Marcin KOWOL

Janusz KOODZIEJ

CONSTRUCTION OF A DYNAMIC MODEL

FOR A TRANSVERSE FLUX MOTOR

ABSTRACT
The paper presents the simulation results of the
modular reluctance motor (Transverse Flux Motor) with an outer rotor
in different transient states. The main goal of the analysis was the
developing process of a mathematical TFM model with a high level
of accordance with real object. The mathematical model was implemented
in Matlab/Simulink environment and compared with the filed-circuit
model (FLUX3D). Several computer simulations were carried out for
different TFM motor operating conditions.

Keywords: dynamic modelling, transverse flux motor, mathematical

optimization

1. INTRODUCTION
During the last several years its been possible to observe dynamic advances
in low and average power drives with high torque density. Electrical drives built
on the base of switched reluctance motors deserve particular consideration.

Marcin KOWOL, Ph.D, Janusz KOODZIEJ, M.Sc., Eng.

e-mail: [email protected], [email protected].
Opole University of Technology,
Luboszycka 7, 45-036 Opole, POLAND
PROCEEDINGS OF ELECTROTECHNICAL INSTITUTE, Issue 240, 2009

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M. Kowol, J. Koodziej

One of their modifications is a switched reluctance motor with an axial flux

(Transverse Flux Motor). These kinds of motors are a part of brushless
machines group, which have an electronic supply system as their integral part.
Very close relation between electromagnetic torque and volume is the
fundamental quality of these motors. The main disadvantage of this kind
of motors is their construction, which is more complicated when compared to
the classical SRM motors implying smaller durability and reliability [2].
The modular reluctance motor with an axial flux (TFM), characterized by
a high efficiency and a high value of electromagnetic torque provides to use
them as in-wheel drive of the electric vehicle. Exterior rotor enables direct
energy transmission excluding gear and additional mechanical losses.
However, the TFM supply is realized on the basis of voltage converters. The
motor phases are supplied sequentially depend on the radial rotor position.
Decision for the voltage supply selection is made during the possibility
of average electromagnetic torque maximizing depended on several construction
parameters and predicted control method.
The main goal of this paper is the TFM mathematical model developing in
transient states simulation and its comparison to field-circuit model (FLUX3D).
The presented mathematical model will be used as a basic model in
optimization process with application of an evolutionary or random algorithm
of the best solution, which were searched for the task.

2. THE PHYSICAL MODEL OF TFM

The main object of the research is the switched reluctance motor with an
axial flux (TFM). The prototype motor structure is shown schematically in Fig. 1.
The considered motor consists of the three modules in which the rotors are
shifted by 10 mechanical degrees in relation to each other. The stator modules
are placed symmetrically on acid-resistant steel shaft. Each segment has twelve
teeth and includes one phase belt that forms a solenoid. The rotor teeth were
made of solid iron. The modules are isolated by nonmagnetic inserts. The outer
layer and the rotor layer were made of nonmagnetic material (duralumin) [4].
A power converter (Fig. 2.) is required to activate and commutate the SRM
phases, and the classic asymmetric half-bridge inverter is usually used,
requiring two switching devices and two power diodes per phase [5]. Two
control procedures are possible Hard-Chopping and Soft-Chopping. The easiest
motor electric control consists in sequentially switching on and off for the phase
current (phases A, B, C, A etc.).

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Fig. 1. Motor structure

Fig. 2. The half-bridge (H) TFM power converter

3. MODELING AND SIMULATIONS

OF TRANSIENT STATES
The modeling process of SRMs with an axial flux is different from the
techniques used in conventional motors cases. The main reason for that state is

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high nonlinearity of the reluctance motor. There are many interesting solutions
for this type of problems in the bibliography [2, 3, 5].
As a base instrument describing motor in an electromagnetic and mechanical
way during the mathematical model construction the following equations were
used [2]:

u = Ri +

d
dt

(1)

where u is the supply voltage, R is the phase winding resistance, i is the phase
current and is the flux in phase winding,

T = Tl + k + J

d
dt

(2)

where T is the electromagnetic torque, Tl is the load torque, k is the friction

damping coefficient, J is the moment of inertia of the rotor and is the rotor
speed.
Solution for these equations is possible during the linear model adoption,
which is unfortunately associated with considerable errors. The second way
of solving these equations is to take into account the nonlinear flux and torque
character. The magnetostatic calculation is one of the methods for including the
nonlinearity. A FEM model (FLUX3D) for TFM shown on Fig. 3, was build especially
for this case.

Fig. 3. Finite element model (FLUX3D)

Construction of a dynamic model for a transverse flux motor

133

The nonlinear flux character depended on current and rotor position is taken
into account by applying the mathematical function = f ( i , ) (Fig. 4a). Such
like approach was adopted for electromagnetic torque characteristic by pointing
out function T = f ( i , ) (Fig. 4b). Both functions were calculated for the motor
FEM model and verified by the measurements from the experimental tests on
physical motor model.
a)

b)

Fig. 4. Flux (a) and electromagnetic torque (b) vs. phase current and rotor position

The calculations of transient states using the FEM field-circuit model are very
complicated and consume a lot of time. Mentioned software (FLUX3D) makes it
possible to solve the FEM model in transient states, coupling an external power
circuit with the control system. The task is to find other solutions for multiply
optimization computation in shorter time. The field-circuit computations should
be taken into account as a checking tool. The nonlinear mathematical model
based on magnetostatic FEM results may be used as an alternative solution.
The simulation model was built in Matlab/Simulink environment. Its structure
has a hierarchic character with a fundamental part single phase (Fig. 5). Each

Fig. 5. Phase_A sub-system

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single-phase sub-system includes two look-up tables with calculated flux and
torque functions. During the simulation these data tables are interpolated and
extrapolated with the object to receive the best projection of the nonlinear model
characteristic.
On account of the switched reluctance motor with an axial flux nature it is
necessary to simulate the power converter with control system. The classic
asymmetric half-bridge inverter was implemented in the second sub-system
using the Matlab Plecs toolbox. All electronic nonlinear switching parts
(transistor, diode) were taken into account by the Plecs circuit. The control
procedures for the turn on and off angle were used by Matlab function forms for
each phase. Figure 6 presents the complete power converter sub-system.

Fig. 6. Phases control sub-system

The final and the most exterior system, presented in the Fig. 7, allows
to implement the significant mechanical parameters load torque, moment
of inertia and friction damping coefficient.

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135

Fig. 7. Final mathematical SRM motor system

The simulation model (Fig. 7) output data were the motor total torque and the
speed. By adding new components to the mathematical model it is possible to
simulate other dynamic operating states like the change of load and breaking.

4. RESULTS OF ANALYSIS
The main goal of the analysis was to develop the TFM motor mathematical
model for the transient states simulations and their comparison to the fieldcircuit model (FLUX3D). The following figure 8 shows the simulated transient
results compared with the field-circuit FEM model of the phase currents, the
motor speed and the total torque. Its an idle motor start-up from zero with 6 V
reduced voltage supply level.

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M. Kowol, J. Koodziej

a)

b)

c)

d)

e)

Fig. 8. Phases currents for 6 V reduced voltage supply

a) FLUX3D, b) Matlab/Simulink, c) phase_A current, d) rotor speed, e) total electromagnetic
torque

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137

Figure 9 shows the simulated transient results of SRMs start-up from zero
to full speed with an external load (Tl = 0,5 Nm) and for rated voltage supply
(Uzas = 12 V). The mathematical model simulation results were compared with
field-circuit FEM model. Small range of divergence is the result of inaccuracy by
phase switching in FEM model.
a)

b)

c)

Fig. 9.
a) Phase_A current, b) rotor speed, c) total electromagnetic torque

6. CONCLUSIONS
The paper describes mathematical model, which enables the process
of simulating SRMs with an axial flux in different transient states. The simulation
research results were compared with field-circuit computation data. Nonlinear
multivariable function, used in the mathematical model, provided the increasing

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of the projection agreement with the real object. Good convergence between
these approaches allows replacing complicated FEM computations (FLUX3D)
with simpler mathematical model (Matlab/Simulink). The obtained measurement
data enable to apply introduced model as the basis for further optimization
process using genetic algorithms.

LITERATURE
1. FLUX3D Users guide, vol. 1-4, 2002.
2. Tang Z., Pillay P., Chen Y., Omekanda A. M.: Prediction of Electromagnetic Forces and
Vibrations in SRMs Operating at Steady State and Transient Speeds, 0-7803-8487-3/04 (C)
2004, IEEE.
3. akir K.: In-wheel motor design for electric vehicles, Subanci University, Spring 2004.
4. Kowol M.: Optymalizacja obwodu magnetycznego silnika TFM za pomoc algorytmu
ewolucyjnego, IX Midzynarodowe Warsztaty Doktoranckie, OWD 2007, vol. 2, pp. 233-238.
5. Vasquez H., Parker J. K., A new simplified mathematical model for a switched reluctance
motor in a variable speed pumping application, Mechatronics 14 (2004) pp. 10551068.

Manuscript submitted 09.02.2009

Reviewed by Krzysztof Kluszczyski

Construction of a dynamic model for a transverse flux motor

MODELOWANIE I SYMULACJA
STANW DYNAMICZNYCH SILNIKA TFM

M. KOWOL, J. KOODZIEJ
STRESZCZENIE
Praca zawiera wyniki bada symulacyjnych stanw dynamicznych silnika reluktancyjnego o budowie moduowej z wirnikiem zewntrznym ze strumieniem poprzecznym (TFM).
Silnik zbudowany jest z trzech moduw oddzielonych od siebie przekadkami dystansowymi, kady z moduw zawiera 12 zbw oraz jedno uzwojenie (rys. 1). Poszczeglne moduy wirnika przesunite s
wzgldem siebie o dziesi stopni mechanicznych, natomiast moduy
stojana s uoone symetrycznie wzgldem siebie. Do zasilania w/w
silnika zastosowano ukad pmostkowy typu H, skadajcy si
z szeciu tranzystorw i diod zwrotnych.
Zasadniczym celem bada byo opracowanie modelu matematycznego silnika TFM zapewniajcego dobre odzwierciedlenie zjawisk wystpujcych w tego rodzaju napdach elektrycznych. Model
matematyczny zaimplementowano w rodowisku Matlab/Simulink,
oraz Tolboox PLECS do zamodelowania ukadu zasilania. Nieliniowo strumienia magnetycznego zalenego od prdu i pooenia
ktowego uwzgldniono stosujc w modelu matematycznym funkcj
= f ( i , ) (rys. 4a). Podobne podejcie zastosowano w przypadku
momentu elektromagnetycznego wyznaczajc funkcj T = f ( i , ) . Funkcje te wyznaczono w na drodze oblicze polowych zweryfikowanych
pomiarowo.
Struktura modelu symulacyjnego ma charakter hierarchiczny. Skada si z podsystemw kadego z pasm (rys. 5), ukadu zasilania
i sterowania (rys. 6) oraz z bloku implementacji wielkoci mechanicznych (rys. 7).
W punkcie 4 zamieszczono wykresy bdce porwnaniem bada
symulacyjnych przy uyciu modelu matematycznego (Matlab/Simulink)
oraz obarczonego duymi nakadami obliczeniowymi modelu polowoobwodowego (FLUX3D). Na rysunku 8 (a-e) przedstawiono jaowy
rozruch silnika TFM przy obnionym napiciu zasilania. Rysunek 9
(a-c) obrazuje rozruch pod obcieniem dla znamionowej wartoci
napicia zasilania. Porwnanie modelu matematycznego z modelem
polowo-obwodowym pozwala na wycignicie wniosku o zadowalajcej dokadnoci modelu matematycznego. Otrzymano szereg charakterystyk dla rnych warunkw pracy silnika TFM w znacznie krtszym czasie ni dla oblicze polowo-obwodowych. Opracowane narzdzie umoliwi dalsze, bardziej zaawansowane badania optymalizacyjne z wykorzystaniem metod stochastycznych poszukiwania
rozwiza danego problemu.

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