MANATEE ® ®® ® SIMULATION · PDF file... MANATEE under Matlab ... •...

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

MANATEEMANATEEMANATEEMANATEE® ® ® ® SIMULATION SOFTWARESIMULATION SOFTWARESIMULATION SOFTWARESIMULATION SOFTWARE

Magnetic Acoustic Noise Analysis Tool for Electrical Engineering

Presentation of MANATEE software (v1.05) developed and distributed by EOMYS (www.eomys.com)


I.I.I.I. PRESENTATIONPRESENTATIONPRESENTATIONPRESENTATIONMANATEE is a simulation software for the optimal electromagnetic design of electrical machines optimal electromagnetic design of electrical machines optimal electromagnetic design of electrical machines optimal electromagnetic design of electrical machines including the analysis of magnetic vibrations and acoustic noisemagnetic vibrations and acoustic noisemagnetic vibrations and acoustic noisemagnetic vibrations and acoustic noise due to Maxwell forces.

Two versions exist: MANATEE under Matlab® (R2009b or later) without specific GUI, and pyMANATEEfor Python (with GUI –release planned summer 2016).

MANATEE does not use any Matlab toolbox.MANATEE does not use any Matlab toolbox.MANATEE does not use any Matlab toolbox.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 best compromise between accuracy and best compromise between accuracy and best compromise between accuracy and calculation timecalculation timecalculation timecalculation time, allowing to include the variable-speed noise and vibration criteria during a fast prototyping phase or a design optimization process.

2


The following topologies are included in MANATEE v1.05 :

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

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


A few figures about MANATEE:

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

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

• more than 100 graphical post100 graphical post100 graphical post100 graphical post----processingsprocessingsprocessingsprocessings

• ~20000 code lines (without counting comments)

Our references:


Magnet /

current

excitations

ELECTROMAGNETIC ELECTROMAGNETIC ELECTROMAGNETIC ELECTROMAGNETIC MODULEMODULEMODULEMODULE

ELECTRICAL ELECTRICAL ELECTRICAL ELECTRICAL MODULEMODULEMODULEMODULE

STRUCTURAL STRUCTURAL STRUCTURAL STRUCTURAL MODULEMODULEMODULEMODULE

ACOUSTIC ACOUSTIC ACOUSTIC ACOUSTIC MODULEMODULEMODULEMODULE

MANATEE software contains the following multiphysic modules:

Dynamic

vibrationsVariable

speed noise

level

Geometry

and control

parameters

VARIABLE SPEED MODULEVARIABLE SPEED MODULEVARIABLE SPEED MODULEVARIABLE SPEED MODULEMULTIMULTIMULTIMULTI----SIMULATION MODULESIMULATION MODULESIMULATION MODULESIMULATION MODULE

OPTIMIZATION MODULEOPTIMIZATION MODULEOPTIMIZATION MODULEOPTIMIZATION MODULE

3D magnetic

force distribution


II.II.II.II. ELECTRICAL MODEL ELECTRICAL MODEL ELECTRICAL MODEL ELECTRICAL MODEL

EQUIVALENT CIRCUITEQUIVALENT CIRCUITEQUIVALENT CIRCUITEQUIVALENT CIRCUIT

Option 1: Simulink® PWM block

Option 2: Numerically generated PWM

Phase voltage waveforms

PWM MODELPWM MODELPWM MODELPWM MODEL

User defined voltage

waveforms

Phase currentwaveforms

User defined current

waveforms

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

Machine and converter input parameters

User defined

equivalent circuit


MANATEE electromagnetic model relies on the fast calculation of the airgap radial and tangential flux density with the following modelling methods :

• Permeance / 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.III.III.III. ELECTROMAGNETIC MODELELECTROMAGNETIC MODELELECTROMAGNETIC MODELELECTROMAGNETIC MODEL


Permeance/ MMFPermeance/ MMFPermeance/ MMFPermeance/ MMF SubdomainSubdomainSubdomainSubdomain FEMMFEMMFEMMFEMM

Calculation time ++ + --

Overall accuracy - + +

Tangential field calculation No* Yes Yes

Robustness to geometry + + ++

Skewing Yes Yes Yes

Eccentricities & uneven airgap Yes No No

Saturation + - ++

Faults (e.g. short circuits, broken bar, demagnetization)

Yes No* No*

Topologies BPMSMSPMSMSCIM

SCIM (no-load)SPMSMIPMSM

all

Preferred model for fast vibroacoustic analysis in healthy

variable speed operation

*can be modelled but not included yet in MANATEE


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 Hybrid (Permance/mmf with rotor mmf

calculation under FEMM)


Option 1: Option 1: Option 1: Option 1: 3333D ANALYTICAL PERMEANCE / MMF MODELD ANALYTICAL PERMEANCE / MMF MODELD ANALYTICAL PERMEANCE / MMF MODELD ANALYTICAL PERMEANCE / MMF MODEL User defined flux

distribution

Phase current waveforms

Option 2: Option 2: Option 2: Option 2: 3333D SEMID SEMID SEMID SEMI----ANALYTICAL SUBDOMAIN MODELANALYTICAL SUBDOMAIN MODELANALYTICAL SUBDOMAIN MODELANALYTICAL SUBDOMAIN MODEL

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

Airgap time and space flux distribution

PROJECTION PROJECTION PROJECTION PROJECTION TOOLTOOLTOOLTOOL

Radial and tangential forces FFT2

r=2

r=3

…

FEA mmf including non linearities


• The electromagnetic model includes fast AC winding design tools suitable for any type of winding (overlapping, non-overlapping, integral or fractional)

11

0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18curvilinear abscissa [m]

Stator windings distribution (τ=1.2)

R

S

T

0 1 2 3 4 5 6

-20

0

20

mechanical angle αs [rad]

Stator winding functions (τ=1.2) at t=0 s

R-phase WF

S-phase WF

T-phase WF

total mmf

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8curvilinear abscissa [m]

Stator windings distribution (τ=6)

R

S

T

0 1 2 3 4 5 6

-5

0

5


Stator winding functions (τ=6) at t=0 s

R-phase WF

S-phase WF

T-phase WF

total mmf


0 0.05 0.1 0.15mechanical position along airgap in trigonometric direction [m]

Stator windings distribution (τ=1/1.2)

R

S

T

0 1 2 3 4 5 6

-20

0

20


Stator winding functions at t=0 s

R-phase WF

S-phase WF

T-phase WF

total mmf

0 0.05 0.1 0.15mechanical position along airgap in trigonometric direction [m]

Stator windings distribution (τ=1/1.2)

R

S

T

0 1 2 3 4 5 6

-50

0

50


Stator winding functions at t=0 s

R-phase WF

S-phase WF

T-phase WF

total mmf

Example of all teeth wound Vs alternate teeth wound mmf harmonic content


• The The The The permeancepermeancepermeancepermeance / / / / mmfmmfmmfmmf 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


0 1 2 3 4 5 6 7-1

-0.5

0

0.5

1

angle [rad]

airgap

rad

ial flux de

nsity [T]

with saturation

without saturation

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


Sound Power Level at variable speedCase 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 secVARIABLE SPEED NOISE CALCULATED IN 1 secVARIABLE SPEED NOISE CALCULATED IN 1 secVARIABLE SPEED NOISE CALCULATED IN 1 sec


0 200 400 600 800 10000

20

40

60

80

100

120

Frequency [Hz]

Acc

eleration leve

l [dB

Re 1e-6 m

/s2 ]

Radial acceleration spectum

0 200 400 600 800 10000

20

40

60

80

100

120

Frequency [Hz]

Acc

eleration leve

l [dB

Re 1e-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


Example of the vibroacoustic effect of an interturn short circuit

New noise & vibration line


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


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

soun

d po

wer le

vel (dB

A)

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.


• High accuracy and fast subdomain model for synchronous machine:

20

• 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


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

21

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


S=Enveloppe fermée

Dynamic radial deflections

Option 1: 2,5D Option 1: 2,5D Option 1: 2,5D Option 1: 2,5D ANALYTICAL CYLINDER ANALYTICAL CYLINDER ANALYTICAL CYLINDER ANALYTICAL CYLINDER MODELMODELMODELMODEL

Static radial deflections

Natural frequencies of the circumferentialmodes 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


Vibration synthesis of radial deflections

Option2: 3D FINITE ELEMENT STRUCTURAL MODEL Option2: 3D FINITE ELEMENT STRUCTURAL MODEL Option2: 3D FINITE ELEMENT STRUCTURAL MODEL Option2: 3D FINITE ELEMENT STRUCTURAL MODEL GetDP (free) or Optistruct (commercial)GetDP (free) or Optistruct (commercial)GetDP (free) or Optistruct (commercial)GetDP (free) or Optistruct (commercial)

Harmonic magnetic forces

IV.IV.IV.IV. STRUCTURAL MODELSTRUCTURAL MODELSTRUCTURAL MODELSTRUCTURAL MODEL


CouplingCouplingCouplingCoupling withwithwithwith structural FEM structural FEM structural FEM structural FEM tooltooltooltool basedbasedbasedbased on open source GetDP software:on open source GetDP software:on open source GetDP software: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)


CouplingCouplingCouplingCoupling withwithwithwith structural FEM structural FEM structural FEM structural FEM tooltooltooltool Altair Optistruct:Altair Optistruct:Altair Optistruct:Altair Optistruct:

• 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• modal basis solver set-up• vibration synthesis post processing


CLAMPED – FREE

Boundary conditions

FREE – FREE

Boundary conditions

Resulting modal basis (simplified representation of cylindrical modes –––– teeth rocking modes are includedteeth rocking modes are includedteeth rocking modes are includedteeth rocking modes are included):



ANALYTICAL ACOUSTIC MODELANALYTICAL ACOUSTIC MODELANALYTICAL ACOUSTIC MODELANALYTICAL ACOUSTIC MODEL

Radiation efficiency of an equivalent cylinder

V. ACOUSTIC MODELV. ACOUSTIC MODELV. ACOUSTIC MODELV. ACOUSTIC MODEL

Sound power levelSound pressure level

2D (analytical) or 3D (GetDP) spatial-averagedvibration velocity


VI. VI. VI. VI. ADVANTAGESADVANTAGESADVANTAGESADVANTAGES

• Fast variable speed vibroacoustic calculation (from <1 sec to 1 Fast variable speed vibroacoustic calculation (from <1 sec to 1 Fast variable speed vibroacoustic calculation (from <1 sec to 1 Fast variable speed vibroacoustic calculation (from <1 sec to 1 mnmnmnmn)))) based on efficient calculation methods even with 3D effects and converter harmonics

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

• Several industrial validations industrial validations industrial validations industrial validations of the vibroacoustic model

• Automatic Automatic Automatic Automatic vibroacousticvibroacousticvibroacousticvibroacoustic analysis analysis analysis analysis (identification of main exciting forces)

• AdvancedAdvancedAdvancedAdvanced harmonic postharmonic postharmonic postharmonic post----processingsprocessingsprocessingsprocessings to understand the root cause of acoustic noise and find design improvements

• Possibility of decoupling electromagnetics & structural mechanics to perform vibro-acoustic optimization (pole shaping, current injection)

27


VII. POST PROCESSINGS & PLOT TOOLSVII. POST PROCESSINGS & PLOT TOOLSVII. POST PROCESSINGS & PLOT TOOLSVII. POST PROCESSINGS & PLOT TOOLS

28

• MANATEE includes more more more more thanthanthanthan 100 plots100 plots100 plots100 plots accessible directly in the command line• Example of Matlab


Geometry, time and space visualization, real and complex spectra for all quantities (permeance, mmf, radial and tangential flux density, force, acceleration, velocity, displacement)

0 100 200 300 4000

1

2x 10

6

Angle [°]

Mag

nitude

[N/m

2 ]

Airgap radial force at t = 0 s as a function of space

0 20 40 600

1

2

3x 10

5

Mag

nitude

[N/m

2]

Space harmonic []

Airgap radial forcee force FFT over space

-2000

0

2000 -1000

1000

0.5

1

1.5

Spatial order [r]Frequency [Hz]

Mag

nitude

[T]


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


Magnetic harmonic forces analysis with automated identification of lines expression

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

-2-101 2 3 45 6 7 8

1000

2000

30000

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=14fs=1336 Hz

r=-6

Frequency [Hz]

σ r [N/m

m2]

(PMSM) (SCIM)


33

Magnetic harmonic forces analysis


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


Spectrogram of radial / tangential force harmonics for each spatial wavenumber


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

Operational deflection shapes at a given frequency


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

r=0 r=2 r=3


Possibility to visualize the modal basis under Gmsh (freeware)


Modal contribution to acoustic and vibration spectra


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


Spectrogram and order analysis with automatic identification of main magnetic force harmonics orders and frequencies


Order analysis per circumferential vibration wavenumber (including rotation direction)

rrrr=0=0=0=0 r=1r=1r=1r=1

r=+2r=+2r=+2r=+2r=r=r=r=----2222


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


Space vector diagram to analyze the origin of a radial or tangential flux density in terms of permeance and magnetomotive force waves


0 100 200 300

-250

-200

-150

-100

-50

0

50Phasor diagram of SPL at frequency 3260 Hz

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


Unbalanced magnetic pull calculation (example of the slotting effect on eccentric UMP including skew of the stator)


0 2000 4000 600050

100

150

200

250 2-th

3-th

4-th

Frequency [Hz]

Supp

ly frequ

ency

[Hz]

SPL [dBA]

0

10

20

30

40

50

60

Listen to your electrical machine (direct sound synthesis)

VerificationVerificationVerificationVerification of the MANATEE of the MANATEE of the MANATEE of the MANATEE synthesizedsynthesizedsynthesizedsynthesized soundsoundsoundsound usingusingusingusing AudacityAudacityAudacityAudacityMANATEE spectrogramMANATEE spectrogramMANATEE spectrogramMANATEE spectrogram

resonance

resonance


is_mmfs

is_ideal_mmfs

is_mmfr

is_ideal_mmfr

is_slotS

is_slotR

LwrA

LwrA_max

ismmfs

dealmmfs

ismmfr

dealmmfr

isslotS

isslotR

LwrA

LwrA

max

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


VIII. VIII. VIII. VIII. VALIDATIONSVALIDATIONSVALIDATIONSVALIDATIONS AND AND AND AND DOCUMENTATIONDOCUMENTATIONDOCUMENTATIONDOCUMENTATION

49

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

http://eomys.com/produits/manatee/article/logicielhttp://eomys.com/produits/manatee/article/logicielhttp://eomys.com/produits/manatee/article/logicielhttp://eomys.com/produits/manatee/article/logiciel----manatee?lang=enmanatee?lang=enmanatee?lang=enmanatee?lang=en

• 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

• Tutorials for the variable speed simulation of induction machines and PM synchronous machines


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

Sound level during a run-up

(experiments with gearbox+water-

cooling+converter harmonics)


(MANATEE simulation without

converter harmonics)

~5 min on a laptop

TESTSTESTSTESTSTESTS MANATEEMANATEEMANATEEMANATEE

Motor A

Motor B-40 dB


Case of a squirrel cage induction machine at no-load:


(experiments with PWM +

gearbox +air-cooling)


(simulation without PWM)

~2 second on a laptop

15 dB reduction were obtained after redesign with MANATEE15 dB reduction were obtained after redesign with MANATEE15 dB reduction were obtained after redesign with MANATEE15 dB reduction were obtained after redesign with MANATEE

TESTSTESTSTESTSTESTS

MANATEEMANATEEMANATEEMANATEE


IX. LIST OF MODULESIX. LIST OF MODULESIX. LIST OF MODULESIX. LIST OF MODULES

52

MODULE NAMEMODULE NAMEMODULE NAMEMODULE NAME FUNCTIONFUNCTIONFUNCTIONFUNCTION DETAILED DESCRIPTIONDETAILED DESCRIPTIONDETAILED DESCRIPTIONDETAILED 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.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.

EL.pp Electrical post processing Plot of voltage, current, inductance waveforms and FFTs, saturation curve, skin effect factors.

Electrical modules (3)



EM1.IMEM1.IMEM1.IMEM1.IMElectromagnetic analytical module based on permeance / mmf and winding functions for squirrel cage asynchronous 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.PMSMEM1.PMSMEM1.PMSMEM1.PMSMElectromagnetic 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.SCIMEM2.SCIMEM2.SCIMEM2.SCIMElectromagnetic semi-analytical module for inner rotor squirrel cage induction machine

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.SPMSMEM2.SPMSMEM2.SPMSMEM2.SPMSMElectromagnetic semi-analytical module for inner rotor surface permanent magnet machine

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.IPMSMEM2.IPMSMEM2.IPMSMEM2.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.BPMSMEM2.BPMSMEM2.BPMSMEM2.BPMSMElectromagnetic semi-analytical module for inner rotor buried 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 rectangular magnets.

Electromagnetic modules (9)



EM3.PMSMEM3.PMSMEM3.PMSMEM3.PMSMElectromagnetic finite element module for inner rotor 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.

EM.ppEM.ppEM.ppEM.pp Electromagnetic post-processor module.Post-process the airgap flux density calculation to plot mmfs, permeance, magnetic force, time and space distribution or 2D FFT.

EM3.SCIMEM3.SCIMEM3.SCIMEM3.SCIMElectromagnetic finite element module for inner rotorsquirrel cage asynchronous 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)



SM1SM1SM1SM1Structural 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.

SM2SM2SM2SM2Structural mechanics finite element module for modal analysis

Couples MANATEE with open-source mechanical software GetDP and open-source mesher Gmsh to calculate the mode shapes of a 3D external stator structure including winding weight.

SM3SM3SM3SM3Structural mechanics finite element module for FRF calculation

Couples MANATEE with open-source mechanical software GetDP and open-source mesher Gmsh to calculate the frequency response function (FRF) of the 3D structure under different magnetic force patterns and calculates the resulting dynamic deflection of the structure.

SM.ppSM.ppSM.ppSM.pp Structural mechanics post-processor modulePost-process static, dynamic deflections at fixed or variable speed, and plot the corresponding FFTs (displacement, velocity, acceleration) including modal participation and order tracking analysis.

Structural modules (4)



AC1AC1AC1AC1 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.ppAC.ppAC.ppAC.pp Acoustics post-processor modulePost-process acoustic calculations (A-weighting, sound power and sound pressure levels, modal participation factors, sonagrams, order tracking analysis)

Acoustic modules (2)



CT1.SCIMCT1.SCIMCT1.SCIMCT1.SCIMControl module for squirrel cage induction machines

Calculates the slip and voltage to achieve specified torque characteristics based on the equivalent circuit parameters.

CT1.SMCT1.SMCT1.SMCT1.SM Control module for synchronous machinesCalculate the current angle to achieve specified torque based on the equivalent circuit parameters according to MTPA strategy.

CT2.PWMCT2.PWMCT2.PWMCT2.PWM PWM moduleGenerates 3-phase PWM voltage waveforms for asynchronous and synchronous modes, analytically or based on a Simulink model.

CT2.CICT2.CICT2.CICT2.CI Harmonic current injection module Allows to inject id or iq harmonic currents.

Control modules (4)



VS1VS1VS1VS1 Variable speed moduleCalls several fixed-speed simulations with varying input parameters depending on the control strategy (e.g. constant flux, torque/speed curve, etc)

VS.ppVS.ppVS.ppVS.pp Variable speed post-processorPost process results of variable speed simulations (spectrograms and sonagrams, outputs as a function of speed, modal contribution to noise as a function of speed).

MS1MS1MS1MS1 Multisimulation moduleCalls 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.

MS.ppMS.ppMS.ppMS.pp Multisimulation postprocessingsDisplay results of multi-simulations (evolution of response variables, correlation analysis, plot in design variable and response variable spaces).

Variable speed & multi-simulation modules (4)



OP2OP2OP2OP2 Multiobjective optimization moduleCouples MANATEE with a global optimization tool (NSGA-II) for constrained multiobjective mixed variable optimization.

OP1OP1OP1OP1 Sensitivity analysis module Calculates the sensitivity of a response variable with respect to design variables .

OP.ppOP.ppOP.ppOP.pp Optimizer post processorPost-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)


KEYWORDS:KEYWORDS:KEYWORDS:KEYWORDS:

MAGNETIC NOISEMAGNETIC ACOUSTIC NOISEELECTROMAGNETIC ACOUSTIC NOISEELECTRICAL NOISEAUDIBLE ELECTROMAGNETIC NOISEMAGNETICALLY-INDUCED VIBRATIONELECTROMAGNETICALLY INDUCED NOISEWHINING NOISEHIGH PITCH NOISEHUMMING NOISETONAL NOISEMAGNETIC VIBRATIONELECTROMAGNETIC VIBRATIONSDEFLECTION MECHANICAL DEFORMATIONMAXWELL FORCEMAXWELL TENSORMAGNETIC FORCEELECTROMAGNETIC FORCESUNBALANCED MAGNETIC PULL UMPVIBRATIONAL BEHAVIOURNOISE MITIGATIONNOISE CONTROLVIBRATION REDUCTION

TOOTH WINDINGCONCENTRATED WINDINGFRACTIONAL SLOT WINDINGDISTRIBUTED WINDINGSHORTED PITCH WINDINGMAGNETOMOTIVE FORCE MMFWINDING FUNCTIONSKEWSLOT INCLINATIONSTEP-SKEWSUBDOMAIN MODELPERMEANCE / MMF MODELPERMEANCE / CURRENT LINKAGE MODEL

PMSM IPMSM SM IM SRM SYNRM DFIG SYRMSYNCHRONOUS MACHINESPERMANENT MAGNETASYNCHRONOUS MACHINESQUIRREL CAGE INDUCTION MACHINEDOUBLY FED INDUCTION GENERATOR

ELECTRICAL MACHINESSWITCHED RELUCTANCE MACHINESSYNCHRONOUS RELUCTANCE MOTORBRUSHLESS AC MOTORBRUSHLESS DC MOTORDC SERVOMOTORSALTERNATORSPINDLE MOTORELECTRIC POWERTRAIN

FOURIER TRANSFORMFORCE HARMONICSHARMONIC REDUCTIONWAVENUMBERNODE NUMBERPOLE PAIR NUMBER SPATIAL ORDERPULSATING ROTATING PROGRESSIVE WAVERESONANCENATURAL FREQUENCYSTRUCTURAL MODEMODAL BASISMAGNIFICATIONDAMPING

MOTSMOTSMOTSMOTS----CLEFS:CLEFS:CLEFS:CLEFS:

BRUIT MAGNETIQUEBRUIT ACOUSTIQUE D’ORIGINE MAGNETIQUEBRUIT ELECTROMAGNETIQUEBRUIT AUDIBLE ELECTROMAGNETIQUEBRUIT ELECTRIQUEBRUIT HAUTE FREQUENCEBRUIT DE SIRENEMENTBRUIT TONALVIBRATION MAGNETIQUE VIBRATIONS ELECTROMAGNETIQUESDEPLACEMENTDEFORMATION MECANIQUEFORCE DE MAXWELLTENSEUR DE MAXWELLEFFORTS MAGNETIQUESFORCES ELECTROMAGNETIQUESBALOURD MAGNETIQUECOMPORTEMENT VIBRATOIREREDUCTION DE BRUITCONTRÖLE DE BRUITREDUCTION DES VIBRATIONS

BOBINAGE DENTAIREBOBINAGE CONCENTREBOBINAGE FRACTIONNAIREBOBINAGE DISTRIBUEBOBINAGE A PAS RACCOURCIFORCE MAGNETOMOTRICE FMMFONCTIONS DE BOBINAGEVRILLAGEINCLINAISON DES ENCOCHESPAS DE VRILLAGEMODELE DE SOUS DOMAINEPERMEANCE / MMF

MSAP MAS MRV MS MADAMACHINES SYNCHRONESAIMANTS PERMANENTSMACHINES A INDUCTIONMACHINES ASYNCHRONES A CAGE D’ECUREUILMACHINE ASYNCHRONE A DOUBLE ALIMENTATIONMACHINES ELECTRIQUES

MACHINES A RELUCTANCE VARIABLEMACHINES SYNCHRORELUCTANTESMOTEUR BRUSHLESSSERVOMOTEURALTERNATEUR

TRANSFORMEE DE FOURIERHARMONIQUE DE FORCEREDUCTION DES HARMONIQUESNOMBRE D’ONDENOMBRE DE NŒUDSNOMBRE DE PAIRES DE POLESORDRE SPATIALONDE TOURNANTE PULSANTE PROGRESSIVERESONANCEFREQUENCE NATURELLEMODE DE STRUCTUREBASE MODALEAMPLIFICATIONAMORTISSEMENT


Tangential and radial harmonic

magnetic forces (magnitude,

wavenumber, frequency, phase)

3D airgap time and

space flux distribution

HARMONIC DECOMPOSITIONHARMONIC DECOMPOSITIONHARMONIC DECOMPOSITIONHARMONIC DECOMPOSITION

r=2 r=3

ELECTROMAGNETIC ELECTROMAGNETIC ELECTROMAGNETIC ELECTROMAGNETIC MODELMODELMODELMODEL

r=0

STRUCTURAL FEA STRUCTURAL FEA STRUCTURAL FEA STRUCTURAL FEA MODELMODELMODELMODEL

Unit harmonic loads

for wavenumber

r=0, ±2, ±4 …STRUCTURAL FREQUENCY STRUCTURAL FREQUENCY STRUCTURAL FREQUENCY STRUCTURAL FREQUENCY RESPONSE FUNCTIONSRESPONSE FUNCTIONSRESPONSE FUNCTIONSRESPONSE FUNCTIONS

Motor and frame

modal basis

r=0 r=2

VIBRATION SYNTHESISVIBRATION SYNTHESISVIBRATION SYNTHESISVIBRATION SYNTHESIS

Complex FRFs (radial &

tangential) for each

wavenumber r

Spectrograms

Vibration level

Operation Deflection Shapes

Modal contribution

Radiating surface velocities

APPENDICES APPENDICES APPENDICES APPENDICES –––– SOUND & VIBRATION SYNTHESISSOUND & VIBRATION SYNTHESISSOUND & VIBRATION SYNTHESISSOUND & VIBRATION SYNTHESIS


ACOUSTIC FEA ACOUSTIC FEA ACOUSTIC FEA ACOUSTIC FEA MODELMODELMODELMODEL

Unit radiating surface

displacementsACOUSTIC FREQUENCY ACOUSTIC FREQUENCY ACOUSTIC FREQUENCY ACOUSTIC FREQUENCY RESPONSE FUNCTIONSRESPONSE FUNCTIONSRESPONSE FUNCTIONSRESPONSE FUNCTIONS

Acoustic Transfer

Vector (ATV)

m=0 m=1

SOUND SYNTHESISSOUND SYNTHESISSOUND SYNTHESISSOUND SYNTHESIS

Complex FRFs for each

structural mode

(MATV)

Sonagrams

Sound Power Level

Directivity patterns

Modal contributions

Modal contributions

from vibration synthesis

VIBRATION SYNTHESISVIBRATION SYNTHESISVIBRATION SYNTHESISVIBRATION SYNTHESIS

MANATEE ® ®® ® SIMULATION · PDF file... MANATEE under Matlab ... •...

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