manatee software presentation

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© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected] MANATEE ® SIMULATION SOFTWARE Magnetic Acoustic Noise Analysis Tool for Electrical Engineering Presentation of MANATEE software (v1.06) developed and distributed by EOMYS (www.eomys.com)

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Page 1: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

MANATEE® SIMULATION SOFTWARE

Magnetic Acoustic Noise Analysis Tool for Electrical Engineering

Presentation of MANATEE software (v1.06) developed and distributed by EOMYS (www.eomys.com)

Page 2: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

I. PRESENTATION

MANATEE is a simulation software for the optimal electromagnetic design of electrical

machines including the analysis of magnetic vibrations and acoustic noise due to Maxwell

forces.

MANATEE is currently under Matlab® (R2009b or later), but its Graphical User Interface is in

Python/Qt to set-up the machine and simulation parameters.

MANATEE does not use any Matlab toolbox.

Based on the hybridation of analytical, semi-analytical and finite element methods for

electromagnetic and mechanical models, MANATEE represents the best compromise between

accuracy and calculation time, allowing to include the variable-speed noise and vibration

criteria during a fast virtual prototyping phase or a design optimization process.

2

Page 3: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Page 4: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

The following topologies are included in MANATEE v1.06:

• Inner rotor squirrel cage induction machine (including doubly-fed operation)

• Inner or outer rotor surface, inset or buried permanent magnet synchronous machine

• Geometry is not defined by CAD import but with overlays (cf website)

Page 5: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

A few figures about MANATEE:

• Up 40 dB acoustic noise reduction after redesign based on EOMYS consulting activities

• Successfully applied on both synchronous & induction machines, inner & outer rotor, from W to MW range

• more than 120 validation simulation projects

• more than 120 graphical post-processings

• ~20000 code lines (without counting comments)

Our main references:

Page 6: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

6

Magnet /

current

excitations

ELECTROMAGNETIC

MODULE

ELECTRICAL

MODULESTRUCTURAL

MODULE

ACOUSTIC

MODULE

MANATEE software contains the following modules:

Dynamic

vibrationsVariable

speed noise

level

Geometry

and control

parameters

VARIABLE SPEED MODULEMULTI-SIMULATION MODULE

OPTIMIZATION MODULE

3D force

distribution

Page 7: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

II. ELECTRICAL MODEL

EQUIVALENT CIRCUIT

Option 1: Simulink® PWM block

Option 2: Numerically generated PWM

Phase voltage

waveforms

PWM MODEL

User defined

voltage waveforms

Phase current

waveforms

User defined

current waveforms

• PWM model with several strategies (synchronous, asynchronous, calculated, full wave)

• No strong circuit coupling for the moment

Machine and

converter input

parameters

User defined

equivalent circuit

Page 8: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

8

MANATEE electromagnetic model relies on the fast calculation of the airgap radial and

tangential flux density with the following modelling methods :

• Permeance / magnetomotive force (MMF) analytical models

• Subdomain semi-analytical models

• Finite element non linear magnetostatic model (FEMM)

The permeance / MMF decomposition based on winding functions allows to include PWM

harmonics, skewing and geometrical asymmetries (eccentricities, non uniform airgap) and faults

(broken bars, short-circuits) within a few seconds of calculation.

The subdomain models also allows to include PWM harmonics and skewing within a few

seconds of calculation, but does not not account for uneven airgap and eccentricity.

III. ELECTROMAGNETIC MODEL

Page 9: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Permeance/ MMF Subdomain FEMM

Calculation time ++ + -

Tangential field calculation No Yes Yes

Robustness to geometry + + ++

Skewing (multislice) Yes Yes Yes

Saturation Yes (saturated

permeance waves)

No Yes

Eccentricities & uneven airgap Yes No No

Faults (e.g. short circuits, broken

bar, demagnetization)

Yes No* No*

Topologies IPMSM**

SPMSM

SCIM

DFIM

IPMSM**

SPMSM

SCIM

DFIM

IPMSM

SPMSM

SCIM (no-load)

DFIM

Preferred model for fast

vibroacoustic analysis in healthy

variable speed operation

*can be modelled but not included yet in MANATEE

**fast hybridation with FEA

Subdomain model on SPMSM:

Permeance/mmf model on SCIM:

Page 10: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

10

Model hybridation is possible in MANATEE such as

• Calculation of mmf using non-linear FEMM (e.g. rotor mmf for interior magnet

machines)

• Calculation of permeance using non-linear FEMM (e.g. saturation effects, notch effects,

magnetic wedges)

Recommended models in symmetrical healthy case:

Permeance/mmf

SCIM SPMSM, IPMSM, BPMSM

Subdomain

Page 11: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

• Any winding type can be modelled (integral, fractional, user-defined, multiphase)

• A winding pattern defined in Koil freeware can also be imported

Page 12: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

• High accuracy and fast subdomain model for synchronous machine:

12

• Automatic coupling with FEMM finite element software (symmetries, boundary conditions) in order

to model more complex problems (e.g. shaped magnets, saturation effects)

Finite element linear

magnetostatics

(FEMM)

5 min

MANATEE subdomain models

0.1 s

spacetimetime

space

Page 13: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Option 1: 3D ANALYTICAL PERMEANCE / MMF MODEL User defined flux

distribution

Phase current

waveforms

Option 2: 3D SEMI-ANALYTICAL SUBDOMAIN MODEL

Option 3: 2,5D FINITE ELEMENT MODEL (FEMM)

Analytical mmf in linear case using

winding function model

Analytical permeance incl.

geometrical assymetries (e.g.

uneven airgap, eccentricities)

FEA permeance incl. saturation,

magnetic wedges, notches…

Harmonic

magnetic forcesAirgap time and

space flux

distribution

PROJECTION

TOOL

Radial and tangential

forces FFT2

r=2

r=3

FEA mmf including non linearities

Page 14: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

S=Enveloppe fermée

Dynamic radial

deflections

Option 1: 2,5D ANALYTICAL CYLINDER MODEL

Static radial deflections incl.

tooth-induced moments

Natural frequencies of the circumferential

modes of an equivalent ring

User defined natural

frequencies (e.g. experimental

data)

Natural frequencies

automatically calculated by

FEM (GetDP) on a 3D model

FRF calculation of main spatial

orders of magnetic forces

Dynamic radial deflections

Vibration synthesis of radial

deflections

Option2: 3D FINITE ELEMENT STRUCTURAL MODEL

GetDP (free) or Optistruct (commercial)

Harmonic

magnetic forces

IV. STRUCTURAL MODEL

BASIC DESIGN

DETAILED DESIGN

Page 15: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Tangential and radial harmonic

magnetic forces (magnitude,

wavenumber, frequency, phase)

3D airgap time and

space flux

distribution

HARMONIC DECOMPOSITION

r=2 r=3

ELECTROMAGNETIC

MODEL

r=0

STRUCTURAL FEA

MODEL

Unit harmonic

loads for

wavenumber r=0,

±2, ±4 … STRUCTURAL FREQUENCY

RESPONSE FUNCTIONS

Motor and frame

modal basis

r=0 r=2

VIBRATION SYNTHESIS

Complex FRFs (radial &

tangential) for each

wavenumber r

Spectrograms

Vibration level

Operational Deflection Shapes

Modal contribution

Radiating surface velocities

Electromagnetic Vibration Synthesis

Page 16: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Coupling with structural FEM tool Optistruct:

• Possibility to automatically couple an existing FE model of Optistruct

with any other electromagnetic software, or to rebuild a lamination

model from scratch:

• circular lamination with any slot geometry (possibility to simplify

the slot geometry to have a lighter structural model)

• application of physics: orthotropic properties, winding mass

• application of boundary conditions (e.g. clamped/clamped,

free/clamped, fixed nodes)

• meshing based on the number of nodes in the different regions

• Automated magnetic force application (load collectors)

• Vibration synthesis post-processing

Page 17: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Coupling with structural FEM tool based on open-source GetDP

software:

• Automated mesh generation using Gmsh

• Automated identification of coupled circumferential / longitudinal modes

with different boundary conditions

• Modal shape selector to visualize the modes and validate the automated

modal identification

(2,0)

(3,0)

(4,0)

(0,0)

(2,1)

(3,1)

(4,1)

Page 18: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

CLAMPED – FREE

Boundary conditions

FREE – FREE

Boundary conditions

Resulting modal basis (simplified representation of cylindrical modes – « tooth rocking modes » are

included):

Page 19: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

19

Dynamic radial

deflections

SEMI-ANALYTICAL ACOUSTIC MODEL

Radiation efficiency of an equivalent cylinder

V. ACOUSTIC MODEL

Sound power level

Sound pressure level

2D (analytical) or 3D (FEM) spatial-averaged

vibration velocity

Page 20: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

VI. ADVANTAGES

• Fast variable speed vibroacoustic calculation (from <1 sec to 1 mn) based on efficient

calculation methods even with 3D effects and converter harmonics

• High frequency acoustic calculations (up to 20 kHz) within seconds, contrary to numerical

approaches

• Several industrial validations of the vibroacoustic model

• Advanced harmonic post-processings to understand the root cause of acoustic noise and

find design improvements

• Possibility of decoupling electromagnetics & structural mechanics to perform efficient NVH

optimization (e.g. pole shaping, current injection)

• Coupling with your own Matlab/Python scripts

• Extensive online documentation with tutorials and validation cases

20

Page 21: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

VII. VALIDATIONS AND DOCUMENTATION

21

• A full website is dedicated to MANATEE validations, post-processings, and tutorials:

www.manatee-software.com

• All modules are validated using special validation projects which can be run and modified by

the user:

>>run_MANATEE(‘EM_SPMSM_NL_001');

• Validation cases are daily tested on the current version of MANATEE

• The input and output simulation data are stored in structures and substructures which are

documented in an Excel file

• Three main tutorials for the electromagnetic and vibroacoustic simulation of squirrel cage

induction machines, interior and surface PMSM

Page 22: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

EXAMPLES OF VIBRO-ACOUSTIC VALIDATIONSCase of a traction concentrated winding PMSM with interior magnets at partial load (blind test):

Sound level during a run-up

(experiments with gearbox+water-

cooling+converter harmonics)

Sound level during a run-up

(MANATEE simulation without

converter harmonics)

~20 sec on a laptop

TESTS MANATEE

Motor A

Motor B-40 dB

Fast electromagnetic model neglecting saturation can be used in basic design phase to

avoid strong resonances, no need of detailed multiphysic numerical models

Page 23: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Case of a squirrel cage induction motor for hydraulic pump at no-load:

Sound level during a run-

up

(experiments with PWM +

gearbox +air-cooling)

Sound level during a run-up

(simulation without PWM)

~2 sec on a laptop

15 dB reduction were obtained after redesign with MANATEE

TESTS

MANATEE

Page 24: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Case of a squirrel cage traction induction machine with Sound Power Level measurements according

ISO3745 in semi-anechoic chamber:

Sound power level during

run-up (including air cooling)

Sound powerl level during a run-

up

(without air cooling)

~2 sec on a laptop

TESTS

MANATEE

Fast vibroacoustic model neglecting 3D effects can be used in basic design phase to avoid

strong resonances, no need of detailed multiphysic numerical models

Page 25: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

VIII. POST PROCESSINGS & PLOT TOOLS

25

• MANATEE includes more than 100 plots accessible directly in the command line

• Example of Matlab

Page 26: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

26

Geometry, time and space visualization, real and complex spectra for all quantities (permeance,

mmf, radial and tangential flux density, force, acceleration, velocity, displacements)

-2000

0

2000 -100

0

100

0

0.5

1

1.5

Spatial order [r]Frequency [Hz]

Magnit

ude [

T]

Page 27: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Visual fitting tool for B(H) curve model at high excitation field

Page 28: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

28

Magnetic harmonic forces analysis with automated identification of lines expression

-8-7-6-5-4-3-2

-10 1 2 3 4 5 6 7 8

1000

2000

3000

0

5000

10000

15000

f=4fs=382 Hz

r=6

f=2fs=191 Hz

r=3

spatial order [r]

f=22fs=2099 Hz

r=6 f=20fs=1908 Hz

r=3

f=5fs=453 Hz

r=-3

Airgap radial force FFT2

f=3fs=262 Hz

r=-6

f=16fs=1526 Hz

r=-3 f=14f

s=1336 Hz

r=-6

Frequency [Hz]

r [

N/m

m2

]

(PMSM)(SCIM)

Wavenumber

Wavenumber

Page 29: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

29

Magnetic harmonic forces analysis

Page 30: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

30

Automated analysis of magnetic force waves in open circuit / no-load and partial load

>> find_harmonic_PMSM_open_circuit(2,10f,p=5,Zs=12)

Force wave {f=10fs, r=2} is created by the product of flux waves

B1=P1.F1 and B2=P2.F2 such as:

B1={0,0}.{9fs,9p} and B2={0,-4Zs}.{fs,p}

B1={0,0}.{fs,p} and B2={0,-4Zs}.{11fs,11p}

B1={0,0}.{7fs,7p} and B2={0,-4Zs}.{3fs,3p}

B1={0,0}.{5fs,5p} and B2={0,-4Zs}.{5fs,5p}

B1={0,0}.{3fs,3p} and B2={0,-4Zs}.{13fs,13p}

B1={0,0}.{5fs,5p} and B2={0,-4Zs}.{15fs,15p}

Page 31: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Static (top) and dynamic (bottom) radial vibration spectra

Page 32: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Spectrogram of radial / tangential force harmonics for each spatial wavenumber

Page 33: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Spectrogram of radial / tangential force harmonics of a given order, including rotation direction

Operational deflection shapes at a given frequency

Page 34: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Plot of tangential and radial forces per tooth in time and frequency domain

r=0 r=2 r=3

Page 35: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Space vector diagram to analyze the origin of a radial or tangential force harmonic in terms of flux

density waves

Page 36: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Space vector diagram to analyze the origin of a radial or tangential flux density in terms of

permeance and magnetomotive force waves

Page 37: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Possibility to visualize the modal basis under Gmsh (freeware)

Page 38: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

38

Modal contribution to acoustic and vibration spectra

Page 39: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Contribution of each structural mode to the acoustic noise at variable speed

Page 40: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Spectrogram and order analysis with automatic identification of main magnetic force

harmonics orders and frequencies

Page 41: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

« Spatiogram » noise analysis: decomposition of acoustic noise spectrogram per force

wavenumber

=

r=0

r=2

+ +…

r=4

+

Page 42: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Order analysis per circumferential vibration wavenumber (including rotation direction)

r=0 r=1

r=+2r=-2

Page 43: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

0 100 200 300

-250

-200

-150

-100

-50

0

50

Phasor diagram of SPL at frequency 3260 Hz

Phasor diagrams to analyze the modal contribution to acoustic noise at a given frequency

Page 44: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Unbalanced magnetic pull calculation (example of the slotting effect on eccentric UMP

including skew of the stator)

Page 45: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

0 2000 4000 600050

100

150

200

250 2-t

h

3-t

h

4-t

h

Frequency [Hz]

Supply

fre

quency [

Hz]

SPL [dBA]

0

10

20

30

40

50

60

Listen to your electrical machine (direct sound synthesis)

Verification of the MANATEE synthesized sound using AudacityMANATEE

spectrogram

resonanc

e

resonance

Page 46: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

is_mmfs

is_ideal_mmfs

is_mmfr

is_ideal_mmfr

is_slotS

is_slotR

LwrA

LwrA_max

is

mm

fs

isid

eal m

mfs

ism

mfr

isid

eal m

mfr

isslo

tS

isslo

tR

Lw

rA

Lw

rAm

ax

corr factor

0

0.2

0.4

0.6

0.8

1

Automated harmonic source analysis

High correlation between maximum noise

level and rotor slotting harmonics

High correlation between maximum noise level

and rotor mmf

Low correlation between maximum noise level

and stator winding armature spatial harmonics

High correlation between maximum noise

level and nominal noise level

Page 47: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Mutisimulation Viewer for post processing sensitivity & optimization results

Page 48: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

IX. LIST OF MODULES

48

MODULE NAME FUNCTION DETAILED DESCRIPTION

EL.SCIMElectrical model for inner rotor squirrel cage

induction machines

Calculates the stator and rotor currents based on input phase voltage waveform by calculating

the equivalent circuit parameters, including skin effect and saturation effects.

Some parameters (leakage and magnetizing inductance) can be evaluated with finite element

(coupling with FEMM) if the module EM3 is activated.

EL.DFIMElectrical model for inner rotor doubly fed

induction machines

Calculates the stator and rotor currents based on input phase voltage waveform by calculating

the equivalent circuit parameters, including skin effect and saturation effects.

Some parameters (leakage and magnetizing inductance) can be evaluated with finite element

(coupling with FEMM) if the module EM3 is activated.

EL.PMSMElectrical model for surface, inset and buried

permanent synchronous machines

Calculates the stator currents based on input phase voltage waveform by calculating the

equivalent circuit parameters (inductances Ld, Lq, flux linkage E), including skin effect and

saturation effects. Some parameters (leakage and magnetizing inductances) can be evaluated

with finite element (coupling with FEMM) if the module EM3 is activated.

Electrical modules (3)

Page 49: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

49

MODULE NAME FUNCTION DETAILED DESCRIPTION

CT1.SCIMControl module for squirrel cage induction

machines

Calculates the slip and voltage to achieve specified torque characteristics based on the

equivalent circuit parameters.

CT1.DFIMControl module for doubly fed induction

machines

Calculates the slip and voltage to achieve specified torque characteristics based on the

equivalent circuit parameters.

CT1.SM Control module for synchronous machinesCalculate the current angle to achieve specified torque based on the equivalent circuit

parameters according to MTPA strategy.

CT2.PWM PWM moduleGenerates 3-phase PWM voltage waveforms for asynchronous and synchronous modes,

analytically or based on a Simulink model.

CT2.CI Harmonic current injection module Allows to inject id or iq harmonic currents.

Control modules (5)

Page 50: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

50

MODULE NAME FUNCTION DETAILED DESCRIPTION

EM1.IM

Electromagnetic analytical module based on

permeance / mmf and winding functions for squirrel

cage or doubly fed induction machines

Calculates the airgap rotor and stator radial flux density time and space distribution based on permeance /

mmf model. Includes rotor and stator skewing (any skew shape), uneven airgap and eccentricities effects,

broken bar and short circuit effects, integral and fractional slot windings.

EM1.PMSM

Electromagnetic analytical module based on

permeance / mmf and winding functions for inset,

surface and buried PM synchronous machines

Calculates the airgap rotor and stator radial flux density time and space distribution based on permeance /

mmf model. Includes stator and rotor skew (any shape), uneven airgap, pole displacement and eccentricities

effects, demagnetization and short-circuit effects, integral and fractional slot windings.

EM2.IM

Electromagnetic semi-analytical module for inner rotor

squirrel cage or doubly-fed induction machine at no-

load

Calculates the airgap rotor and stator radial and tangential flux density time and space distribution based on

subdomain models. Includes armature field with any winding type and skewing effect. Assumes semi

opened slots with polar geometry.

EM2.SPMSMElectromagnetic semi-analytical module for surface

permanent magnet synchronous machines

Calculates the airgap rotor and stator radial and tangential flux density time and space distribution based on

subdomain models. Includes armature field with any winding type and skewing effect. Assumes semi

opened slots with polar geometry and tile shape magnets.

EM2.IPMSMElectromagnetic semi-analytical module for inner rotor

inset permanent magnet machines

Calculates the airgap rotor and stator radial and tangential flux density time and space distribution based on

subdomain models. Includes armature field with any winding type and skewing effect. Limited to polar

geometries with semi opened slots and tile shape magnets.

EM2.BPMSMElectromagnetic semi-analytical module for buried

(interior) permanent magnet machines

Calculates the airgap rotor and stator radial and tangential flux density time and space distribution based on

subdomain models. Includes armature field with any winding type and skewing effect. Limited to polar

geometries with semi opened slots and tile shape magnets.

Electromagnetic modules (9)

Page 51: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

51

MODULE NAME FUNCTION DETAILED DESCRIPTION

EM3.PMSM

Electromagnetic finite element module for surface,

inset or buried permanent magnet synchronous

machines

Couples MANATEE with open-source electromagnetic software FEMM for non linear or linear

magnetostatics problem (automatic drawing, meshing and post processings - torque, flux, emf,

inductances).

Calculates the airgap radial and tangential flux density time and space distribution, flux linkage, leakage

and magnetizing inductances.

EM3.SCIMElectromagnetic finite element module for inner rotor

squirrel cage induction machines at no-load

Couples MANATEE with open-source electromagnetic software FEMM for no-load non linear or linear

magnetostatics problem (automatic drawing, meshing and post processings - torque, flux, emf,

inductances).

Calculates the airgap radial and tangential flux density time and space distribution, flux linkage, leakage

and magnetizing inductances. Includes skewing effect.

EM3.DFIMElectromagnetic finite element module for inner rotor

doubly-fed induction machines

Couples MANATEE with open-source electromagnetic software FEMM for no-load non linear or linear

magnetostatics problem (automatic drawing, meshing and post processings - torque, flux, emf,

inductances).

Calculates the airgap radial and tangential flux density time and space distribution, flux linkage, leakage

and magnetizing inductances. Includes skewing effect.

Electromagnetic modules (9)

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© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

52

MODULE NAME FUNCTION DETAILED DESCRIPTION

SM1Structural mechanics analytical module for

modal analysis

Calculates the natural frequencies of an equivalent cylinder including longitudinal modes.

Calculates the dynamic radial deflections of the external structure with an equivalent 2D ring

model.

Calculates the wavenumber and frequency of main magnetic force harmonics.

SM2Structural mechanics finite element module for

modal analysis and FRF using free GetDP

Couples MANATEE with open-source structural FEA software GetDP and mesher Gmsh to

calculate the mode shapes of a 3D external stator structure including winding weight, as well as

the frequency response function (FRF) of the 3D structure under different magnetic force

patterns and calculates the resulting dynamic deflection of the structure.

SM3

Structural mechanics finite element module for

modal analysis and FRF using commercial

Optistruct software

Couples MANATEE with structural FEA software Optistruct and mesher HyperMesh to calculate

the mode shapes of a 3D external stator structure including winding weight, as well as the

frequency response function (FRF) of the 3D structure under different magnetic force patterns

and calculates the resulting dynamic deflection of the structure.

Structural modules (3)

Page 53: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

53

MODULE NAME FUNCTION DETAILED DESCRIPTION

AC1 Acoustics analytical moduleCalculates the radiation factor of the external structure, the sound power level and sound

pressure level radiated by the machine based on analytical models.

AC.pp Acoustics post-processor module

Post-process acoustic calculations (A-weighting, sound power and sound pressure levels,

modal participation factors, sonagrams, order tracking analysis). Builds synthesized sonagrams

and spectrograms from a single speed simulation to obtain a variable speed vibroacoustic

simulation in less than 1 s of calculation.

Acoustic modules (2)

Page 54: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

54

MODULE NAME FUNCTION DETAILED DESCRIPTION

VS1 Variable speed moduleCalls several fixed-speed simulations with varying input parameters depending on the control

strategy (e.g. constant flux, torque/speed curve, etc)

MS1 Multisimulation module

Calls several times MANATEE by varying input parameters (e.g. to study the effet of the pole

width or the slot numbers on noise) including correlation analysis between design variables and

response variables.

OP2 Multiobjective optimization module

Couples MANATEE with a global optimization tool (NSGA-II) for constrained multiobjective

mixed variable optimization, or with local optimizer (SQP) for local single objective optimization.

Includes all post processings (2D and 3D Pareto visualization).

OP1 Sensitivity analysis moduleCalculates the sensitivity of a response variable with respect to design variables and quantify

the correlation factors, using different sampling strategy of the design space to be explored.

Variable speed & multi-simulation modules (4)

Page 55: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

55

MODULE NAME FUNCTION DETAILED DESCRIPTION

OP1 Sensitivity analysis module Calculates the sensitivity of a response variable with respect to design variables.

OP2 Multiobjective optimization moduleCouples MANATEE with a global optimization tool (NSGA-II) for constrained multiobjective

mixed variable optimization, and local optimization (SQP) for single objective optimization.

OP.pp Optimizer post processor

Post-processings of optimization results (Pareto front in 2D and 3D dimensions, correlation

analysis of constraints, response and design variables, plot in design variable and response

variable spaces).

Optimization modules (3)

Page 56: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

KEYWORDS:

MAGNETIC NOISE

MAGNETIC ACOUSTIC NOISE

ELECTROMAGNETIC ACOUSTIC NOISE

ELECTRICAL NOISE

AUDIBLE ELECTROMAGNETIC NOISE

MAGNETICALLY-INDUCED VIBRATION

ELECTROMAGNETICALLY INDUCED NOISE

WHINING NOISE

HIGH PITCH NOISE

HUMMING NOISE

TONAL NOISE

MAGNETIC VIBRATION

ELECTROMAGNETIC VIBRATIONS

DEFLECTION

MECHANICAL DEFORMATION

MAXWELL FORCE

MAXWELL TENSOR

MAGNETIC FORCE

ELECTROMAGNETIC FORCES

UNBALANCED MAGNETIC PULL UMP

VIBRATIONAL BEHAVIOUR

NOISE MITIGATION

NOISE CONTROL

VIBRATION REDUCTION

TOOTH WINDING

CONCENTRATED WINDING

FRACTIONAL SLOT WINDING

DISTRIBUTED WINDING

SHORTED PITCH WINDING

MAGNETOMOTIVE FORCE MMF

WINDING FUNCTION

SKEW

SLOT INCLINATION

STEP-SKEW

SUBDOMAIN MODEL

PERMEANCE / MMF MODEL

PERMEANCE / CURRENT LINKAGE MODEL

PMSM IPMSM SM IM SRM SYNRM DFIG

SYRM

INTERIOR BURIED EMBEDDED MAGNETS

SYNCHRONOUS MACHINES

PERMANENT MAGNET

ASYNCHRONOUS MACHINE

SQUIRREL CAGE INDUCTION MACHINE

DOUBLY FED INDUCTION GENERATOR

ELECTRICAL MACHINES

SWITCHED RELUCTANCE MACHINES

SYNCHRONOUS RELUCTANCE MOTOR

BRUSHLESS AC MOTOR

BRUSHLESS DC MOTOR

DC SERVOMOTORS

ALTERNATOR

SPINDLE MOTOR

ELECTRIC POWERTRAIN

OUTRUNNER MOTOR

FOURIER TRANSFORM

FORCE HARMONICS

HARMONIC REDUCTION

WAVENUMBER

NODE NUMBER

POLE PAIR NUMBER

SPATIAL ORDER

PULSATING ROTATING PROGRESSIVE

STANDING WAVE

RESONANCE

NATURAL FREQUENCY

STRUCTURAL MODE

MODAL BASIS

MAGNIFICATION

DAMPING

HYBRID ELECTRIC CAR

ELECTRIC BUS

ELECTRIC BICYCLES

ELECTRIC SCOOTER

ELECTRODYNAMIC

MOTS-CLEFS:

BRUIT MAGNETIQUE

BRUIT ACOUSTIQUE D’ORIGINE MAGNETIQUE

BRUIT ELECTROMAGNETIQUE

BRUIT AUDIBLE ELECTROMAGNETIQUE

BRUIT ELECTRIQUE

BRUIT HAUTE FREQUENCE

BRUIT DE SIRENEMENT

BRUIT TONAL

VIBRATION MAGNETIQUE

VIBRATIONS ELECTROMAGNETIQUES

DEPLACEMENT

DEFORMATION MECANIQUE

FORCE DE MAXWELL

TENSEUR DE MAXWELL

EFFORTS MAGNETIQUES

FORCES ELECTROMAGNETIQUES

BALOURD MAGNETIQUE

COMPORTEMENT VIBRATOIRE

REDUCTION DE BRUIT

CONTRÖLE DE BRUIT

REDUCTION DES VIBRATIONS

BOBINAGE DENTAIRE

BOBINAGE CONCENTRE

BOBINAGE FRACTIONNAIRE

BOBINAGE DISTRIBUE

BOBINAGE A PAS RACCOURCI

FORCE MAGNETOMOTRICE FMM

FONCTIONS DE BOBINAGE

VRILLAGE

INCLINAISON DES ENCOCHES

PAS DE VRILLAGE

MODELE DE SOUS DOMAINE

PERMEANCE / MMF

MSAP MAS MRV MS MADA

AIMANTS ENTERRES INSERES

MACHINES SYNCHRONES

AIMANTS PERMANENTS

MACHINES A INDUCTION

MACHINES ASYNCHRONES A CAGE D’ECUREUIL

MACHINE ASYNCHRONE A DOUBLE

ALIMENTATION

MACHINES ELECTRIQUES

MACHINES A RELUCTANCE VARIABLE

MACHINES SYNCHRORELUCTANTES

MOTEUR BRUSHLESS

SERVOMOTEUR

ALTERNATEUR

TRANSFORMEE DE FOURIER

HARMONIQUE DE FORCE

REDUCTION DES HARMONIQUES

NOMBRE D’ONDE

NOMBRE DE NŒUDS

NOMBRE DE PAIRES DE POLES

ORDRE SPATIAL

ONDE TOURNANTE PULSANTE PROGRESSIVE

STATIONNAIRE

RESONANCE

FREQUENCE NATURELLE

MODE DE STRUCTURE

BASE MODALE

AMPLIFICATION

AMORTISSEMENT

VOITURE ELECTRIQUE HYBRIDE

BUS ELECTRIQUE

VELO ELECTRIQUE

SCOOTER ELECTRIQUE

Page 57: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

ACOUSTIC FEA

MODEL

Unit radiating surface

displacementsACOUSTIC FREQUENCY

RESPONSE FUNCTIONS

Acoustic Transfer

Vector (ATV)

m=0 m=1

SOUND SYNTHESIS

Complex FRFs for

each structural mode

(MATV)

Sonagrams

Sound Power Level

Directivity patterns

Modal contributions

Modal contributions

from vibration synthesis

VIBRATION SYNTHESIS

APPENDICES

Page 58: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

• The permeance / mmf and winding function model allows to make a fast analysis of the effects

of skewing, rotor and stator asymmetries (e.g. tolerances, segmentation, gaps, weldings), rotor

dynamic and static eccentricities, saturation, interturn short circuit, and broken bar for squirrel

cage machines

-0.1 0 0.1

-0.2

-0.1

0

0.1

0.2

stator shape

symmetrical

deformed

-0.1 0 0.1

-0.2

-0.1

0

0.1

0.2

rotor shape

symmetrical

deformed+eccentric

Example of the vibroacoustic effect of stator segmentation or rotor tolerance

circular airgapnon circular airgap

Page 59: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

0 1 2 3 4 5 6 7-1

-0.5

0

0.5

1

angle [rad]

air

gap r

adia

l fl

ux d

ensi

ty [

T]

with saturation

without saturation

Example of the effect of additional permeance harmonics due to saturation in induction machines

Page 60: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Sound Power Level at variable speed

Case of a squirrel cage induction machine

Zr=96 Zs=84 p=4

Frequency f=fs(Zr/p+2)

Order r=Zr-Zs+2p=-4

Frequency f=fs(Zr/p+4)

Order r=Zr-Zs+4p=+4

WITHOUT SATURATION

WITH SATURATION

VARIABLE SPEED NOISE CALCULATED IN 1 sec

Page 61: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

0 200 400 600 800 10000

20

40

60

80

100

120

Frequency [Hz]

Accele

rati

on level [d

B R

e 1

e-6

m/s2

]

Radial acceleration spectum

0 200 400 600 800 10000

20

40

60

80

100

120

Frequency [Hz]

Accele

rati

on level [d

B R

e 1

e-6

m/s2

]

Radial acceleration spectum

Healthy condition Broken bar

Example of the vibroacoustic effect of a broken bar in a squirrel cage induction machine

Page 62: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Example of the vibroacoustic effect of an interturn short circuit

New noise & vibration line

Page 63: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Example of the vibroacoustic effect of magnetic wedges using permance /mmf model and coupling with FEMM

Page 64: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Example of the effect of skew of rotor slots (or stator slot) on the maximum acoustic noise level

0 0.5 1 1.5 250

60

70

80

90

100

110

rotor skew pitch in stator slot pitch

sound p

ow

er

level (d

BA

)

This sensitivity study is done on the maximum noise level at variable speed as a function of the

rotor skew angle. Its calculation takes less than 2 min.

Page 65: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

• Special algorithm based on winding functions & subdomain models to decrease CPU time:

65

Full time and space airgap radial and tangential flux distribution due to armature field (suitable with PWM current harmonics):

• standard subdomain algorithm: 40s

• optimized algorithm: 0.8s

Page 66: MANATEE software presentation

© 2013- EOMYS ENGINEERING / 121, rue de Chanzy 59260 Lille-Hellemmes FRANCE / [email protected]

Automated phasor diagram and various control strategies (torque speed curve, MTPA, etc)