Fields and Permeances of Flat Rectangular and Cylindrical DC Electromagnetic Structures

M. v. ZAGIRNYAK AND

s. A. NASAR, FELLOW,

IEEE

Abstmct-Analytical solutions to the field problem of flat rectangular and axially symmetric cylindrical dc electromagnetic systems are presented. It is shown that the flat configuration is a special case of the general solution. The results are presented in normalized forms as permeance functions. Calculated results are compared with those obtained experimentally.

I. INTRODUCTION C EXCITED electromagnetic systems are extensively used in dc linear motors, acyclic machines, electromagnetic pulleys, and electromagnetic couplings [l ] -[4] . In designing such systems, a precise determination of the magnetic field distribution within the winding zone is necessary. Most analytical solutions available in the literature [2], [ 5 ] -are carried out in rectangular coordinates for cylindrical systems. Otherwise, analog or graphical solutions are obtained in cylindrical coordinates [3], [ 6 ] , 171. It has been found that these approaches lead to errors which may be unacceptable in certain cases [ 3 ] , [ 8 ] . Furthermore, some of themethods, although yield acceptable results, require. innumerable physical structures to obtain the effects of parameter variation over a limited range [8]. This paper presents an explicit analytical solution tothe field problem of rectangular as well as axially symmetric cylindrical electromagnetic systems. The solution to the flat configuration is considered as a special case of the general solution. The end results are presented in normalized forms as permeance functions, which may be readily used indesigning axially symmetric cylindrical and flat electromagnets. A correlationbetween calculated and measured permeances isgiven to validate the assumption underlying the analytical results.
11. ANALYSIS A. The Physical Model and SimpliDing Assumptions The model of the flat and the cylindrical electromagnetic systems to be analyzed is shown in Fig. I(a), where the z-axis is the axis of symmetry for the cylindrical system. The coordinates for the rectangular model are shown in parentheses in Fig. 1(a). The B-field across the opening of the window is assumed to be uniform as given in Fig. l(b). Other assumptions are that the permeability of the iron tends to infinity; the exciting current is dc and is uniformly distributed over the cross
Manuscript received June 5, 1984; revised October 10, 1984. M. V. Zagirnyak is with the Department of Electrical Machines and Apparatuses, Machine Design Institute, Voroshilovgrad 348034 U.S.S.R. S. A. Nasar is with the Department of Electrical Engineering, University of Kentucky, Lexington, KY 40506-0046.

r m
(b)

Fig. 1. Investigated model of electromagnetic system. (a) Cross section (b) Plot of function B,.(z) at through theelectromagneticsystem. F = ro + a.

section of the exciting coil of the electromagnet; and, the current (and hence the current density J a n d the magnetic vector potential) is in a direction perpendicular to the cross section shown in Fig. l(a). Hence, for the rectangular flat model, the vector potential is only z-directed. For the cylindrical model the vector potential is only $-directed. In both cases the vector potential is denoted by the scalar A .

B. Field Equations The vector potential A in the window is governed by the Poisson equation
V 2 A = -poJ
(1) where po is the permeability of free space. In two dimensions (1) takes the following forms. 1) Flat Rectangular Model:

2 ) Cylindrical Model:

0018-9464/85/0300-1193$01.00 0 1985 IEEE

1194

IEEE TRANSACTIONS ON

MAGNETICS, VOL.

MAG-21, NO. 2 , MARCH 1 9 8 5

The corresponding boundary conditions are as follows. 1 ) Rectangular Model: 1

lo=y<a

evaluating the constants al , A , , C,, and D, from the boundary conditi0n.s and substituting in (8) yields, after some manipulation, 1 a2 ab2 A(r, z) = -- poJr2 t - poJror + - - -poJ r3 2 n26

Iy=o

2 ) Cylindrical Model:
=0,

ro <r<ro + a

(1 1)

In (1 l), a2 is unknown, but it does not have to be evaluated (for the same reason as Cf i n (7)) 191, [lo] . The form of a2 may be obtained using (7), if (7) is considered as a limiting In (4), B o f is the tangential component of the magnetic flux case of (1 l), for identical conditions, asro -+ -. Let density at the interface between the airgap and the pole piece, r=ro +y. (12) and can be determined from Ampere's law, which yields Then using expressions for the limits of Bessel functions [ 121 gives : By using the method of separation of variables [l] , [ 9 ] , [lo] ,the solution to (2) may be written as

. cosh (2nnylb) cos (2nnxlb).

(7)

The constant C ' is unknown, but it does not have to be determined for the problem at hand [9], [lo]. Proceeding in a similar fashion, the general solution to (3) Substituting (13) in (1 1) shows that the expression under the may be written as summation in (11) is identical to that in (7). Hence, taking m the limit asro tends to infinity gives 1 A(r, z) = pLpJr2 +alr + t [ A , cos (knz) n=l a2 = (Caro - B y : ) p o ~ (1 4)

-5

az

+ Bn sin (knz)l [Cn 1 1 (knr) + DnK1 (knr)l (8) where al , a 2 , k,, A , , B, , C, , and D, are undetermined constants, and I , (k,r) and K 1(k,r) are modified Bessel functions of the first order and the first and second kind, respectively. The conditions listed in (5) are used to evaluate the undetermined constants. First, because A(r, z ) is an even function, B, in (8) is zero. The characteristic value k , is usually obtained from the boundary conditions on B(r) [ 111 as the roots of a transcendental equation involvingBessel functions. However this procedure is rather involved and the resulting expressions are cumbersome [ 1 11 . In this paper the boundary conditions on B(z) are used to determine k,. Accordingly, the first condition (5) yields

where Ca is aconstantindependent of the magnet system parameters ro and R. Equations (7) and (1 1) provide all the information needed for the analysis and calculations of the magnetic field distribution in the flat and cylindrical dc magnet systems, as discussed in the next section.

111. EQUIVALENT PERMEANCE CALCULATIONS

For a unit stack length Of the flat mapet sYstemy the fluxes and $81 shown in Fig- l(a>>may be expressed in terms Of the vector potential as
@c, @a> @s,
Y

(1 5)

(9)

k , = 2nn/b.
Expressing B, of Fig. l(b) in a Fourier series as

ZAGIRNYAK AND NASAR:

DC ELECTROMAGNETIC STRUCTURES

a b " 1 A,, = - + - sin 2b n26 n = l n 2

2 ) CylindricalModel:

e)

1195

tanh

(y)

(29)

In the cylindrical structure, the flux in the annular cylinder of outer radius at the point labeled 2 in Fig. l(a) and inner radius at the point 1 is given by [ 9 ], [ l l ] =2n[r,A'(r1,z,)-r2A(r2,z,)l. Hence the various fluxes of Fig. l(a), may be written as
@1,2

(20)

= 2n[rA(r,0) - RA(R, O)].

(24)
in this case

The equivalent permeance Ai, for the flux @i,, becomes

where R i is the radius corresponding totheflux becomes

@ic,

and

R c = R = r o+ a ,
for

6 ,

Ra = R S 1= R' = $ ( R t ro) = 9(2r0 t a),

for @a and @sl and

R,= ro,
'

for 9 , .

Now, (15)-(18) may be substituted in (19)and (21)-(24) in (25) to obtain the equivalent permeances. Hence the following results are obtained. I ) Flat Rectangular Model:

A,=-

2b n26

n=l

(2n -

b " 1 A, = - [Ms n26 n = l n 2

*

sin

(y) (T) (T)

coth 2nna

- (-1)j

As a special case it may be verified that the results for the flat rectangular model maybeobtained from the corresponding expressions for the cylindrical model by using the limit as ro -+-. Based on the preceding analysis equivalent permeances were calculated for the two types of electromagnetic structures. Figs. 2-5 show these permeances as functions of the various parameters of the electromagnetic systems. In the numerical calculations, it was found adequate to take n = 1000.

IV. EXPERIMENTAL VERIFICATION The validity of the expressions for the leakage flux calculations obtained in the preceding sections wasverified experi-

1196

IEEE TRANSACTIONS ON MAGNETICS, VOL. MAG-21, NO. 2, MARCH 1985

0.85 0.5

0.7
0.45 0.55

0.4

0.4
0.25

0.J5 0.15 0.3 0.05 0.035

0 02
0.18 0.01 0.16
0.005

0.043

0.042

1.5

2.5

3.5

05

I5

2.5 3.5

Fig. 2. Equivalent permeance for flux from internal pole piece surface.

Pig. 4. Equivalent permeance for flux on coresurface.

2 .o

I.6

I.?

I .o

0.8

0.6

05

0.4

0.3

0.25

b/6
0.2
~~

2.5 1.5

3.5

Fig. 3. Equivalent permeance for flux from the end (lateral) side surface of winding window.

1:ig. 5. Equivalent permeance for flux through surface of the coil vertical middle cross section.

mentallyfor the cylindrical model ofFig. l(a).The experimentalset-up isshown in Fig. 6 . Themeasurements of the magnetic quantities-the fluxes and potential differences-were carried out by using search coils, ballistic galvonometer, and magnetic potentiometer (Rogovskys belt). From the measurements of the search coils, the leakage fluxes are obtained as

= - $ 2 ; GC = $2 - $ 3 ; and A = $1 - $4 (seeFig. l(a)). The equivalent permeances, obtained experimentally, are calculated from

(37)

1197

model tion

. ; :

in

b/C;

a/6

Parameter R/6 R/6 r/P

1 1

Permeance X a Permeance X , Permeance A s Error, Error, prror , Comput Exper. % Comput. Exper % Cornput.( Exper., %

.I

I .I

where Viis the magnetic potential difference corresponding to a radius &.andflux @i. Theexperimental andcomputed results are compared in Table I, which also shows the results for an actual working model of an electromagnetic pulley. It is seen that the agreement between these results is excellent, except when the permeance is extremely small. Some errors may be attributed to the method of measurements.

[ 31

[4]
[5]

V. CONCLUSION [6] Normalized permeance functions for dc electromagnetic systems of flat and axially symmetric cylindrical configurations [ 71 are obtained. These solutions areobtainedby solving the boundary-valueproblem in a simplified manner. To aid the [ 81 designer, the results are presented in terms of the parameters of the magnetic systems. Calculated results are compared with experimental results to verify the validity of the simplified analysis. It is shown that the flat configuration is a special [ 91 case of the general solution for the cylindrical structure. [lo]
REFERENCES [ 111 [ 11 J. I. Dolinsky, Calculation of pulling electromagnets. Herald of Kharkovsky polytechnical institute, Problems of Contact Apparatus of Automatics, vol. 28, issue 3, pp. 56-62,1968 (in Russian). [ 121 [ 2) R. D. Smolkin and K. M. Nakonechny, Mathematical modelling and someparametercalculation of electromagneticseparators:

Axially symmetric magnetic system with assistance of integretor EGDA-9/60, Proc. I. Gipromachugleobogashenie, vol. 3, Moskow, Nedra, pp. 345-357,1971 (in Russian). R. D. Smolkin, 0. P. Saiko, and R.G. Ustinova, Calculation of plane meridian magnetic system of pulley electromagnetic separators, Electrotechnika (Electrical Eng.), vol. 6, pp. 37-41, 1980 (in Russian). S. A. Nasar and I. Boldea, Linear MotionElectric Machines. New York: Wiley Interscience, 1976. S. A. Swann and J. W. Salmon, Effective resistance and reactance of a rectangular conductor placed in a semi-closed slot, Proc. IEE,vol. 110, no. 9, pp. 1652-1662, Sep. 1963. N. P . Rychintsev, E. M. Tmochenko, and A. G. Frolov, Theory, Calculation and Design of Impact Electromagnetic Machine. Moskow, Nauka: Science, 1970 ( i nRussian). B. K. Bul et al., Basis of Electrical Apparatus Theory. Moskow: Vischay shkola, 1970 (in Russian). V. D. Kartashan and M. V. Zagirnyak, Investigation andcalculation of permeances of electromagnetic pulley open axially s y m metric magnetic systems, Izvestya vuzov (transactions of highest education establishments on electromechanics), vol. 7, pp. 765770,1977. V. A. Govorkov, Electric and Magnetic Fields. Moskow: Energy, 196 8 (in Russian). K. J. Binns and P. J. Lawrenson, Analysis and Computation of Electric and Magnetic Field Problems. Oxford: Pergamon, 1973. B. L. Alievsky and A. G. Sherstiuk, Leakage field in cylindrical i nRussian), Trans. slot of exciting axially symmetric system, ( USSR Academy of Sci. on POWeF and Transport, vol. 1, pp. 119129,1980. M. Abramowitz and A. Stegun Editors,Handbook of Mathematical Function with Formulns, Graphs, and Mathematical Tables. New York: Dover, 1972.