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© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE® SIMULATION SOFTWARE
Magnetic Acoustic Noise Analysis Tool for Electrical Engineering
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE is the only software specialized on the electromagnetic design optimization of electrical
machines including magnetic vibrations and acoustic noise due to Maxwell forces (“e-NVH”).
• - fast e-NVH calculations in early electromagnetic design loops
• - faster & more physical e-NVH calculations in detailed mechanical design phase
• - advanced post-processing for e-NVH root cause analysis
• - mechanical & magnetic fault simulation for e-NVH robust design
• - design optimization environments of e-NVH mitigation techniques
2
stator/rotor skewing pole/slot shaping current injection stator/rotor notching randomized PWM
OVERVIEW OF MANATEE FOR E-NVH
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE is the central point for the integrated e-NVH design process of electric motors,
from basic vibro-acoustic design at e-motor level to detailed vibro-acoustic design at system level:
3
Third-party sound
quality tools
Third-party electromagnetic
design tools
Third-party structural
design tools
Third-party acoustic
design tools
Standalone e-motor NVH
solution (electromagnetics
+vibro-acoustics)
©Actran
©Oros
©Jmag
©Ansys
Third-party NVH data
acquisition tools
©Oros
optional
v1.09.1 coupling
v1.09.2 coupling
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE technology is
• Matlab®-based for solver (R2013 or later) – no use of any Matlab toolbox
• Python/Qt-based for for machine & simulation set-up GUI
Following radial flux electrical machine topologies are included in MANATEE v1.08:
• Inner or outer rotor SPMSM, ISPMSM, IPMSM (including multilayer magnets)
• SynRM, SRM, WRSM (salient pole, smooth pole uneven slot), SCIM, DFIM
• MANATEE fast magnetic models are based on geometrical layouts (cf. website)
• New lamination shapes can be implemented by EOMYS upon request
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE v1.09 graphical environment:
Scripting
environment
(Matlab)
Simple command line
post-processings
(Matlab)
GUI for simulation
set-up (Python)
no Matlab toolbox needed
GUI for machine set-
up (Python) based on
PYLEECAN
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
A few figures about MANATEE:
• Up 40 dB acoustic noise reduction after redesign based on EOMYS consulting activities
• Successfully applied on more than 80 industrial cases with IPMSM, SCIM, WRSM, DFIG, inner & outer
rotor, from W to MW range, from 5 rpm to 150 000 rpm, from 10mm to 10m diameter machines
• More than 100 multiphysic validation simulation projects open to MANATEE users
• More than 120 graphical post-processing commands (such as plot_machine) to ease e-NVH root
cause analysis
Naval
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
7
Magnet /
current
excitations
ELECTROMAGNETIC
MODULE
ELECTRICAL
MODULE
STRUCTURAL
MODULE
ACOUSTIC
MODULE
MANATEE software seamlessly integrates the following multiphysic modules:
Dynamic
vibrations
Variable
speed NVH
Geometry
and control
parameters
3D force
distribution
THERMAL MODULE
VARIABLE SPEED MODULE
MULTI-SIMULATION MODULE
OPTIMIZATION MODULE
• Interface between physics are pre-defined in standard simulation workflows adapted to V-model
development cycle of electrical machines
• All module inputs can be user-defined / imported, resulting in a flexible simulation workflow
• Module input/output are documented for possible integration in third-party scripts
WF.BS
WF.DV
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
-
E-NVH VARIABLE-SPEED SOLUTIONS
MANATEE carries variable-speed calculations faster than direct calculation approach:
• Quasi static or transient simulation process
• e-NVH calculations on whole torque/speed map
First resonance depends on torque/current level -> due to armature/pole/slot interactions
Second resonance independent of torque/current level -> due to pole/slot interactions (open circuit noise)
EV HEV NVH example of a stepped-skew IPMSM
NVH behaviour is different in traction and braking
VS.QS
VS.TR
VS.MAP
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS
MANATEE includes predefined root cause analysis post processing:
• Order Tracking based on automated identification of main force wavenumbers:
RCA.PLOT
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS
• Vibration & noise spectrograms including non-linear run-up up to 20 kHz:
RCA.PLOT
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS
• Force, vibration & noise spatiograms (spectrograms per force wavenumber / direction / rotor or
stator application)
RCA.PLOT
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
2000 2500 3000 3500 4000 4500 5000
Rotation speed [rpm]
0
10
20
30
40
50
60
70
80
90
SWLmagnitude[dBAre.1pW]
Outer radial contribution
r=-1, s=0
r=1, s=0
r=0, s=0
r=-4, s=0
r=4, s=0
r=-3, s=0
r=3, s=0
r=2, s=0
r=-2, s=0
Overall
2000 2500 3000 3500 4000 4500 5000
Rotation speed [rpm]
0
10
20
30
40
50
60
70
80
90
SWLmagnitude[dBAre.1pW]
Outer tangential contribution
r=0, s=0
r=-4, s=0
r=4, s=0
r=1, s=0
r=-1, s=0
r=-3, s=0
Overall
2000 2500 3000 3500 4000 4500 5000
Rotation speed [rpm]
0
10
20
30
40
50
60
70
80
90
SWLmagnitude[dBAre.1pW]
Inner radial contribution
r=1, s=0
r=-1, s=0
Overall
2000 2500 3000 3500 4000 4500 5000
Rotation speed [rpm]
0
10
20
30
40
50
60
70
80
90
SWLmagnitude[dBAre.1pW]
Inner tangential contribution
r=1, s=0
r=-1, s=0
Overall
E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS
• Contribution of structural modes and magnetic force wavenumbers to vibration & noise
RCA.PLOT
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS
• Automated offline analysis of main magnetic force waves based on load state, topology and
slot/pole combination:
RCA.HARM
13
>> find_harmonic_PMSM(5, 12)
Stress waves observed in stator frame {f=2fs, r=-2} (H10) are created by the product of flux waves
B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics):
B1={0,0}.{fs,p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
B1={0,0}.{fs,p} and B2={0,0}.{fs,p} due to Br*Bs flux interactions
B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Bs flux interactions
Stress waves observed in stator frame {f=4fs, r=-4} (H20) are created by the product of flux waves
B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics):
B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
B1={0,0}.{5fs,5p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
Stress waves observed in stator frame {f=4fs, r=2} (H20) are created by the product of flux waves
B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics):
B1={0,0}.{3fs,3p} and B2={0,0}.{fs,-1} due to Br*Bs flux interactions
B1={0,0}.{3fs,3p} and B2={0,0}.{fs,11} due to Br*Bs flux interactions
Stress waves observed in stator frame {f=6fs, r=6} (H30) are created by the product of flux waves
B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics):
B1={0,0}.{5fs,5p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
B1={0,0}.{7fs,7p} and B2={0,0}.{fs,p} due to Br*Br flux interactions
Example of a 12s10p PMSM (Zs=12, p=5), case of MANATEE command line
Open-circuit force harmonics
Load-related force harmonics
Decreasing
magnitude
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E-NVH ROOT CAUSE ANALYSIS SOLUTIONS
• Automated offline analysis of a specific magnetic force wave
RCA.HARM
>> find_harmonic_PMSM_open_circuit_fr(10, 2, 5, 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}
Example of a 12s10p PMSM (Zs=12, p=5): to know how the origin of the force wavenumber r=2 occurring at
f=10fs in open circuit conditions one can simply type:
stator slotting
permeance waves P={f,r}
DC component = {0,0}
rotor magnet
mmf waves F={f,r}
fundamental= {fs,p}
Decreasing
magnitude
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
• Possibility to appy user-defined harmonic filters on any source (permeance, mmf, flux, force) in
frequency or wavenumber domains
• Automated study of e-motor NVH harmonic sources (rotor/stator winding space harmonics,
rotor/stator slotting, PWM, saturation, eccentricities)
E-NVH ROOT CAUSE ANALYSIS SOLUTIONS RCA.FILT
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH CALCULATION SOLUTIONS
MANATEE can speed-up magnetic load calculations in early design phase:
• Load Extrapolation Algorithm (LEA) extrapolates loads at all speeds based on 1 to 6 single
calculations (saturation of reference operating point is assumed constant over speed)
• LEA reduces numerical parasitic noise as there is no need to interpolate magnetic force
harmonics magnitude between speed (ex: PMSM open circuit, constant Id/Iq…)
ALG.LEA
Single speed calculation
Extrapolation at higher speeds
Extrapolation at lower speeds
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH CALCULATION SOLUTIONS
MANATEE can speed-up magnetic load calculations in detailed design phase:
• Load Interpolation Algorithm (LIA) interpolates flux distribution at variable speed from
specific points along torque/speed curve
• LIA can also interpolate PMSM flux distribution function of Id/Iq to more quickly calculate
magnetic loads under skewing or e-NVH in four quadrant operation
• Flux interpolation is more robust to numerical issues compared to magnetic force interpolation
ALG.LIA
Speed
Torque
5 operating points used for flux
distribution calculation
Load Interpolation Algorithm with fine speed
discretization step (100 operating points)
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
HARMONIC FORCE PROJECTION
r=1 r=2
MAGNETIC MODEL
r=0
STRUCTURAL MODEL
Unit rotating loads identified with
MANATEE (r=0, ±1, ±2 …)
radial + tangential + moments
applied to stator + rotor
VIBRATION FRF
ELECTROMAGNETIC
VIBRATION SYNTHESIS
2D or 3D external FEA software
MANATEE magnetic models
3D external FEA software
MANATEE structural models
Vibration & noise per load case (numerical TPA)
Air-borne Vs structure-borne noise
Rotor Vs stator noise due torque / radial ripple & UMP
CALCULATIONOF
OPERATIONALLOADS
STRUCTURAL
CHARACTERIZATION
E-NVH CALCULATION SOLUTIONS ALG.EVS
• Electromagnetic Vibration Synthesis: faster than a direct approach, more physical insights
airgap flux
distribution
vibration
velocity field
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
HARMONIC FORCE PROJECTIONMAGNETIC MODEL
STRUCTURAL MODEL ACOUSTIC FRF
ELECTROMAGNETIC
NOISE SYNTHESIS
2D or 3D external FEA software
MANATEE magnetic models
Vibration & noise per load case
ABN Vs SBN
Numerical TPA
CALCULATIONOF
OPERATIONALLOADS
STRUCTURAL
CHARACTERIZATION
E-NVH CALCULATION SOLUTIONS ALG.ENS
• Electromagnetic Noise Synthesis: faster than a direct approach, more physical insights
airgap flux
distribution
vibration
velocity field
3D external FEA software
MANATEE structural models
STRUCTURAL FRF
3D external FEA software
MANATEE acoustic models
r=2
r=2r=0
r=2
Frequency [Hz]
FRFa[dB/N²,re10-12W]
Frequency [Hz]
FRFv[dB/N,re10-9m/s]
r=2
ACOUSTIC MODEL sound
pressure field
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH MITIGATION SOLUTIONS SOL.SKEW
MANATEE includes built-in design environment of skewing technique
• Possibility to define any rotor/stator skew shape
• Automated study of noise & torque ripple minimization tradeoffs using multiobjective
optimization under arbitrary PMSM step-skew angles
• Automated sensitivity study of NVH & torque ripple function of continuous skew angle
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH MITIGATION SOLUTIONS SOL.NOTCH
SOL.CINJ
MANATEE allows investigation of notching & current injection technique
• Rotor / stator notches in electromagnetic models (FEMM, SDM, PMMF)
• Injection of any type of harmonics currents in ABC/DQH frames
• Application of parameter sweep / optimization
current injection stator/rotor notching
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH ROBUST DESIGN SOLUTIONS ROB.FAULT
ROB.NFREQ
MANATEE allows assessment of e-NVH design robustness with respect to faults / manufacturing
tolerances:
• 3D static / dynamic eccentricities (incl. UMP calculation), even after flux import
• Uneven bore radius, even after flux import
• Uneven magnetization or uneven pole position
• NVH effect of speed ripple or strong rotor vibrations
• NVH dispersion due to natural frequencies variations
even pole placement 10% pole displacement
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
E-NVH IMPORT/EXPORT SOLUTIONS IO.ELEC
IO.FLUX
IO.MF
IO.FRF
IO.WAV
MANATEE import/export solutions allows to integrate MANATEE in existing workflow:
• Import of current distributions (fixed speed, variable speed)
• Import of third party flux density distribution (fixed speed, variable speed, multi slice)
• Import of vibration or sound pressure Frequency Response Functions
• Export of lumped magnetic load vectors (e.g. .unv)
• Export of sound files for use in Sound Quality software
Sound with 4800 Hz PWM Sound with 10000 Hz PWMSound under sine supply
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Comparison of simulation results
• Easy comparison per simulation projects, per input parameter, or per electrical machines
• Predefined graphical outputs on all key outputs of each physics (electrical, magnetic, mechanics,
acoustics)
E-NVH LABORATORY LAB.COMP
>>compare_sim_inputs('default_proj','sta_ecc_rate',[0 0.1 0.2 0.5]);
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Parameter sweep environment (no Matlab toolbox needed)
• Flexible and quick set-up including user-defined response functions or predefined “getters”
(e.g. sound power level at a certain speed and frequency)
• Specialized command line plot functions
skew rate
E-NVH LABORATORY LAB.SA
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Multiobjective constrained optimization algorithm (no Matlab toolbox needed)
• NSGA-II based algorithm, including mixed variables
• Flexible and quick set-up including user-defined response functions or predefined “getters”
(e.g. Maxwell stress component at a certain speed, wavenumber and frequency)
• Possibility to Specialized command line plot functions including 2D, 3D Pareto fronts
E-NVH LABORATORY LAB.CMO
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Multidimensional design space explorer
• 5D visualization of parameter sweep & optimization results (design & response variables + constraints)
• Possibility to add additional constraints and filters
E-NVH LABORATORY LAB.MDE
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E-NVH ELECTRICAL MODEL OPTIONS
EQUIVALENT CIRCUIT
Option 1: Simulink® PWM block
Option 2: Analytical / numerical PWM
Phase voltage
waveforms
PWM MODEL
User-defined voltage
waveforms
Phase current
waveforms
User-defined current
waveforms
• PWM model with several strategies (SPWM, SVPWM, DPWM0/1/2/3/min/max, GDPWM)
including randomized switching strategies
• No strong circuit (yet) in v1.08
Machine and
converter input
parameters
User-defined
equivalent circuit
CT.VPWM
CT.IPWM
CT.X
EL.X
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29
MANATEE electromagnetic model relies on the fast calculation of the airgap radial and
tangential flux density with the combination of the following modelling methods :
• Permeance / magnetomotive force analytical models (PMMF)
• Subdomain semi-analytical models (SDM)
• Finite element non-linear magnetostatic model (FEMM)
Import of airgap flux from third-party electromagnetic software is supported.
E-NVH ELECTROMAGNETIC MODEL OPTIONS
EM1.X
EM2.X
EM3.X
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Option 1: 2,5D ANALYTICAL PERMEANCE / MMF MODEL User-defined airgap
flux distribution
Phase current
waveforms
Option 2: 2,5D 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…
Airgap time and
space flux
distribution
FEA mmf including non linearities
E-NVH ELECTROMAGNETIC MODEL OPTIONS
EM1.X
EM2.X
EM3.X
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Permeance/ MMF Subdomain FEMM
Calculation time Very fast Fast Slow
Tangential field calculation No Yes Yes
Torque ripple calculation No* Yes Yes
PWM currents Yes Yes Yes
Robustness to geometry Limited Limited Good
Skewing (multi-slice w/o coupling) Yes Yes Yes
Saturation Limited (saturated
permeance waves for IM)
No (except on
IPMSM rotor**)
Yes
Static and dynamic eccentricities Yes Yes Yes
Uneven airgap Yes Yes No
Pole displacement, demagnetization Yes Yes Yes
Stator short-circuit Yes No* No*
IM broken bar Yes Yes No*
Topologies IPMSM**
SPMSM
SCIM
DFIM
WRSM**
IPMSM**
SPMSM
SCIM
DFIM
WRSM**
IPMSM
SPMSM
SCIM (no-load)
DFIM
WRSM
*can be modelled but not included yet in MANATEE v1.07
**fast hybridation with FEMM
Subdomain model on SPMSM:
Permeance/mmf model on SCIM:
E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X
EM2.X
EM3.X
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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 fast electromagnetic models in symmetrical healthy case:
Permeance/mmf
SCIM SPMSM, IPMSM, WRSM, SRM
Subdomain
E-NVH ELECTROMAGNETIC MODEL OPTIONS
EM1.X
EM2.X
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• Any winding type can be modelled (integral, fractional, user-defined, multiphase)
• A winding pattern defined in Domolites (formerly Koil) freeware can also be imported
E-NVH ELECTROMAGNETIC MODEL OPTIONS
EM1.X
EM2.X
EM3.X
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34
• Comparison between Altair Flux® (FEA) and MANATEE ® (SDM) airgap flux distribution in time and
space on a loaded SPMSM include non-linearity:
E-NVH ELECTROMAGNETIC MODEL OPTIONS
EM1.X
EM2.X
time
Flux: ~1 hour MANATEE: ~1 sec
time
airgap angle airgap angle
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• Advanced automated coupling with open-source electromagnetic FEA software FEMM
(sliding mesh, symmetries, BC) for detailed design phase or complex geometries
• Possibility to import .dxf geometry in MANATEE or .fem model
• Parallelization over several Matlab instances allows to speed up calculations
(distribution of time steps or skew slices)
• Calculation of airgap flux, inductances, permeances
EM3.X
E-NVH ELECTROMAGNETIC MODEL OPTIONS
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E-NVH MAGNETIC FORCE CALCULATION OPTIONS
Stator and rotor nodal or lumped
Maxwell harmonic forces and moments
Airgap time and space
flux distribution
MAGNETIC FORCE CALCULATION,
PROJECTION AND 2D FFT
Option 3: Virtual Work Principle nodal
magnetic forces
Integral values such as torque ripple, UMP
r=0 r=2 r=3
• Torque ripple and cogging torque are naturally obtained as a particular case of magnetic forces
• Trade-offs between torque ripple and noise minimization can therefore be obtained with MANATEE
Option 1: Lumped magnetic load vectors
Option 2**: Surface magnetic force
densities
**force calculation not coupled to structural model in v1.08
MF.MLV
MF.LOC
User-defined airgap
Maxwell stress waves
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S=Enveloppe fermée
Dynamic
deflections
Option 1: 2,5D ANALYTICAL CYLINDER MODEL
Static radial deflections
Natural frequencies of the circumferential
modes of an equivalent ring
User defined natural frequencies
& damping (e.g. from EMA)
Force application on imported FEA model or
concept stator built from scratch
Average dynamic radial deflections
3D vibration velocity field
Option 2: 3D FINITE ELEMENT STRUCTURAL MODEL
Optistruct / Ansys / Nastran / Abaqus*
E-NVH STRUCTURAL MODEL OPTIONS
BASIC DESIGN
DETAILED DESIGN
Stator and rotor nodal or
lumped Maxwell harmonic
forces and moments
*available in MANATEE v1.09
SM.ANL
SM.NUM1
SM.NUM2
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Coupling with third party structural FEA:
• Possibility to automatically call from MANATEE an existing FEA model of Optistruct /
Ansys / Nastran, or to rebuild a lamination model (« concept stator ») 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 using operational magnetic loads from MANATEE
electromagnetic model or third party electromagnetic software
SM.NUM1
SM.NUM2
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Validation of MANATEE fast vibration calculations
• Use of semi-analytical equivalent cylindrical shell structural models
Ex: comparison of MANATEE semi-analytic model and Ansys/Optistruct mechanical FEA on EV HEV
electric motor under variable frequency Maxwell stress harmonic of wavenumber r=0, 2, 4
Ansys/Optistruct: ~10 mn
MANATEE: ~1 sec
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
40
Dynamic radial
deflections
Option 1: SEMI-ANALYTICAL ACOUSTIC MODEL
Radiation efficiency of an equivalent cylinder
or unit radiation (ERP)
E-NVH ACOUSTIC MODEL OPTIONS
Sound power level
Sound pressure level
2D (analytical) or 3D (FEM) spatial-averaged
vibration velocity
Sound synthesis .wav
Option 2: NUMERICAL FEA ACOUSTIC MODEL*
Coupling with
*MANATEE v1.09
AC.ANL
AC.NUM
User-defined radiation
efficiency
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Validation of MANATEE fast air-borne noise calculation
• Use of semi-analytical equivalent cylindrical shell vibro-acoustic models
Acoustic mesh
at 590Hz
Acoustic mesh
at 2116Hz
Ex: comparison of MANATEE semi-analytic model and 3D FEA on EV HEV e-motor under
variable frequency Maxwell stress harmonic of wavenumber r=2
FEA: ~20 mn
Semi-analytic: ~1 sec
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
KEY FEATURES OF MANATEE SOFTWARE
• Fast & accurate variable-speed vibroacoustic calculation (from 1 sec to 1 min) based on
efficient calculation methods and parallelization even with 3D effects and converter harmonics
• High frequency acoustic calculations (up to 20 kHz) within seconds, contrary to numerical
approaches
• Large number of NVH root cause analysis post processing tools
• Easy implementation of all e-machine noise and vibration control actions (e.g. current
injection, skewing, pole shaping, notching)
• Pre-defined simulation workflows suitable for all design stages of electrical machines
• Extensive online documentation with tutorials and validation cases
42
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE SOFTWARE DOCUMENTATION
43
• 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
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE SOFTWARE VALIDATIONS
• MANATEE was initially developed to support EOMYS e-NVH consulting activities
• MANATEE has been used internally to analyze more than 100 electric motor noise issues
• MANATEE was successfully applied on wide range of topologies:
- inner and outer rotor, axial and radial flux
- 5 rpm to 150 krpm
- 1 cm to 10 m airgap diameter
- 100 W to 40 MW power
- SRM, BLDC, IPMSM, SPMSM, DFIM, SCIM, SynRM, WRSM
• MANATEE was used on wide range of markets including EV/HEV NVH applications
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MANATEE SOFTWARE VALIDATIONS
Case of a traction concentrated winding IPMSM (EV/HEV NVH) 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)
~10 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 at early stage
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Case of a squirrel cage induction motor of a naval dredge 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 reached after redesign with MANATEE (change of rotor slot number)
TESTS
MANATEE
gearbox lines
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Case of a railway squirrel cage traction induction machine with Sound Power Level measurements according
ISO3745 in semi-anechoic chamber:
Sound power level during run-
up (including fan noise)
Sound power 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
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Case of a salient pole synchronous hydroelectric generator with damper bars
Fast vibroacoustic model neglecting 3D effects can be used in basic design phase to avoid
strong resonances, no need of detailed multiphysic numerical models
Sound level during a run-up
Sound level during a run-up
~10 sec on a laptop
TESTS MANATEE
2 resonances
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Case of a traction distributed winding IPMSM (EV/HEV NVH) at partial load:
Fast vibroacoustic model neglecting 3D effects can be used in basic design phase to avoid
strong resonances, no need of detailed multiphysic numerical models
Sound level during a run-up
(experiments in non ideal acoustic
conditions)
Sound level during a run-up
(MANATEE, coupling with non linear FEMM)
~6 hours on a standard PC
Sound level during a run-up
(MANATEE simulation, linear subdomain)
~10 sec on a standard PC
overall
SPL avg 3
micros
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Geometry / Currents
(manual - automated import
upon request)
MANATEE INTEGRATION TO E-MACHINE DESIGN WORKFLOW
50
Step 1 : basic electromagnetic + basic vibro-acoustic design loops
Option A. Standalone electromagnetic &
vibroacoustic design optimization
Option B. Coupling with third partly fast
electromagnetic design tools (optional)
Speed, FluxMotor, RPMXpert etc.
• Fast assessment of electrical machines air-borne noise to rank different topologies (ex: SyRM Vs
IPMSM, slot/pole combinations) at variable speed along torque/speed curve under sine supply
• Possibility to drive MANATEE models from Python/Matlab scripts
• First electromagnetic design NVH optimization by implementing electrical noise mitigation
techniques (e.g. skewing, notching, pole shaping, slot/pole combination)
Matlab/Python scripts
Note: these workflows are given as examples, other use may be possible
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
51
Step 2 : detailed electromagnetic + basic vibro-acoustic design loops:
Coupling with third party FEA
electromagnetic design tools
Airgap flux (.xls)
FLUT .mat
or .fem
NVH maps in torque / speed plane
Skew / torque ripple / axial ripple optimization
• Refinement of electromagnetic force calculation compared to MANATEE built-in electromagnetic
models (e.g. 3D FEA magnetic model with magnetic axial forces)
• Fast study of best trade-offs between NVH, torque ripple, losses etc on the whole operating
range using MANATEE flux interpolation, skew pattern optimization, noise maps, sensitivity study
features
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
52
FRF
Export to third partly sound
quality software (optional)
Coupling with third party FEA
structural software
Sound .wav
Step 3 : detailed electromagnetic + detailed vibro-acoustic design loops:
• Refinement of structural and acoustic calculations using complex structural CAD model including both airborne
and structure borne vibrations based on Electromagnetic Vibration/Noise Synthesis
• Implementation of further NVH minimization focusing on structural solutions (e.g. housing to stator coupling)
• Potential extension to other sources of noise (e.g. gear whine, aerodynamic noise) and sound quality studies
Coupling with third partly FEA
electromagnetic software
forces
vibrations
Airgap flux (.xls)
FLUT .mat
or .fem
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
MORE OF MANATEE BUILT-IN POST-PROCESSING…
53
• MANATEE includes more than 120 plot commands directly accessible in command line
• Example of Matlab
quick plot command
without arguments
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
54
Geometry, time and space visualization, real and complex spectra for all quantities (permeance, mmf,
radial and tangential flux density, force, acceleration, velocity, displacements), 2d/3d animation
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
55
Magnetic harmonic forces analysis with automated identification of lines expression
(PMSM) (SCIM)
Wavenumber
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
56
Magnetic harmonic forces analysis
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Static (top) and dynamic (bottom) radial vibration spectra
Possibility to plot frequencies as electrical
or mechanical orders
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Spectrogram of radial / tangential force harmonics for each spatial wavenumber
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Spectrogram of radial / tangential force harmonics of a given order, including rotation direction
Operational deflection shapes at a given frequency
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
Plot of tangential and radial forces per tooth in time and frequency domain
r=0 r=2 r=3
© 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com
CONCLUSIONS
• MANATEE is the only software fully dedicated to the assessment of magnetic forces, magnetic vibrations
and acoustic noise with high number of industrial validations
• MANATEE is the only simulation environment giving physical insights on e-NVH, combining noise
troubleshooting and noise mitigation tools
• MANATEE can be integrated both in pre-sizing and detailed design workflows and provides accelerated
simulation times compared to a direct coupling approach
• MANATEE semi-analytic models and numerical algorithms give no parasitic numerical noise
• MANATEE is highly flexible based on Matlab/Python scripting
• MANATEE can be used as a standalone electromagnetic design software of electrical machines
61
See licensing options and subscribe to our newsletter at www.eomys.com

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2020 03 10 manatee presentation en

  • 1. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE® SIMULATION SOFTWARE Magnetic Acoustic Noise Analysis Tool for Electrical Engineering
  • 2. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE is the only software specialized on the electromagnetic design optimization of electrical machines including magnetic vibrations and acoustic noise due to Maxwell forces (“e-NVH”). • - fast e-NVH calculations in early electromagnetic design loops • - faster & more physical e-NVH calculations in detailed mechanical design phase • - advanced post-processing for e-NVH root cause analysis • - mechanical & magnetic fault simulation for e-NVH robust design • - design optimization environments of e-NVH mitigation techniques 2 stator/rotor skewing pole/slot shaping current injection stator/rotor notching randomized PWM OVERVIEW OF MANATEE FOR E-NVH
  • 3. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE is the central point for the integrated e-NVH design process of electric motors, from basic vibro-acoustic design at e-motor level to detailed vibro-acoustic design at system level: 3 Third-party sound quality tools Third-party electromagnetic design tools Third-party structural design tools Third-party acoustic design tools Standalone e-motor NVH solution (electromagnetics +vibro-acoustics) ©Actran ©Oros ©Jmag ©Ansys Third-party NVH data acquisition tools ©Oros optional v1.09.1 coupling v1.09.2 coupling
  • 4. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE technology is • Matlab®-based for solver (R2013 or later) – no use of any Matlab toolbox • Python/Qt-based for for machine & simulation set-up GUI Following radial flux electrical machine topologies are included in MANATEE v1.08: • Inner or outer rotor SPMSM, ISPMSM, IPMSM (including multilayer magnets) • SynRM, SRM, WRSM (salient pole, smooth pole uneven slot), SCIM, DFIM • MANATEE fast magnetic models are based on geometrical layouts (cf. website) • New lamination shapes can be implemented by EOMYS upon request
  • 5. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE v1.09 graphical environment: Scripting environment (Matlab) Simple command line post-processings (Matlab) GUI for simulation set-up (Python) no Matlab toolbox needed GUI for machine set- up (Python) based on PYLEECAN
  • 6. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com A few figures about MANATEE: • Up 40 dB acoustic noise reduction after redesign based on EOMYS consulting activities • Successfully applied on more than 80 industrial cases with IPMSM, SCIM, WRSM, DFIG, inner & outer rotor, from W to MW range, from 5 rpm to 150 000 rpm, from 10mm to 10m diameter machines • More than 100 multiphysic validation simulation projects open to MANATEE users • More than 120 graphical post-processing commands (such as plot_machine) to ease e-NVH root cause analysis Naval
  • 7. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 7 Magnet / current excitations ELECTROMAGNETIC MODULE ELECTRICAL MODULE STRUCTURAL MODULE ACOUSTIC MODULE MANATEE software seamlessly integrates the following multiphysic modules: Dynamic vibrations Variable speed NVH Geometry and control parameters 3D force distribution THERMAL MODULE VARIABLE SPEED MODULE MULTI-SIMULATION MODULE OPTIMIZATION MODULE • Interface between physics are pre-defined in standard simulation workflows adapted to V-model development cycle of electrical machines • All module inputs can be user-defined / imported, resulting in a flexible simulation workflow • Module input/output are documented for possible integration in third-party scripts WF.BS WF.DV
  • 8. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com - E-NVH VARIABLE-SPEED SOLUTIONS MANATEE carries variable-speed calculations faster than direct calculation approach: • Quasi static or transient simulation process • e-NVH calculations on whole torque/speed map First resonance depends on torque/current level -> due to armature/pole/slot interactions Second resonance independent of torque/current level -> due to pole/slot interactions (open circuit noise) EV HEV NVH example of a stepped-skew IPMSM NVH behaviour is different in traction and braking VS.QS VS.TR VS.MAP
  • 9. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS MANATEE includes predefined root cause analysis post processing: • Order Tracking based on automated identification of main force wavenumbers: RCA.PLOT
  • 10. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS • Vibration & noise spectrograms including non-linear run-up up to 20 kHz: RCA.PLOT
  • 11. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS • Force, vibration & noise spatiograms (spectrograms per force wavenumber / direction / rotor or stator application) RCA.PLOT
  • 12. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 2000 2500 3000 3500 4000 4500 5000 Rotation speed [rpm] 0 10 20 30 40 50 60 70 80 90 SWLmagnitude[dBAre.1pW] Outer radial contribution r=-1, s=0 r=1, s=0 r=0, s=0 r=-4, s=0 r=4, s=0 r=-3, s=0 r=3, s=0 r=2, s=0 r=-2, s=0 Overall 2000 2500 3000 3500 4000 4500 5000 Rotation speed [rpm] 0 10 20 30 40 50 60 70 80 90 SWLmagnitude[dBAre.1pW] Outer tangential contribution r=0, s=0 r=-4, s=0 r=4, s=0 r=1, s=0 r=-1, s=0 r=-3, s=0 Overall 2000 2500 3000 3500 4000 4500 5000 Rotation speed [rpm] 0 10 20 30 40 50 60 70 80 90 SWLmagnitude[dBAre.1pW] Inner radial contribution r=1, s=0 r=-1, s=0 Overall 2000 2500 3000 3500 4000 4500 5000 Rotation speed [rpm] 0 10 20 30 40 50 60 70 80 90 SWLmagnitude[dBAre.1pW] Inner tangential contribution r=1, s=0 r=-1, s=0 Overall E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS • Contribution of structural modes and magnetic force wavenumbers to vibration & noise RCA.PLOT
  • 13. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROOT-CAUSE ANALYSIS SOLUTIONS • Automated offline analysis of main magnetic force waves based on load state, topology and slot/pole combination: RCA.HARM 13 >> find_harmonic_PMSM(5, 12) Stress waves observed in stator frame {f=2fs, r=-2} (H10) are created by the product of flux waves B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics): B1={0,0}.{fs,p} and B2={0,0}.{fs,p} due to Br*Br flux interactions B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Br flux interactions B1={0,0}.{fs,p} and B2={0,0}.{fs,p} due to Br*Bs flux interactions B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Bs flux interactions Stress waves observed in stator frame {f=4fs, r=-4} (H20) are created by the product of flux waves B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics): B1={0,0}.{3fs,3p} and B2={0,0}.{fs,p} due to Br*Br flux interactions B1={0,0}.{5fs,5p} and B2={0,0}.{fs,p} due to Br*Br flux interactions Stress waves observed in stator frame {f=4fs, r=2} (H20) are created by the product of flux waves B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics): B1={0,0}.{3fs,3p} and B2={0,0}.{fs,-1} due to Br*Bs flux interactions B1={0,0}.{3fs,3p} and B2={0,0}.{fs,11} due to Br*Bs flux interactions Stress waves observed in stator frame {f=6fs, r=6} (H30) are created by the product of flux waves B1=P1.F1 and B2=P2.F2 such as (incl. tooth modulation effect, excl. PWM & phase belt time harmonics): B1={0,0}.{5fs,5p} and B2={0,0}.{fs,p} due to Br*Br flux interactions B1={0,0}.{7fs,7p} and B2={0,0}.{fs,p} due to Br*Br flux interactions Example of a 12s10p PMSM (Zs=12, p=5), case of MANATEE command line Open-circuit force harmonics Load-related force harmonics Decreasing magnitude
  • 14. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROOT CAUSE ANALYSIS SOLUTIONS • Automated offline analysis of a specific magnetic force wave RCA.HARM >> find_harmonic_PMSM_open_circuit_fr(10, 2, 5, 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} Example of a 12s10p PMSM (Zs=12, p=5): to know how the origin of the force wavenumber r=2 occurring at f=10fs in open circuit conditions one can simply type: stator slotting permeance waves P={f,r} DC component = {0,0} rotor magnet mmf waves F={f,r} fundamental= {fs,p} Decreasing magnitude
  • 15. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com • Possibility to appy user-defined harmonic filters on any source (permeance, mmf, flux, force) in frequency or wavenumber domains • Automated study of e-motor NVH harmonic sources (rotor/stator winding space harmonics, rotor/stator slotting, PWM, saturation, eccentricities) E-NVH ROOT CAUSE ANALYSIS SOLUTIONS RCA.FILT
  • 16. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH CALCULATION SOLUTIONS MANATEE can speed-up magnetic load calculations in early design phase: • Load Extrapolation Algorithm (LEA) extrapolates loads at all speeds based on 1 to 6 single calculations (saturation of reference operating point is assumed constant over speed) • LEA reduces numerical parasitic noise as there is no need to interpolate magnetic force harmonics magnitude between speed (ex: PMSM open circuit, constant Id/Iq…) ALG.LEA Single speed calculation Extrapolation at higher speeds Extrapolation at lower speeds
  • 17. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH CALCULATION SOLUTIONS MANATEE can speed-up magnetic load calculations in detailed design phase: • Load Interpolation Algorithm (LIA) interpolates flux distribution at variable speed from specific points along torque/speed curve • LIA can also interpolate PMSM flux distribution function of Id/Iq to more quickly calculate magnetic loads under skewing or e-NVH in four quadrant operation • Flux interpolation is more robust to numerical issues compared to magnetic force interpolation ALG.LIA Speed Torque 5 operating points used for flux distribution calculation Load Interpolation Algorithm with fine speed discretization step (100 operating points)
  • 18. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com HARMONIC FORCE PROJECTION r=1 r=2 MAGNETIC MODEL r=0 STRUCTURAL MODEL Unit rotating loads identified with MANATEE (r=0, ±1, ±2 …) radial + tangential + moments applied to stator + rotor VIBRATION FRF ELECTROMAGNETIC VIBRATION SYNTHESIS 2D or 3D external FEA software MANATEE magnetic models 3D external FEA software MANATEE structural models Vibration & noise per load case (numerical TPA) Air-borne Vs structure-borne noise Rotor Vs stator noise due torque / radial ripple & UMP CALCULATIONOF OPERATIONALLOADS STRUCTURAL CHARACTERIZATION E-NVH CALCULATION SOLUTIONS ALG.EVS • Electromagnetic Vibration Synthesis: faster than a direct approach, more physical insights airgap flux distribution vibration velocity field
  • 19. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com HARMONIC FORCE PROJECTIONMAGNETIC MODEL STRUCTURAL MODEL ACOUSTIC FRF ELECTROMAGNETIC NOISE SYNTHESIS 2D or 3D external FEA software MANATEE magnetic models Vibration & noise per load case ABN Vs SBN Numerical TPA CALCULATIONOF OPERATIONALLOADS STRUCTURAL CHARACTERIZATION E-NVH CALCULATION SOLUTIONS ALG.ENS • Electromagnetic Noise Synthesis: faster than a direct approach, more physical insights airgap flux distribution vibration velocity field 3D external FEA software MANATEE structural models STRUCTURAL FRF 3D external FEA software MANATEE acoustic models r=2 r=2r=0 r=2 Frequency [Hz] FRFa[dB/N²,re10-12W] Frequency [Hz] FRFv[dB/N,re10-9m/s] r=2 ACOUSTIC MODEL sound pressure field
  • 20. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH MITIGATION SOLUTIONS SOL.SKEW MANATEE includes built-in design environment of skewing technique • Possibility to define any rotor/stator skew shape • Automated study of noise & torque ripple minimization tradeoffs using multiobjective optimization under arbitrary PMSM step-skew angles • Automated sensitivity study of NVH & torque ripple function of continuous skew angle
  • 21. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH MITIGATION SOLUTIONS SOL.NOTCH SOL.CINJ MANATEE allows investigation of notching & current injection technique • Rotor / stator notches in electromagnetic models (FEMM, SDM, PMMF) • Injection of any type of harmonics currents in ABC/DQH frames • Application of parameter sweep / optimization current injection stator/rotor notching
  • 22. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ROBUST DESIGN SOLUTIONS ROB.FAULT ROB.NFREQ MANATEE allows assessment of e-NVH design robustness with respect to faults / manufacturing tolerances: • 3D static / dynamic eccentricities (incl. UMP calculation), even after flux import • Uneven bore radius, even after flux import • Uneven magnetization or uneven pole position • NVH effect of speed ripple or strong rotor vibrations • NVH dispersion due to natural frequencies variations even pole placement 10% pole displacement
  • 23. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH IMPORT/EXPORT SOLUTIONS IO.ELEC IO.FLUX IO.MF IO.FRF IO.WAV MANATEE import/export solutions allows to integrate MANATEE in existing workflow: • Import of current distributions (fixed speed, variable speed) • Import of third party flux density distribution (fixed speed, variable speed, multi slice) • Import of vibration or sound pressure Frequency Response Functions • Export of lumped magnetic load vectors (e.g. .unv) • Export of sound files for use in Sound Quality software Sound with 4800 Hz PWM Sound with 10000 Hz PWMSound under sine supply
  • 24. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Comparison of simulation results • Easy comparison per simulation projects, per input parameter, or per electrical machines • Predefined graphical outputs on all key outputs of each physics (electrical, magnetic, mechanics, acoustics) E-NVH LABORATORY LAB.COMP >>compare_sim_inputs('default_proj','sta_ecc_rate',[0 0.1 0.2 0.5]);
  • 25. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Parameter sweep environment (no Matlab toolbox needed) • Flexible and quick set-up including user-defined response functions or predefined “getters” (e.g. sound power level at a certain speed and frequency) • Specialized command line plot functions skew rate E-NVH LABORATORY LAB.SA
  • 26. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Multiobjective constrained optimization algorithm (no Matlab toolbox needed) • NSGA-II based algorithm, including mixed variables • Flexible and quick set-up including user-defined response functions or predefined “getters” (e.g. Maxwell stress component at a certain speed, wavenumber and frequency) • Possibility to Specialized command line plot functions including 2D, 3D Pareto fronts E-NVH LABORATORY LAB.CMO
  • 27. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Multidimensional design space explorer • 5D visualization of parameter sweep & optimization results (design & response variables + constraints) • Possibility to add additional constraints and filters E-NVH LABORATORY LAB.MDE
  • 28. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH ELECTRICAL MODEL OPTIONS EQUIVALENT CIRCUIT Option 1: Simulink® PWM block Option 2: Analytical / numerical PWM Phase voltage waveforms PWM MODEL User-defined voltage waveforms Phase current waveforms User-defined current waveforms • PWM model with several strategies (SPWM, SVPWM, DPWM0/1/2/3/min/max, GDPWM) including randomized switching strategies • No strong circuit (yet) in v1.08 Machine and converter input parameters User-defined equivalent circuit CT.VPWM CT.IPWM CT.X EL.X
  • 29. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 29 MANATEE electromagnetic model relies on the fast calculation of the airgap radial and tangential flux density with the combination of the following modelling methods : • Permeance / magnetomotive force analytical models (PMMF) • Subdomain semi-analytical models (SDM) • Finite element non-linear magnetostatic model (FEMM) Import of airgap flux from third-party electromagnetic software is supported. E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X EM3.X
  • 30. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Option 1: 2,5D ANALYTICAL PERMEANCE / MMF MODEL User-defined airgap flux distribution Phase current waveforms Option 2: 2,5D 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… Airgap time and space flux distribution FEA mmf including non linearities E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X EM3.X
  • 31. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Permeance/ MMF Subdomain FEMM Calculation time Very fast Fast Slow Tangential field calculation No Yes Yes Torque ripple calculation No* Yes Yes PWM currents Yes Yes Yes Robustness to geometry Limited Limited Good Skewing (multi-slice w/o coupling) Yes Yes Yes Saturation Limited (saturated permeance waves for IM) No (except on IPMSM rotor**) Yes Static and dynamic eccentricities Yes Yes Yes Uneven airgap Yes Yes No Pole displacement, demagnetization Yes Yes Yes Stator short-circuit Yes No* No* IM broken bar Yes Yes No* Topologies IPMSM** SPMSM SCIM DFIM WRSM** IPMSM** SPMSM SCIM DFIM WRSM** IPMSM SPMSM SCIM (no-load) DFIM WRSM *can be modelled but not included yet in MANATEE v1.07 **fast hybridation with FEMM Subdomain model on SPMSM: Permeance/mmf model on SCIM: E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X EM3.X
  • 32. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 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 fast electromagnetic models in symmetrical healthy case: Permeance/mmf SCIM SPMSM, IPMSM, WRSM, SRM Subdomain E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X
  • 33. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com • Any winding type can be modelled (integral, fractional, user-defined, multiphase) • A winding pattern defined in Domolites (formerly Koil) freeware can also be imported E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X EM3.X
  • 34. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 34 • Comparison between Altair Flux® (FEA) and MANATEE ® (SDM) airgap flux distribution in time and space on a loaded SPMSM include non-linearity: E-NVH ELECTROMAGNETIC MODEL OPTIONS EM1.X EM2.X time Flux: ~1 hour MANATEE: ~1 sec time airgap angle airgap angle
  • 35. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com • Advanced automated coupling with open-source electromagnetic FEA software FEMM (sliding mesh, symmetries, BC) for detailed design phase or complex geometries • Possibility to import .dxf geometry in MANATEE or .fem model • Parallelization over several Matlab instances allows to speed up calculations (distribution of time steps or skew slices) • Calculation of airgap flux, inductances, permeances EM3.X E-NVH ELECTROMAGNETIC MODEL OPTIONS
  • 36. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com E-NVH MAGNETIC FORCE CALCULATION OPTIONS Stator and rotor nodal or lumped Maxwell harmonic forces and moments Airgap time and space flux distribution MAGNETIC FORCE CALCULATION, PROJECTION AND 2D FFT Option 3: Virtual Work Principle nodal magnetic forces Integral values such as torque ripple, UMP r=0 r=2 r=3 • Torque ripple and cogging torque are naturally obtained as a particular case of magnetic forces • Trade-offs between torque ripple and noise minimization can therefore be obtained with MANATEE Option 1: Lumped magnetic load vectors Option 2**: Surface magnetic force densities **force calculation not coupled to structural model in v1.08 MF.MLV MF.LOC User-defined airgap Maxwell stress waves
  • 37. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com S=Enveloppe fermée Dynamic deflections Option 1: 2,5D ANALYTICAL CYLINDER MODEL Static radial deflections Natural frequencies of the circumferential modes of an equivalent ring User defined natural frequencies & damping (e.g. from EMA) Force application on imported FEA model or concept stator built from scratch Average dynamic radial deflections 3D vibration velocity field Option 2: 3D FINITE ELEMENT STRUCTURAL MODEL Optistruct / Ansys / Nastran / Abaqus* E-NVH STRUCTURAL MODEL OPTIONS BASIC DESIGN DETAILED DESIGN Stator and rotor nodal or lumped Maxwell harmonic forces and moments *available in MANATEE v1.09 SM.ANL SM.NUM1 SM.NUM2
  • 38. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Coupling with third party structural FEA: • Possibility to automatically call from MANATEE an existing FEA model of Optistruct / Ansys / Nastran, or to rebuild a lamination model (« concept stator ») 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 using operational magnetic loads from MANATEE electromagnetic model or third party electromagnetic software SM.NUM1 SM.NUM2
  • 39. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Validation of MANATEE fast vibration calculations • Use of semi-analytical equivalent cylindrical shell structural models Ex: comparison of MANATEE semi-analytic model and Ansys/Optistruct mechanical FEA on EV HEV electric motor under variable frequency Maxwell stress harmonic of wavenumber r=0, 2, 4 Ansys/Optistruct: ~10 mn MANATEE: ~1 sec
  • 40. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 40 Dynamic radial deflections Option 1: SEMI-ANALYTICAL ACOUSTIC MODEL Radiation efficiency of an equivalent cylinder or unit radiation (ERP) E-NVH ACOUSTIC MODEL OPTIONS Sound power level Sound pressure level 2D (analytical) or 3D (FEM) spatial-averaged vibration velocity Sound synthesis .wav Option 2: NUMERICAL FEA ACOUSTIC MODEL* Coupling with *MANATEE v1.09 AC.ANL AC.NUM User-defined radiation efficiency
  • 41. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Validation of MANATEE fast air-borne noise calculation • Use of semi-analytical equivalent cylindrical shell vibro-acoustic models Acoustic mesh at 590Hz Acoustic mesh at 2116Hz Ex: comparison of MANATEE semi-analytic model and 3D FEA on EV HEV e-motor under variable frequency Maxwell stress harmonic of wavenumber r=2 FEA: ~20 mn Semi-analytic: ~1 sec
  • 42. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com KEY FEATURES OF MANATEE SOFTWARE • Fast & accurate variable-speed vibroacoustic calculation (from 1 sec to 1 min) based on efficient calculation methods and parallelization even with 3D effects and converter harmonics • High frequency acoustic calculations (up to 20 kHz) within seconds, contrary to numerical approaches • Large number of NVH root cause analysis post processing tools • Easy implementation of all e-machine noise and vibration control actions (e.g. current injection, skewing, pole shaping, notching) • Pre-defined simulation workflows suitable for all design stages of electrical machines • Extensive online documentation with tutorials and validation cases 42
  • 43. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE SOFTWARE DOCUMENTATION 43 • 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
  • 44. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE SOFTWARE VALIDATIONS • MANATEE was initially developed to support EOMYS e-NVH consulting activities • MANATEE has been used internally to analyze more than 100 electric motor noise issues • MANATEE was successfully applied on wide range of topologies: - inner and outer rotor, axial and radial flux - 5 rpm to 150 krpm - 1 cm to 10 m airgap diameter - 100 W to 40 MW power - SRM, BLDC, IPMSM, SPMSM, DFIM, SCIM, SynRM, WRSM • MANATEE was used on wide range of markets including EV/HEV NVH applications
  • 45. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MANATEE SOFTWARE VALIDATIONS Case of a traction concentrated winding IPMSM (EV/HEV NVH) 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) ~10 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 at early stage
  • 46. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Case of a squirrel cage induction motor of a naval dredge 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 reached after redesign with MANATEE (change of rotor slot number) TESTS MANATEE gearbox lines
  • 47. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Case of a railway squirrel cage traction induction machine with Sound Power Level measurements according ISO3745 in semi-anechoic chamber: Sound power level during run- up (including fan noise) Sound power 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
  • 48. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Case of a salient pole synchronous hydroelectric generator with damper bars Fast vibroacoustic model neglecting 3D effects can be used in basic design phase to avoid strong resonances, no need of detailed multiphysic numerical models Sound level during a run-up Sound level during a run-up ~10 sec on a laptop TESTS MANATEE 2 resonances
  • 49. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Case of a traction distributed winding IPMSM (EV/HEV NVH) at partial load: Fast vibroacoustic model neglecting 3D effects can be used in basic design phase to avoid strong resonances, no need of detailed multiphysic numerical models Sound level during a run-up (experiments in non ideal acoustic conditions) Sound level during a run-up (MANATEE, coupling with non linear FEMM) ~6 hours on a standard PC Sound level during a run-up (MANATEE simulation, linear subdomain) ~10 sec on a standard PC overall SPL avg 3 micros
  • 50. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Geometry / Currents (manual - automated import upon request) MANATEE INTEGRATION TO E-MACHINE DESIGN WORKFLOW 50 Step 1 : basic electromagnetic + basic vibro-acoustic design loops Option A. Standalone electromagnetic & vibroacoustic design optimization Option B. Coupling with third partly fast electromagnetic design tools (optional) Speed, FluxMotor, RPMXpert etc. • Fast assessment of electrical machines air-borne noise to rank different topologies (ex: SyRM Vs IPMSM, slot/pole combinations) at variable speed along torque/speed curve under sine supply • Possibility to drive MANATEE models from Python/Matlab scripts • First electromagnetic design NVH optimization by implementing electrical noise mitigation techniques (e.g. skewing, notching, pole shaping, slot/pole combination) Matlab/Python scripts Note: these workflows are given as examples, other use may be possible
  • 51. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 51 Step 2 : detailed electromagnetic + basic vibro-acoustic design loops: Coupling with third party FEA electromagnetic design tools Airgap flux (.xls) FLUT .mat or .fem NVH maps in torque / speed plane Skew / torque ripple / axial ripple optimization • Refinement of electromagnetic force calculation compared to MANATEE built-in electromagnetic models (e.g. 3D FEA magnetic model with magnetic axial forces) • Fast study of best trade-offs between NVH, torque ripple, losses etc on the whole operating range using MANATEE flux interpolation, skew pattern optimization, noise maps, sensitivity study features
  • 52. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 52 FRF Export to third partly sound quality software (optional) Coupling with third party FEA structural software Sound .wav Step 3 : detailed electromagnetic + detailed vibro-acoustic design loops: • Refinement of structural and acoustic calculations using complex structural CAD model including both airborne and structure borne vibrations based on Electromagnetic Vibration/Noise Synthesis • Implementation of further NVH minimization focusing on structural solutions (e.g. housing to stator coupling) • Potential extension to other sources of noise (e.g. gear whine, aerodynamic noise) and sound quality studies Coupling with third partly FEA electromagnetic software forces vibrations Airgap flux (.xls) FLUT .mat or .fem
  • 53. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com MORE OF MANATEE BUILT-IN POST-PROCESSING… 53 • MANATEE includes more than 120 plot commands directly accessible in command line • Example of Matlab quick plot command without arguments
  • 54. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 54 Geometry, time and space visualization, real and complex spectra for all quantities (permeance, mmf, radial and tangential flux density, force, acceleration, velocity, displacements), 2d/3d animation
  • 55. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 55 Magnetic harmonic forces analysis with automated identification of lines expression (PMSM) (SCIM) Wavenumber
  • 56. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com 56 Magnetic harmonic forces analysis
  • 57. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Static (top) and dynamic (bottom) radial vibration spectra Possibility to plot frequencies as electrical or mechanical orders
  • 58. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Spectrogram of radial / tangential force harmonics for each spatial wavenumber
  • 59. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Spectrogram of radial / tangential force harmonics of a given order, including rotation direction Operational deflection shapes at a given frequency
  • 60. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com Plot of tangential and radial forces per tooth in time and frequency domain r=0 r=2 r=3
  • 61. © 2013-2019 EOMYS ENGINEERING / 121 rue de Chanzy CS10128 59030 Lille Cedex FRANCE / www.eomys.com / contact@eomys.com CONCLUSIONS • MANATEE is the only software fully dedicated to the assessment of magnetic forces, magnetic vibrations and acoustic noise with high number of industrial validations • MANATEE is the only simulation environment giving physical insights on e-NVH, combining noise troubleshooting and noise mitigation tools • MANATEE can be integrated both in pre-sizing and detailed design workflows and provides accelerated simulation times compared to a direct coupling approach • MANATEE semi-analytic models and numerical algorithms give no parasitic numerical noise • MANATEE is highly flexible based on Matlab/Python scripting • MANATEE can be used as a standalone electromagnetic design software of electrical machines 61 See licensing options and subscribe to our newsletter at www.eomys.com