Combined Field and Circuit Theory for Non-Linear Material Applied on

Wind Turbine Generators

Oliver Drubel

Sven Exnowski

Siemens AG
Automation and Drives, A&D LDIOEM 2
Postfach 4743
D-90025 Nrnberg, Oliver.drubel@siemens.com

University of Dortmund
Department of Electrical Machines Drives and Power Electronics
Emil-Figge-Str. 70
D-44227 Dortmund, sven.exnowski@uni-dortmund.de

Abstract: In the presented paper a general machine theory is

developed. The theory is based on the circuit theory, but
considers saturation effects by application of non-linear static
field calculation. The circuit theory uses a transient time
stepping method with time periods, which allow the
appropriate application of power electronic voltage supply.
The field calculation is applied in time periods which are
adequate for the saturation within electrical machines.
Therefore only few field calculations are done during one
rotor rotation. Especially the correct consideration of the
machine saturation is within the focus. The theory is verified
by measurements for different saturation levels therefore.
I INTRODUCTION
Recent developments in drive systems show an increasing
demand in converter fed applications. The increase is based
on three main pillars. The astonishing growth in China and
India cause strong needs for metals and steel mills with often
challenging converter drive applications. Beyond this market
the increase in the oil price motivates nearly all oil companies
to invest in equipment like compressors and pumps. Even
though these applications have been in the past direct on line
motors, several of them are converter driven now. Converter
driven pumps and turbines often allow reducing losses within
systems enormously. The energy market especially with
about 15GW of wind turbine applications is the third strong
pillar. Most of the wind farms are of variable speed type.
Either the drive consists of high torque motors, which operate
directly at low speed or they consist of a motor which is
connected over a gearbox to the turbine. Both applications
apply frequency converters. The high torque application is in
most of the cases a synchronous machine, which feeds a
frequency converter. The frequency converter has to convert
the full nominal wind turbine power and is designed for the
complete apparent power.
Often slip ring asynchronous machines are used in case of a
system with gear box. The asynchronous motor has a
standard three phase stator winding like a squirrel cage
induction machine. The rotor has instead of a copper cage a
three phase winding. This winding is insulated to the
lamination and connected to slip rings. Brushes transmit the
current to a frequency converter.
The technology in power electronics is well proven and
standardized nearly independently upon the motor speed
within power determined discrete converter modules.
Research and development depend mainly upon new

semiconductor components or software modifications in

order to decrease costs. Indeed the application for the motor
is often new and its limits are often challenged especially by
the speed range or electrical effects caused by the converter
supply in variable power and frequency ranges. The coupling
between frequency converter and motor calculation is up to
now either handled by intensive transient numerical time
stepping algorithms [1,2], where the Finite Element problem
and circuit model is solved at any time step several times, or
with a simplified machine model [3,4]. Whereas in most of
the cases simple circuit models are sufficient, some few cases
exist, where more elaborated models of the electrical
machines are needed.
It is a real challenge to design the slip ring system with the
brushes in a way that the system can endure voltages of
several kV. Additionally the system must not be damaged by
the voltage dips which are created by the converter as well.
Especially these dips may cause a reduction in live time of
the brushes as well as shaft voltages between the rotor and
ground. The voltage dips are in the frequency range of about
100kHz whereas the main field distribution within the motor
is rotating with 50Hz.
A combined field and circuit theory is developed, which
allows solving the circuit problem and the field problem
within different time periods. The method is applied to a slip
ring induction machine like those, which are operated in wind
turbines, see fig. 1.

Main
terminal
box
Slip ring
module

Fig. 1: A wind turbine type slip ring induction machine

The main focus of the publication is to verify the calculation

method and to show the influence of the machine saturation.
The loading of the slip ring system is not in the main focus
and not presented here. The numerical field calculation is
based on the basis of FEMAG [6].
II MATHEMATICAL MODEL
In this paper a numerical field calculation model is included
within a circuit algorithm. In order to apply it for non linear
cases as well the circuit equations have to be used on the flux
equations in its base form, equation 1:

(U ) = (R )(I ) d( )

from the known winding currents of the last time step. After
this the inductivities are calculated at position 2 of the rotor
with the same current, but a new permeability distribution.
Position two is interpolated by the rotor-speed of the last time
step. Based on these two calculations the inductivity matrix
in equation (2) is determined.
a)

(1)

Position 1

dt

The flux is the linkage flux to all parallel connected machine

coils. A slip ring induction machine, which consists at least
of three stator and three rotor windings, is represented by a
6X6 flux matrix. The flux linkage within one coil does not
only depend upon the machine currents (i), but on the nonlinear permeability () and the rotor position () as well.
Therefore the flux-derivative in time consists of three parts:
I. A current dependent part

( )
(I )
= (L )
t ,( )= const
t ,( )=const

(2)

II. A material dependent part

( )
(( )) ( ) (I )
=

t ,( I )=const ( ) (I ) t

b)

Position 2

,( I )= const

(3)
III. A part, which depend on the rotor position:

( )
((L ))
=

t ( L )=const

(4)
I = const

The current dependent part assumes constant material

parameters. The rotor position is kept constant as well.
Equation (3) determines the induced voltage within the coils
due to a change in the material parameters, if .is kept
constant. This voltage has not been included in equation (2).
In the fourth equation (4) the induced voltage is given
including the rotational part due to the movement as well as
the non-linear part of the permeability change. This equation
does not differentiate between the linear and non-linear part
of the induced voltage. The change in material parameters is
only due to the position, currents are kept constant.
The circuit equation depends upon the concentrated elements
(R) and (L). In general their character is linear. The
inductivity matrix is calculated by linear dc field calculations
twice per time step. The field calculation is based on a
permeability distribution, which is obtained of a non-linear
field calculation with the actual currents.
As a first step the inductivities are calculated at position 1,
see fig.2, of the rotor with permeability distribution resulting

Fig. 2: a) Rotor position 1 and b) position 2 for field

calculations

The iron non-linearity is considered correctly at the

numerical calculated positions. The inductivity matrix at the
actual time step of the circuit solution anywhere between
position 1 and 2 is interpolated linearly.
The rotational term of equation (4) is well known by this
calculation, as well.
Only the influence of the saturation due to the current change
can not be determined in this way. Indeed the inductivity
matrix at position 1 is known from the former calculations for
a current of the time step i-2. Therefore the inductance
matrixes are known for two current levels at the same
position. A comparison of both fluxes in each winding at the
same current level of the time step i-1 will determine the
induced voltage of the material change and is considered in
equation (3). The calculated voltage is correct at position 1
but not at position 2, see fig. 3.
Time step i
of field
calculation
Current ii

Induced voltage
as used in
equation (3) for
time step k+4

L11 =

i / t |k, ik=const.
i-2

Current ii-2
Pos. 1

600

Current ii-1

Pos. 2

k-2 k-1 k k+1 k+2

Induced voltage as
used in equation (3)
for time step k
Rotor position
Time step k of
circuit calculation

Fig.3: Consideration of material-changes due to current

Here it is an approximation only. Otherwise iteration is
necessary. The matrix has to be recalculated at the position 2
with the new calculated currents of the actual time step.
Again a flux difference can be determined with the new
currents, which allows for an improved voltage value due to
material changes.
III COMPARISON BETWEEN MEASURED AND
CALCULATED SLIP RING INDUCTION MACHINES
Any new theory has to be proven by appropriate
measurements. The linear circuit theory has been applied on
different phenomena since decades. Therefore a measurement
has been chosen which reveals the theories applicability to
non-linear phenomena. Especially the no load characteristic
of an induction machine shows the influence of saturation. A
355kW high voltage 6kV slip ring asynchronous machine has
been chosen as measurement base. The machine is a 6-pole
machine with a double layer winding in the stator and a
single layer winding in the rotor. The stator winding is star
connected. Several machines of the type have been built and
tested.
During the no load test different voltages are applied to the
stator winding. No load is applied to the shaft. The stator
currents are measured during the test. Based on the measured
stator current it is possible to calculate the individual
inductivity of one phase according to equation 5:

550
Stator inductivity (mH)

i-1

(5)

The influence of the leakage inductance on the determination

of the self induction is in the range of 3%. This leakage
inductance is not measured directly and therefore neglected
in the following. The ohmic resistance influences the
inductivity by about 1% in the other direction and is
neglected as well.
The calculation model considers the exact design dimensions
of the machines active part. The end winding region is not
considered. The non-linearity of the rotor and stator core is
taken into account as well as the non-linearity of the
magnetic slot wedges. The correct material parameters of the
wedges have a strong influence on the machine inductance. A
comparison between calculated and measured inductances is
given in fig. 4.

i+1 / t |k+4, ik+4=const.

Current ii-1

U0
2
1

+ L1
3 3 I0 3

20% corridor around the

measurement
measurement for one motor

500

measurement for five

more motors of same type

450
calculated inductivities

400
350
300
3500

4000

4500

5000

5500

6000

6500

7000

No load voltage (V)

Fig. 4: Comparison between measured and calculated stator

inductivities
Indeed the difference between measurement and calculation
is for the nearly linear case at low terminal voltages of 0.6p.u.
about 18%. Even though this result is not too bad for
asynchronous machines with small air gaps it is worth to
evaluate some potential sources of the difference. In [5] a
deviation of 10% is considered to be a good result. Different
reasons are given for a possible deviation here. Indeed most
of them would case a larger magnetization current in the
measurement than expected.
Calculation errors for self inductances due to finite element
discretisation are in the range of 3%.
Measurements on the same motor type but for different
motors show a stable manufacturing process. The variation
between motors of the same type is lower than 4%.
Beside errors in the methods of the numerical calculation and
measurement deviations may occur due to the assumptions
which have been applied to the calculation model.
The end winding flux has been neglected in the calculation
model. The influence is especially for a six pole machine
relative small. It is assumed to be in the range of 2-3%. A
stronger influence can be expected by variations in the air

gap due to eccentricities. These eccentricities occur due to the

rotor weight, the lamination technology of stator and rotor or
the accuracy of the bearing seat. A test calculation with an air
gap reduction by 100m showed an increase in the
inductance by 6%. Last but not least the magnetic wedge
material may be better than shown in the magnetization
curves.

Induced voltage due to

material changes

1000
800

Induced voltage (V)

600

IV INDUCED VOLTAGES DUE TO CURRENT IMPOSED

SATURATION EFFECTS
Special attention is given to the saturation effect within the
mathematical model. The saturation depends on the one hand
on the rotor position according equation 4 and on the other
hand on the current amplitudes according equation 2. The
material change due to the rotor-position depends on this
position only. Therefore it can be considered relatively
simple by the determination of inductivities at the second
position. The dependence upon the material is harder to get.
The correct induced voltage can be calculated only for the
last finite element step or a more elaborated iteration
procedure has to be initiated. In order to get an estimation of
the amount of the induced voltage due to material changes
this voltage is given for no load and on load operation in fig.
5 and 6. The slip ring motor is operated at 3235V at slip ring
resistors.

400
200
0
-200
-400
-600
-800
-1000
10

20

30

40

50

60

70

80

90

100

Time (ms)

Fig. 6: Induced voltages during sinusoidal grid operation with

passive slip ring resistors during a slip of 0.1
The induced voltage due to current imposed material changes
is given for a frequency converter fed slip ring motor in fig.
7.
1000

Induced voltage due to

change in material

800
600

250
200

Induced voltage (V)

Induced voltages due to

material changes

Induced voltage (V)

150
100
50

400
200
0
-200
-400

-600
-50

-800
-100

-1000
-150

10

15

20

25

30

35

40

45

Time (ms)

-200
-250
10

20

30

40

50

60

70

80

90

Time (ms)

Fig. 5: Induced voltages during sinusoidal grid operation with

passive slip ring resistors during no load operation
The influence of the material induced voltage at no load
operation is lower than 10% of the terminal voltage. The
error which is expected by neglecting the iteration step can be
expected to be fairly small for practical applications in no
load operation. Especially the flux distribution in the air gap
changes if some load is applied to the motor. The increase in
stator currents increases especially the leakage flux. The
leakage flux determines the saturation level of the magnetic
wedge material. The material changes at the wedges case an
induced voltage up to 35% of the nominal voltage. Even
though the iteration step has not been realized within this
actual work an improvement in accuracy can be expected for
this case of operation.

100

Fig. 7: Induced voltages during sinusoidal grid operation with

a frequency converter supply to the slip rings at a slip of 0.1
The induced voltage due to material parameter changes is
quite similar to the case with passive resistors. The saturation
level mainly depends upon the imposed winding currents and
not on the winding voltage. The currents can not jump on an
inductance. This is also a reason why it is possible to
consider a smaller time period for the numerical field
calculation than for the grid calculation.

50

100

Rotorcurrents

80

60

40

Statorcurrents
Current (A)

V INFLUENCE OF THE FIELD AND CIRCUIT TIMEPERIODE ON MACHINE CURRENTS

The motor is calculated for on load operation at different time
periods. Indeed the grid calculation is relatively fast in
comparison to the numerical determination of the magnetic
field. The time period of 25s of the grid calculation is kept
constant. The distance between two field calculations has
been modified between the different calculations. In fig. 8 a
time period between two numerical field calculations of 1ms
is considered, in fig. 9 a time period of 2ms is taken into
account and in fig. 10 of 8ms.
The time period of the Finite Element calculation determines
mainly the amplitude and period of the higher harmonics in
the rotor current. An extremely wide period of 8 ms modifies
the fundamental currents as well. The fundamental currents
in stator and rotor hardly change any more between 2ms and
1ms.
The inductivities are linearly interpolated between two rotor
positions. This interpolation causes inherently higher
harmonics. In order to investigate higher harmonics due to
physical effects, the Finite Element time period has to be
adjusted to the targeted harmonic.

20

-20

-40

-60

-80

-100

10

20

30

40

50

60

70

80

90

100

Time (ms)

Fig. 10: Stator and rotor currents for a stator voltage of

3235V at a slip of 0.1 and a rotor voltage of 250V with a grid
period of 25s and a finite element period of 8ms
Fig. 11 shows the currents in case of a converter fed rotor.
The non-sinusoidal rotor-voltage causes block wise rotorcurrents. Again a numerical imposed harmonic is found in the
rotor-currents, which is in line with the time period of the
field calculation.

100
Rotorcurrents

80

100

60

60

Statorcurrents

20

Statorcurrents

40

Current (A)

Current (A)

Rotorcurrents

80

40

-20
-40

Influence of FE-time periode

-60

20
0
-20
-40

-80

-60

-100
10

20

30

40

50

60

70

80

90

100

-80
-100

Time (ms)

10

Fig. 8: Stator and rotor currents for a stator voltage of 3235V

at a slip of 0.1 and a rotor voltage of 250V with a grid period
of 25s and a finite element period of 1ms
100

30

40

50

60

70

80

90

100

Time (ms)

Fig. 11: Currents for a stator voltage of 3235V at a slip of 0.1

and a converter fed rotor voltage of 250V with a grid period
of 25s and a numerical period of 2ms

Rotorcurrents

80

Current (A)

20

60

VI CONCLUSION

40

The developed machine calculation theory allows for a strong

separation between high frequency converter effects and low
frequency machine behaviour within one mathematical
model. The number of necessary circuit or field calculation
can be adjusted to the focus of the individual investigation.
The theory has been verified by measurements in case of no
load operation. Indeed the difference between measurement
and calculation of 18% is not only due to the normal
measurement variation, but also due to the basic finite
element model which does not include effects like air gap
eccentricities.
The influence of material saturation is in the range of 10%
for no load operation and of 30% in case of on load operation
with an increase of the effects from magnetic wedges.
The time period of the numerical field calculation has to be
adjusted to the highest harmonic, which should be

Statorcurrents

20
0
-20
-40
-60
-80
-100
10

20

30

40

50

60

70

80

90

100

Time (ms)

Fig. 9: Stator and rotor currents for a stator voltage of 3235V

at a slip of 0.1 and a rotor voltage of 250V with a grid period
of 25s and a finite element period of 2ms

investigated in the machine current. Reasonable values have

been reached if the minimum numerical time period is chosen
to be 10% of the highest harmonic time period

IV REFERENCES
[1] Darabi A., Tindall C. Ferguson S., Finite Element Time
Step Coupled Generator, Load, AVR, and
Brushless Exciter Modelling ,IEEE Trans. Energy
Conversion, vol. 19, no. 2, pp.258-264, June 2004.
[2] Darabi A., Tindall C., Damper Cages in Genset Alternators:
FE Simulation and Measurement ,IEEE Trans. Energy
Conversion, vol. 19, no. 1, pp.73-80, March 2004.
[3] Basic D., Zhu J. G., Boardman G., Transient Performance
Study of a Brushless Doubly Fed Twin Stator Induction
Generator, IEEE Trans. Energy Conversion, vol. 18, no. 3,
pp.400-408, Sept. 2003.

[4] Welchko B. A., Jahns T. M., Hiti S., IPM Synchronous

Machine Drive Response to a Single-Phase Open Circuit
Fault, IEEE Trans. Power Electronics, vol. 17, no.5,
pp.764-771, Sept. 2002.
[5] Oberretl
K.:
Die
genaue
Berechnung
des
Magnetisierungsstromes
von
dreiphasigen
Asynchronmaschinen, Bulletin Oerlikon, no. 335, pp.
66-84, Aug. 1959.
[6] Reichert K.: ber ein numerisches Verfahren zur
Berechnung von Magnetfeldern und Wirbelstrmen in
elektrischen Maschinen, Habilitation Universitt
Stuttgart, 1968