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Inductance Calculations of Permanent-Magnet Synchronous Machines

Including Flux Change and Self- and Cross-Saturations

Article in IEEE Transactions on Magnetics · November 2008

DOI: 10.1109/TMAG.2008.2001419 · Source: IEEE Xplore

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2324 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 10, OCTOBER 2008

Inductance Calculations of Permanent-Magnet Synchronous Machines

Including Flux Change and Self- and Cross-Saturations
K. J. Meessen1 , P. Thelin2 , J. Soulard3 , and E. A. Lomonova1
Department of Electrical Engineering, Eindhoven University of Technology, Eindhoven 5600 MB, The Netherlands
SJ AB, Rolling stock division, Stockholm SE-105 50, Sweden
Department of Electrical Machines and Power Electronics, School of Electrical Engineering, Royal Institute of Technology
(KTH), Stockholm SE-100 44, Sweden

Accurate inductance calculation of permanent-magnet synchronous machines is a relevant topic, since the inductances determine a
large part of the electrical machine behavior. However, the inductance calculation, as well as the inductance measurement, is never
a completely straightforward task when saturation occurs. In this paper, the total flux in the and axes are obtained from finite-
element method or measurements and therefore include saturation and cross-couplings. The inductances are obtained from analytical
post-processing based on an equivalent magnetic circuit. The originality of this method is that it accommodates the changes in the magnet
flux and the inductances with the level of saturation. The resulting inductance values are the ones seen by the converter or the grid, as
found by a more accurate approach.
Index Terms—Cross saturation, FEM, inductance calculation, permanent-magnet synchronous machine.

I. INTRODUCTION “frozen” permeabilities of the magnetic circuit in the finite-ele-

ment method (FEM) calculations of inductance.
CCURATE inductance calculation of permanent-magnet A different approach to the same problem is given in [6]. The
A synchronous machines (PMSMs) is a relevant topic since
the direct and quadrature ( and ) inductances determine a part
use of iterative calculations is suggested when making a small
angle displacement of the current in the measurement.
of the torque, namely the reluctance torque, and the required ter- Reference [7] emphasizes the importance of using the funda-
minal voltage of a converter-fed PMSM [1], [2]. For a line-start mental values from a fast Fourier transform (FFT) of the volt-
(direct-start) PMSM the and inductances also have an influ- ages and currents when calculating the inductances to avoid the
ence on the, e.g., obtained load angles for different torques, and influence of slot harmonics, etc. This reflection is also shared by
to some extent also affect the starting possibilities. As pointed the authors of the present paper.
out in [3], wrong values of the inductances can lead to signifi- For inductance measurements, different methods are also pro-
cant errors when predicting the motor performance. posed, such as a dc decay test, a static inductance bridge [3],
Nevertheless, the inductance calculation, as well as the or based on the flux linkage obtained from measurement of the
inductance measurement, is never a completely straightforward phase voltage [7], [8]. For measurements, the rotor position is
task. Numerous papers have been written and published on this either measured with some kind of shaft position sensor, or an it-
subject, but all of the found papers seem to solve the problem erative calculation procedure as in [3] is used, but it is even pos-
by considering a constant magnet flux and taking the effect of sible to measure inductance without iterative calculations using
saturation and cross-coupling in the and inductance values. only a conventional electrical power analyzer (i.e., without a di-
Among numerous literature, it was found that [4] gives a good rect measurement of the shaft position) as described in [9].
overview of the subject and presents briefly some different For analytical calculations, using lumped circuit models,
methods for inductance calculation, e.g., using the stored mag- imply approximations since the magnetic saturation behavior
netic energy, the magnetic vector potential, or the air-gap flux of all flux paths in the iron laminations seldom are easy to
density. The latter method, which is commonly used, excludes pinpoint exactly. Lumped circuit models in combination with
the slot leakage but it can be calculated quite accurately by iterative calculations, as well as the FEM calculations, can
analytical means. easily cope with the magnetic saturations in the different parts
As [5] correctly points out, it is not easy to determine a cor- of the magnetic circuit, but even though such phenomena are
rect value of the inductance (or reactance) when the ma- considered the calculations of the and inductances seen
chine is saturated since the induced voltage, from the perma- by the converter or the grid can be troublesome. The reasons
nent-magnet flux, changes too. Therefore, [5] suggests the use for this can still be said to be due to the nonlinear behavior of
of the Flux-MMF diagram, which is general for all electrical the iron laminations. This nonlinear behavior has the ability to
machines, when calculating the torque of the machine. This is “hide” the wanted inductances even if the FEM calculations
a good suggestion but it does not improve the calculation of the are used since it is not obvious to determine how much flux
and inductances that are required in the so commonly used is produced solely by a positive current when the magnetic
phasor diagram. To solve this issue, [4] proposes the use of saturation occurs. The problem occurs with desaturation for a
negative current as well. Cross-saturation, i.e., the saturation
of iron parts in one direction due to flux from current in the
other direction (and vice versa), also complicates the determi-
Digital Object Identifier 10.1109/TMAG.2008.2001419 nation of the produced flux.
0018-9464/$25.00 © 2008 IEEE
MEESSEN et al.: INDUCTANCE CALCULATIONS OF PERMANENT-MAGNET SYNCHRONOUS MACHINES 2325

When current is applied only in the direction ( current), the

inductance can be defined as

for (3)

The electrical quantities in (2) and (3) are obtained either

from measurements or FEM calculations. Both cross-saturation
and the change of the permanent-magnet flux due to saturation
are neglected in (2) and (3). In the following sections, a method
to include these phenomena is presented.
Fig. 1. Conventional dq phasor diagram for winding voltage, current, and flux
linkage in a PMSM. III. INDUCTANCE CALCULATIONS WITH VARYING
PERMANENT-MAGNET FLUX
By using the theory of magnetic equivalent circuits (MEC) A. Magnet-Flux Change for or Current
[10], (Section III), and even introducing diodes in the derived
equivalent circuit, (Section IV), this paper derives and presents In both (2) and (3), the no-load voltage, , is assumed to be
some simple and easy-to-use analytical equations for the calcu- constant for a given speed during operation and it is calculated
lation of the and inductances and corrected induced voltage at no-load conditions. The value of the no-load voltage de-
using the induced voltages obtained from FEM or measure- pends on the flux produced by the magnet in the air gap, ,
ments. By using results from FEM calculations or measure- the speed of the rotor, and the winding configuration. The flux,
ments, it is possible to include the effects of both changing per- , is defined as the value of the magnetomotive force (MMF)
manent-magnet flux, and self- and cross-saturation in the and source representing the magnet, divided by the total nonlinear
inductance calculations. The obtained values for the induc- reluctance, , in the direction, which includes the air-gap re-
tances are therefore the values seen by the converter or the grid. luctance, , the internal magnet reluctance, , and the non-
The presented method is original in the way that it considers linear iron reluctance, . Since the flux produced by the stator
that the magnet flux is depending on the level of saturation. Our current, , saturates or desaturates the iron, the nonlinear re-
method is therefore similar to the one presented in [11] in the luctance, , changes when a current is applied. Therefore, as-
way that it post-processes FEM results. However, in [11] it is suming a constant during operation is only valid when the
assumed that the magnet flux does not depend on the level of armature flux in the air gap, , is small compared to or,
saturation and is therefore considered constant. when the working point of the magnetic circuit is below the knee
Since the calculation method derived in the present paper is of the – curve of the iron-lamination in the machine, i.e.,
a post-processing one that can be applied to both calculated and where is assumed to be constant.
measured flux linkages, it is not possible to verify the accu- Assuming now that depends on the current, and
racy of this method by measurements. However, the obtained re- become functions of the currents and . The changed
sults can be analyzed and compared to the conventional method values of no-load voltage, , and the flux linkage in the -axis,
which assumes constant magnet flux. , when only is applied, are easy to obtain from Fig. 1. The
values of and are calculated from FEM results, and
II. CONVENTIONAL INDUCTANCE CALCULATIONS OF A PMSM and are known. Now, the changed or compensated no-load
voltage is
In a permanent-magnet synchronous machine, the relation be-
tween the current and voltage can be described by for (4)

(1) The compensated no-load voltage has now possibly a value dif-
ferent from the no-load value, , due to saturation. And the
where is the winding voltage phasor, is the no-load voltage flux linkage due to the permanent magnet is obtained by
phasor produced by the permanent magnets only, assumed to be
constant at a given speed and a constant temperature, and is for (5)
the winding resistance. and are the winding current pha-
sors and and are the reactances in the and direc- where and are the flux linkage and flux produced by
tion, respectively. The graphical representation of (1) is shown the permanent magnet only, respectively, and is a constant.
in Fig. 1 in the form of a phasor diagram, where and By combining (3) and (4), the inductance, when taking into
are the flux linkages seen by the windings [12], [13]. account the change of due to current, is
From Fig. 1, with current applied only in the direction (
current), and with , the inductance can be defined for (6)
as
Because the flux linkage due to current in the air gap, ,
for (2) has the same or the opposite direction as the magnet flux linkage
2326 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 10, OCTOBER 2008

As the circuit is nonlinear, superposition cannot be applied;

however, increases for higher flux and the following relation
for the total flux in the direction can be stated

for (9)

Nevertheless, for or equal to zero, the following two

decompositions can be made:

for (10)

Fig. 2. Magnetic equivalent circuit for the d flux, here drawn in an inset per-
manent-magnet machine layout. for (11)

When both MMF sources, and , are not equal to zero,

the total flux, , is

(12)
Fig. 3. Magnetic equivalent circuit for the d current.
From this equation, it follows that the part of the total flux that
is produced by the magnet is
, it is not possible to separate them. Therefore, it has tradi-
tionally been assumed that the no-load voltage, , is constant, (13)
and that the saturation is all accounted for in the varying .
Starting from the magnetic equivalent circuit in the direc- Combining (12) and (13) gives the part of the total flux produced
tion of the machine, shown in Fig. 2, a different way to separate by the magnet
from the total flux linkage, , is found and presented
here. Fig. 2 shows the magnetic equivalent circuit for the flux
in the direction. and represent the nonlinear
iron yoke reluctances (the rotor and stator yoke reluctances are (14)
merged), is the nonlinear teeth reluctance, and
is the sum of the air-gap reluctance and the internal magnet re-
Since the no-load voltage is a linear function of the air-gap
luctance. is the MMF source representing the magnet, and
flux linkage due to the permanent magnets, the value of the com-
is the MMF source representing . The value of can
pensated no-load voltage, , can be calculated from the
be found by
FEM results. With only current applied to the windings of the
machine and replacing by , and by in (14)
(7)
(15)
where is the remanent flux density of the permanent magnet
at the actual permanent-magnet temperature, is the radial and a rewritten (2) in combination with (15) yield
thickness of the permanent magnet, is the permeability of
vacuum, and is the relative permeability of the permanent
magnet. The value of is
for (16)
(8)
where (16) gives an expression for the inductance including
where is the pitch factor, is the skewing factor, is the the changing flux of the permanent magnets due to saturation
effects. Basically, it has been derived that the new proposed
distribution factor, is the number of stator slots per pole per
phase, and is the number of stator winding turns per slot [14]. method splits the effect of saturation on both the magnet flux
An alternative to (8) is to derive a constant by and the armature flux in proportion to the respective magnet and
increasing the current in a FEM calculation until the same value current MMF.
for the fundamental of the air-gap flux density as produced by
the magnets is obtained. When this flux density occurs, IV. INDUCTANCE CALCULATION INCLUDING
as given by (7). CROSS-SATURATION EFFECTS
From the circuit drawn in the machine layout in Fig. 2, a sim- In the previous section, a method to calculate the values of
pler circuit can be made. In Fig. 3, the nonlinear reluctances and inductances is given for only or current applied to the
and of Fig. 2 are combined into one windings. In practice, most machines are controlled by applying
nonlinear reluctance . both and currents at the same time. In this situation, the
MEESSEN et al.: INDUCTANCE CALCULATIONS OF PERMANENT-MAGNET SYNCHRONOUS MACHINES 2327

Fig. 4. Magnetic equivalent circuit for the I current flux, drawn in an inset
permanent-magnet machine layout.

and inductances change due to so-called cross-saturation.

This cross-saturation occurs because the flux in the direction
and the flux in the direction share partly the same magnetic
path.

A. Inductance Fig. 5. Magnetic equivalent circuit with both d current and q current.
From the phasor diagram in Fig. 1, it follows that the in-
ductance again can be directly calculated with the load angle, ,
and the winding voltage, , and the resistive voltage drop due
to the current, . Therefore, when and are applied at
the same time, the inductance is defined by

(17)

B. Inductance
For calculation of the inductance when both and are Fig. 6. Magnetic equivalent circuit for the both d and q currents.
applied, the same problem as in the previous section arises. To
calculate the inductance, the value of is necessary. But
now, the real value of during operation is affected by satura- 6. Two separate grounds in the circuit of Fig. 5 are introduced
tion due to both -flux and -flux components. because the ground defines a point of symmetry that is different
To find a better expression for the inductance, a new mag- for the and flux paths. To avoid confusion, the flux and
netic equivalent circuit for both flux and flux is derived. The the flux conductors are drawn as two different lines which are
new magnetic equivalent circuit is a combination of the mag- connected to the yoke reluctances.
netic equivalent circuit for flux shown in Fig. 2 and the mag- When both and are applied, the total flux distribution
netic equivalent circuit for flux shown in Fig. 4. The magnetic is not symmetric along the and axes, respectively. For ex-
equivalent circuit for flux shown in Fig. 4 has a lot of similari- ample, when both and are positive, the flux
ties with the magnetic equivalent circuit for flux in Fig. 2. The counteracts the flux through and thus, the resulting
circuit consists of a constant air-gap reluctance, , the MMF flux through is lowered. At the same time, the flux and
source, , represents the current, and the nonlinear iron re- flux have the same direction through and therefore, the
luctances, , and . The value of can resulting flux through is higher than the resulting flux
be found from (8), by simply replacing by . Combining the through . All the yoke reluctances are functions of the
two magnetic equivalent circuits results in the magnetic equiv- flux through them. Therefore, when both and fluxes are in
alent circuit presented in Fig. 5. the magnetic equivalent circuit
As can be seen in Fig. 5, the flux produced by the magnet and
(18)
the current ( flux) share only the yoke-reluctances with the
flux. That simplification has been done since the main parts (19)
of the air gap and fluxes flow in different teeth. Mostly, this (20)
simplification will only have a small impact on the final result. (21)
This is more true when the magnet width is less than 180 elec-
trical degrees (in the considered motor the magnets cover 120 The amount of flux produced by in the positive axis
degrees of the pole) and when the flux waveform from the cur- direction, is the same as the amount of flux produced by in
rent is more sinusoidal. The common rotor yoke (core) reluc- the negative axis direction, only the sign is opposite. The same
tance has not been neglected, but it is now for simplification holds for the flux produced by . Since it is not possible
merged with the nonlinear stator yoke reluctance in Figs. 5 and for the main part of the flux to go through the axis teeth
2328 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 10, OCTOBER 2008

reluctances and vice versa, and due to the geometric symmetry magnet flux, only current flux or only current flux the fol-
of the electrical machine, it can be stated that lowing three decompositions can be stated

(22) (27)
and
(23) (28)

even when there are both and fluxes in the electrical machine. (29)
The sign is used to signify parallel connection which means
that . As the machine is odd-symmetric
with a period of one pole When all the MMF sources produce flux, the total flux is equal
to or lower than the sum of the fluxes in (27)–(29) because of
the nonlinearity of the iron. The total flux can be defined by a
part of the flux in the direction, and a part of the flux in the
(24)
direction
and
(25)

Combining (24) and (25) with (22) and (23) gives

(30)
Combining (30) with information from Fig. 1 gives that the ab-
solute value of the flux is proportional to

(31)
(26)
Since and always have the same sign, the abso-
This means that the nonlinear yoke reluctance for the flux, lute signs in (31) can be removed. Equation (31) looks similar
which is the parallel connection of and , is equal to (12) and by splitting in the same way the flux in a part pro-
to the nonlinear yoke reluctance of the flux, which is the par- duced by the magnet and a part produced by the current, the
allel connection of and . From this conclusion, flux produced by the magnet is proportional to
the equivalent circuit in Fig. 5 can be redrawn as the magnetic
equivalent circuit for the absolute values of the fluxes presented
in Fig. 6.
In Fig. 6, the nonlinear reluctance, , consists of the air-gap
(32)
reluctance, , the internal magnet reluctance, , and the
nonlinear teeth reluctance for the flux . is non-
linear too and consists of the air-gap reluctance, , and the This can be interpreted as the varying value of by replacing
nonlinear teeth reluctance for the flux . is the the total flux linkage by and the angle by , and sub-
common yoke reluctance for the flux and the flux. tracting the resistive voltage drop
Because the flux cannot use the flux teeth path and vice
versa, two ideal diodes had to be introduced in the circuit to (33)
make it valid. As the diodes block negative flux and negative
flux as well, a problem arises when a negative current is applied. The value of is not equal to the no-load voltage due
Therefore, the flux source in the circuit is set to the absolute to the saturation of the iron by current flux, current flux, and
value of . This is valid because of the symmetry of the flux the magnet flux. With this compensated value of from (33), it
path: a negative in Fig. 5 results in an exchange of is possible to give an expression for the inductance, , when
with and with . Therefore, the circuit in both and current are applied to the machine at the same time
Fig. 6 is still valid when a negative current is applied.
and are series-connected in the same flux path. There-
fore, they can be replaced by one MMF source, . This
source has the same symmetry properties as , see above.
So, in the circuit in Fig. 6, the MMF sources, and , (34)
are replaced by the absolute value of the sum of them both,
. In most machines, the resistive voltage drop, , in (34) is
Since the reluctances in Fig. 6 are nonlinear, superposition very small compared to the winding voltage at relatively high
cannot be applied. For the absolute values of only permanent- speeds, and may be neglected.
MEESSEN et al.: INDUCTANCE CALCULATIONS OF PERMANENT-MAGNET SYNCHRONOUS MACHINES 2329

TABLE I
SPECIFICATIONS PMSM

Fig. 8. Changed peak value of the magnet produced flux density in the air gap
for different currents. The dotted line shows the change of magnet produced
flux density due to saturation by current applied in the d direction, the solid line
shows the effect of current applied in the q direction.

current values. The flux density is calculated from FEM results

using (5) and (14). As can be seen from Fig. 8, the air-gap flux
density produced by the permanent magnets decreases up to
15% for positive current, while it even slightly increases for
low negative current values and is constant for high negative
Fig. 7. d inductance versus negative d current for several values of q current,
calculated assuming constant magnet flux.
current. Because both magnet flux and flux produced by posi-
tive current have the same direction, the positive current in-
creases the level of saturation of the iron in the teeth and in the
V. SIMULATION RESULTS yoke. The higher level of saturation results in a higher equiva-
lent reluctance value. Therefore, the magnet flux decreases for
The method for calculating inductances described previously
positive current.
is applied to data obtained from FEM calculations on a PMSM
On the other hand, negative current lowers the level of sat-
by using commercially available software [15]. The modeled
uration as the flux produced by the negative current opposes
machine is a conventional PMSM with inset mounted perma-
the magnet produced flux. Fig. 8 shows an almost constant flux
nent magnets as described in Table I and shown in Fig. 2. In this
density for negative current. This occurs because the negative
section, the results of the simulations are presented.
current sets the flux density level to the linear part of the B–H
The FEM simulations are performed on a twelve-pole per-
curve of the iron, i.e., below the knee of the B–H curve.
manent-magnet synchronous machine. The values of the flux
Contrary to flux produced by current, flux shares only
density in the air-gap and the winding voltage are obtained by
part of its path (the stator and rotor yokes) with the magnet flux
time-stepping simulations, made for one electrical period with
path. Therefore, saturation due to current has less influence on
the machine running at constant speed. First, simulations are
the magnet produced flux. Flux from both negative and positive
done for only current and only current. In the simulations
current components saturates a part of the permanent-magnet
for only current, the flux is zero, and the flux consists of
flux path as can be seen in Figs. 5 and 6. Therefore, Fig. 8 shows
magnet produced flux and current produced flux. In the sim-
symmetric behavior for positive and negative current.
ulations with only current, the current is zero and the flux
is equal to the magnet produced flux.
B. Results of Inductance Calculations
Considering no cross-saturation, and calculating the induc-
tance by using (34) with instead of results in the With (17) and (34), the values of the and inductances
inductances shown in Fig. 7. The inductance increases rapidly are calculated from FEM results. Because of the magnetic sym-
for high values of current. This is completely opposite to what metry in the direction of the machine, the direction of the
is expected due to cross-saturation, and caused by the assump- current does not influence the inductance values. Therefore,
tion that is constant. all simulations are only performed for positive current while
the results are valid for positive and negative current. All pre-
A. Change of Flux Produced by the Permanent Magnets sented values have been normalized by dividing the calculated
Fig. 8 shows the peak value of the fundamental of the air-gap inductance by the inductance found for the rated current of the
flux density produced by the permanent magnets for different machine.
2330 IEEE TRANSACTIONS ON MAGNETICS, VOL. 44, NO. 10, OCTOBER 2008

Fig. 9. d inductance versus negative d current for several values of q current. Fig. 11. q inductance versus the absolute value of q current for several values
Calculated using the winding voltage from FEM results. of negative d current. Calculated using the winding voltage from FEM results.

Fig. 10. d inductance versus positive d current for several values of q current. Fig. 12. q inductance versus the absolute value of q current for several values
Calculated using the winding voltage from FEM results. of positive d current. Calculated using the winding voltage from FEM results.

1) Inductance: Fig. 9 shows values of the inductance current has the same direction as the flux produced by the per-
versus negative current for different values of current. As manent magnet. Therefore, the inductance value decreases for
can be seen in the figure, the inductance is almost constant higher values of current. As the flux produced by the cur-
when no is applied. This agrees with the results from Fig. 8. rent shares partly the same path as the flux, the iron goes even
The permanent magnet produced flux does not increase when a deeper into saturation when current is applied as well. There-
negative current is applied. So, the reluctance value of the iron fore, the value of the inductance lowers even more when both
is constant in this region. This results in a constant inductance current and positive current are applied.
value. 2) Inductance: The results for the inductance show sim-
When a higher value of is applied as well, the iron saturates ilar behavior as the results for the inductance. Fig. 11 shows
and the inductance decreases. For higher values of negative the inductance versus the absolute value of the current for
current, the inductance increases because the negative cur- different values of negative current. The inductance decreases
rent opposes the permanent magnet produced flux and the iron for higher values of current due to saturation of the iron. When
will desaturate. negative current is applied at the same time, the inductance in-
In Fig. 10, the inductance versus positive current for dif- creases due to the desaturation effect of the negative current.
ferent values of current is plotted. The iron saturates more for Fig. 12 shows the inductance versus the absolute value of
higher values of current because the flux produced by the current for different positive values of current. The positive
MEESSEN et al.: INDUCTANCE CALCULATIONS OF PERMANENT-MAGNET SYNCHRONOUS MACHINES 2331

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