Bond graph modeling and simulation of electrical machines

This chapter surveys the bond graph modeling of rotary electric machinery. The discussion includes the DC- and AC-machines commonly found in industrial applications ranging from a few hundreds of watts up to megawatts, i.e., brushed DC-machines in all their connection types as well as the synchronous and the induction machine. Most of the presentation adopts the electrical drive point of view, but the generator operation is also addressed in some cases, as this simply implies reversing the power flow in certain bonds, at least in the model world. Also discussed is a variety of machines used in low-power drives, like the permanent magnet (PM) synchronous, brushless DC, synchronous reluctance, PM stepper, and switched reluctance motors. Different modeling techniques are illustrated when surveying the different models. First, most of the bond graphs are derived from equivalent electric circuits with inductances representing the magnetic phenomena. Later, in order to explicitly show this domain, two further approaches are employed: one that, re-using the previous bond graphs, “opens” the I-elements to expose the magnetics and the other that starts the modeling process from scratch. In this later case, again two alternatives are presented, the first one interconnects components defined from constitutive relationships and the second one derives the models from energy conservation properties of ideal coupling fields. The chapter closes with simulation results obtained using the models developed along with it. The intention in writing this chapter has been to give to the reader a comprehensive overview of the subject, to offer a compendium of useful models to the practitioner, and, simultaneously, to provide methodological tools to help applied researchers to successfully develop their own models