribution ICE,ICE,
among battery, and and
battery, wheels under
wheels hybrid
under mode:
hybrid (a) SCP-MGM;
mode: (a) SCP-MGM;
Figure
(b) (b) 20.
DCP-MGM. Power distribution among ICE, battery, and wheels under hybrid mode: (a) SCP-MGM;
DCP-MGM.
(b) DCP-MGM.
4.3.5. Regenerative
4.3.5. RegenerativeBraking Mode
Braking Mode(Mode
(Mode4) 4)
4.3.5.When
Regenerative
the HEV
Braking Mode (Mode
deaccelerates, the ICE
4)stops working. The magnetic field generated via the stator
When the HEV deaccelerates, the ICE stops working. The magnetic field generated via the stator
windings
When provides
the HEV a resistance for
deaccelerates, the
the wheels,
ICE
windings provides a resistance for the wheels, stopsand thus
working.
andthethus
power
The theflows
magnetic
powerfrom
field the wheels
generated
flows from the to the
via thebattery.
stator
wheels to the
At this
windingstime, the
providespower
a flows from
resistance the
for stator
the windings
wheels, and to
thusthe battery.
the power Thus,
flowsthe battery
from
battery. At this time, the power flows from the stator windings to the battery. Thus, the battery the can be
wheels charged
to the can
under
be this
battery. At mode.
charged Thethe
this under
time, rotating
this mode.speeds
power flows of two
from
The rotating therotors
statorare:
speeds ωi rotors
windings
of two = 0 to
r/min, ωio==0 1000
the battery.
are: ω r/min.
Thus,
r/min, ωthe The torque
battery can
o = 1000 r/min. The
waveforms
be charged of the power
under this mode.
torque waveforms distribution of
The rotating
of the power the two machines
speedsofofthe
distribution twotwo are
rotorsshown in
are: ωi are
machines Figures
= 0 shown 21 and 22.
r/min, ωino =Figures
1000 r/min.
21 and The
22.
torque waveforms of the power distribution of the two machines are shown in Figures 21 and 22.

(a) (b)
(a) (b)
 4.3.5. Regenerative Braking Mode (Mode 4)
When the HEV deaccelerates, the ICE stops working. The magnetic field generated via the stator
windings provides a resistance for the wheels, and thus the power flows from the wheels to the
battery. At this time, the power flows from the stator windings to the battery. Thus, the battery can
be charged
Energies 2019, 12, under
1888 this mode. The rotating speeds of two rotors are: ωi = 0 r/min, ωo = 1000 r/min.
20 of The
25
torque waveforms of the power distribution of the two machines are shown in Figures 21 and 22.

(a) (b)
Figure
Figure
Energies
21.21.12,
2019, Analytically
Analytically predicted and
predicted
x FOR PEER REVIEW and FEA
FEA simulated back
back EMF
EMF of
ofSCP-MGM
SCP-MGMand
andDCP-MGM:
DCP-MGM:(a) 20 of 25
(a)SCP-MGM;
SCP-MGM;(b)
(b)DCP-MGM.
DCP-MGM.

40
20 40
20
20
10 20
Power/kW

10
Power/kW

0 0
0 0
-10
-10 -20
-20
-20
-20 -40
ICE Battery Wheels -40 ICE Battery Wheels
ICE Battery Wheels ICE Battery Wheels
(a) (b)
Figure 22. Power
Figure distribution
22. Power among
distribution ICE,ICE,
among battery, and and
battery, wheels under
wheels hybrid
under mode:
hybrid (a) SCP-MGM;
mode: (a) SCP-MGM;
(b) DCP-MGM.
(b) DCP-MGM.

4.3.6. Quantitative comparison between HMM and FEA

4.3.6. Quantitative comparison between HMM and FEA
Table 7 shows the mean error percentage and maximum difference of the torque waveforms
Table 7 shows the mean error percentage and maximum difference of the torque waveforms
between FEA and HMM of the SCP-MGM and DCP-MGM under different operating modes. It can be
between FEA and HMM of the SCP-MGM and DCP-MGM under different operating modes. It can
observed that the mean error percentage was below 8%, which is acceptable for the electromagnetic
be observed that the mean error percentage was below 8%, which is acceptable for the
torque prediction of SCP-MGMs and DCP-MGMs. The error of torque prediction was mainly caused
electromagnetic torque prediction of SCP-MGMs and DCP-MGMs. The error of torque prediction
by the error of the air-gap magnetic flux density prediction on both the radial and tangential direction,
was mainly caused by the error of the air-gap magnetic flux density prediction on both the radial
since the torque was calculated using the calculus of the product of the radial component and tangential
and tangential direction, since the torque was calculated using the calculus of the product of the
component of air-gap magnetic flux density.
radial component and tangential component of air-gap magnetic flux density.
TableFrom the error
7. Mean above comparisons
percentage betweendifference
and maximum the SCP-MGM and DCP-MGM
of the torque under various
waveforms between FEA andworking
conditions,
HMM of theitSCP-MGM
can be seenandthat the torque
DCP-MGM underratio between
different outermodes.
operating rotor and inner rotor was about 1.18,
which is equal to the pole-pair ratio of outer rotor to inner rotor. The ripple rate of the outer rotor
was larger than that of theSCP-MGMinner rotor, which can be alleviatedDCP-MGM by adopting a skewed stator when
Mode
these machines are applied
Inner Rotorin practical applications.
Outer Rotor Additionally,
Inner Rotor the electromagnetic
Outer Rotor torque of the
DCP-MGM was about ε1 1.88
ε2 times of
ε1that of SCP-MGM.
ε2 ε1 However,ε2 the torque
ε1 perε2unit weight of the
PM of the 1 DCP-MGM
3.59% 12.1 wasNm only2.64%
about 14.8
0.72 Nmof that of SCP-MGM.
3.55% 22.5 Nm Considering
4.46% 30.3 Nm the fact that the
consequent–pole
2 structure
3.00% 7.85 already
Nm 7.39% saves half the PM2.57%
37.2 Nm material that
14.9 Nmwould 5.88%otherwise
48.6 Nmhave been used,
the total usage
3 of PM material
2.75% 8.9 Nm for3.61%
DCP-MGM is reasonable.
15.2 Nm 2.27% 15.3Thus,
Nm the DCP-MGM
3.27% 30.3 is Nmmore suitable to
be used in4 the propulsion
5.73% 18.1systems
Nm 5.06% 30.0 Nm 3.50% 28.4 Nm 4.56% 43.0 Nm
of HEVs.

FromTable
the 7. Meancomparisons
above error percentage and maximum
between differenceand
the SCP-MGM of the torque waveforms
DCP-MGM under between
various FEA and
working
HMM of the SCP-MGM and DCP-MGM under different operating modes.
conditions, it can be seen that the torque ratio between outer rotor and inner rotor was about 1.18,
SCP-MGM DCP-MGM
Mode Inner Rotor Outer Rotor Inner Rotor Outer Rotor
ε1 ε2 ε1 ε2 ε1 ε2 ε1 ε2
1 3.59% 12.1 Nm 2.64% 14.8 Nm 3.55% 22.5 Nm 4.46% 30.3 Nm
2 3.00% 7.85 Nm 7.39% 37.2 Nm 2.57% 14.9 Nm 5.88% 48.6 Nm
Energies 2019, 12, 1888 21 of 25

which is equal to the pole-pair ratio of outer rotor to inner rotor. The ripple rate of the outer rotor
was larger than that of the inner rotor, which can be alleviated by adopting a skewed stator when
these machines are applied in practical applications. Additionally, the electromagnetic torque of
the DCP-MGM was about 1.88 times of that of SCP-MGM. However, the torque per unit weight of
the PM of the DCP-MGM was only about 0.72 of that of SCP-MGM. Considering the fact that the
consequent–pole structure already saves half the PM material that would otherwise have been used,
the total usage of PM material for DCP-MGM is reasonable. Thus, the DCP-MGM is more suitable to
be used in the propulsion systems of HEVs.

4.3.7. Discussion of HMM

The greatest advantage of HMM is that the modeling process is simpler compared to the
conventional subdomain method [30]. Since it unitizes Fourier series of relative permeability,
the boundary conditions become simpler and the number of unknowns becomes less. For instance,
the consequent-pole structure leads to a very complex general solution if the subdomain method is
used [29]. Additionally, magnetic saturation can be taken into account to an extent in HMM, and
a magnetic flux density distribution figure can be obtained. However, the HMM also has some
drawbacks. First, HMM can only provide a simplified magnetic saturation model, since the magnetic
saturation varies from point to point in some SMM parts. The relative permeability in the radial
direction is also regarded as a constant, but, in reality, it could change. To the authors’ knowledge,
no existing analytical method can really reflect the magnetic saturation at every point within an electric
machine. Secondly, the use of convolution sometimes leads to an extremely large or small value, which
further leads to a large error in the final result due to the accuracy limit of the numerical calculation.

5. Conclusions
In this paper, an analytical modeling method for consequent-pole MGMs was proposed and
elaborated. Two machine topologies, namely the SCP-MGM and DCP-MGM, were analyzed and
compared quantitatively using HMM and FEA. A good agreement was achieved for these two methods.
Furthermore, these two machines were embedded into the propulsion system of HEVs under different
operating conditions. By inserting extra PMs in the modulator, the electromagnetic torque of the
DCP-MGM increased greatly compared to its counterpart. Therefore, the DCP-MGM has the potential
to be applied in the propulsion systems of HEVs. Additionally, the proposed HMM can also be applied
in the mathematical modeling of other consequent-pole electric machines.

Author Contributions: The work presented in this paper is the output of the research projects undertaken by
C.L. In specific, H.Z. and C.L. developed the topic. H.Z. carried out the calculation and simulation, analyzed the
results, and wrote the paper. Z.S. gave some suggestions on the calculation process. J.Y. helped to carried out a
part of the simulation.
Funding: This research was supported by a grant (Project No. 51677159) from the Natural Science Foundation
of China (NSFC), China. Also, the work is supported by a grant (Project No. JCYJ20180307123918658) from the
Science Technology and Innovation Committee of Shenzhen Municipality, Shenzhen, China. Moreover, it was also
supported by a grant (Project No. CityU 21201216) from Research Grants Council of HKSAR, China.
Conflicts of Interest: The authors declare no conflict of interest.

Appendix A
The expressions of Hr and Hθ are given by:

1 −1 ∂Az
Hr = −i µ−1 KAz − µ0 µ−1
r,cov Mr and Hθ = −µθ,cov − µ0 µ−1
θ,cov Mθ (A1)
r r,cov ∂r
In polar coordinate, (15) can be simplified as:

1 ∂ KHr
∇×H = (rHθ ) + i = Jz (A2)
r ∂r r
Energies 2019, 12, 1888 22 of 25

By substituting (A1) into (A2), one can obtain that:

−1 k
∂2 Akz 1 ∂Akz bθ,cov Kµr,covc KAz µ0
+ − = −µθ,cov Jz − (Mθ + iµθ,cov Kµ−1
r,covc Mr ) (A3)
∂r 2 r ∂r r2 r

The vector magnetic potential in region I~X are given in Table A1.

Table A1. The Vector Magnetic Potential Expressions.

Region VMP Expression Region VMP Expression

|K|
r |K| II
 |K|
D + Rr1
  
I AIz = r
R1 DI II AII
z = R2 EII
 III  R λIII  |K|  R |K|
r λ

III AIII
z =P
III
R3 DIII + PIII r2 EIII + rGIII IV AIV r
z = R4 DIV + r3 EIV
  λV  R  λV  |K|  R |K|
V AV
z = PV Rr5 DV + PV r4 EV + rGV VI AVI r
z = R6 DVI + r5 EVI
 λ VIII
  VII
r λ
 R λVII AVIII
z = PVIII Rr8 DVIII
VII AVII
z =P
VII
R7 DVII + PVII r
6
EVII VIII  R λVIII
+PVIII r7 EVIII + r2 F
r |K| IX
   R |K|  |K|
IX AIX
z = R9 D + r
8
EIX X AX
z = R9
r
EX

Where DI , DII , . . . , DIX and EI , EII , . . . , EX are (N*1) vector.

The expressions of X, S, T are:

h T T T T T T T T
iT
X= ( DI ) (DII ) (EII ) (DIII ) (EIII ) ··· (DIX ) (EIX ) ( EX ) (A4)
 
 K1,1
 K1,2 K1,3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

 
 K
 2,1 K2,2 K2,3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 

 
 0 K3,2 K3,3 K3,4 K3,5 0 0 0 0 0 0 0 0 0 0 0 0 0
 

 
 
 0 K4,2 K4,3 K4,4 K4,5 0 0 0 0 0 0 0 0 0 0 0 0 0 
 
 
 0 0 0 K5,4 K5,5 K5,6 K5,7 0 0 0 0 0 0 0 0 0 0 0 
 
 
 0 0 0 K6,4 K6,5 K6,6 K6,7 0 0 0 0 0 0 0 0 0 0 0 
 
 
 0 0 0 0 0 K7,6 K7,7 K7,8 K7,9 0 0 0 0 0 0 0 0 0
 

 
 
 0 0 0 0 0 K8,6 K8,7 K8,8 K8,9 0 0 0 0 0 0 0 0 0 
 
 
 0 0 0 0 0 0 0 K9,8 K9,9 K9,10 K9,11 0 0 0 0 0 0 0 
S = 
 
 (A5)
 0 0 0 0 0 0 0 K10,8 K10,9 K10,10 K10,11 0 0 0 0 0 0 0


 
 
 0 0 0 0 0 0 0 0 0 K11,10 K11,11 K11,12 K11,13 0 0 0 0 0 
 
 
 0 0 0 0 0 0 0 0 0 K12,10 K12,11 K12,12 K12,13 0 0 0 0 0
 
 
 
 0 0 0 0 0 0 0 0 0 0 0 K13,12 K13,13 K13,14 K13,15 0 0 0


 
 
 0 0 0 0 0 0 0 0 0 0 0 K14,12 K14,13 K14,14 K14,15 0 0 0 
 
 
 0 0 0 0 0 0 0 0 0 0 0 0 0 K15,14 K15,15 K15,16 K15,17 0
 
 
 
 0 0 0 0 0 0 0 0 0 0 0 0 0 K16,14 K16,15 K16,16 K16,17 0 

 

 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 K17,16 K17,17 K17,18


 
 
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 K18,16 K18,17 K18,18


h
T= 0 0 (R2 G1 )T (R2 µII G1 )T (−R3 G1 )T (−R3 µIV G1 )T (R4 G2 )T (R4 µIV G2 )T (−R5 G2 )T
T T T T
iT (A6)
(−µVI R5 G2 )T 0 0 (R27 F) (2 R27 µopen,θ F) (−R28 F) (−2R28 µIX F) 0 0

where:  
h i  R |K|
K1,1 K1,2 K1,3 = I − 1
R2 −I (A7)
h i   R |K| 
K2,1 K2,2 K2,3 = µII −µI 1
R2 µI (A8)
Energies 2019, 12, 1888 23 of 25

h i   R |K|  R |K| 
K3,2 K3,3 K3,4 K3,5 = I 1
R2 −PIII 1
R2 −PIII (A9)
h i   R |K|  R λIII 
K4,2 K4,3 K4,4 K4,5 = µPM,θ −µPM,θ |K| R12 −µII PIII λIII R32 µII PIII λIII (A10)
h i   λIII  R |K| 
K5,4 K5,5 K5,6 K5,7 = PIII PIII R2 − 3
−I (A11)
R3 R4
h i   R λIII  R |K| 
K6,4 K6,5 K6,6 K6,7 = µIV PIII λIII −µIV PIII λIII 2
µPM,θ |K| 3
µPM,θ |K| (A12)
R3 R4
h i   R |K|  R λ V 
K7,6 K7,7 K7,8 K7,9 = I 3
−PV R45 −PV (A13)
R4
h i   R |K|  R  λV 
K8,6 K8,7 K8,8 K8,9 = µMod,θ |K| −µMod,θ |K| 3
−µIV PV λV 4
µIV PV λV (A14)
R4 R5
h i   R λ V  R |K| 
K9,8 K9,9 K9,10 K9,11 = PV PV 4
− 5
−I (A15)
R5 R6
h i   R λV  R |K| 
K10,8 K10,9 K10,10 K10,11 = µVI PV λV −µVI PV λV 4
−µMod,θ |K| 5
µMod,θ |K| (A16)
R5 R6
h i   R |K|  R λVII 
K11,10 K11,11 K11,12 K11,13 = I 5
−PVII R76 −PVII (A17)
R6
h i   R |K|  R λVII 
K12,10 K12,11 K12,12 K12,13 = µOpen,θ |K| µOpen,θ |K| 5
R6 −µVI PVII λVII 6
R7 µVI PVII λVII (A18)
h i   R λVII  R λVIII 
K13,12 K13,13 K13,14 K13,15 = PVII λVII PVII 6
R7 −PVIII R8
7
−PVIII (A19)
    R λVII  R λVIII 
K14,12 K14,13 K14,14 K14,15 = µSlot,θ PVII λVII −µSlot,θ PVII λVII 6
R7 −µOpen,θ PVIII λVIII 7
R8 µOpen,θ PVIII λVIII (A20)
h i   R λVIII  R |K| 
K15,14 K15,15 K15,16 K15,17 = PVIII PVIII 7
− 8
−I (A21)
R8 R9
h i   R λVIII  R |K| 
K16,14 K16,15 K16,16 K16,17 = µIX PVIII λVIII −µIX PVIII λVIII R8
7
µSlot,θ |K| R9
8
µSlot,θ |K| (A22)
h i   R |K| 
K17,16 K17,17 K17,18 = I − 8
R9 −I (A23)
h i   R |K| 
K18,16 K18,17 K18,18 = µX −µX 8
R9 µIX (A24)

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