10th International Conference and Exposition on Electrical and Power Engineering (EPE2018)

Saturation and cross-saturation

in synchronous reluctance machines
Ioana Nasui-Zah, Andreea-Mdlina Nicorici, Claudia Maris
Technical University of Cluj-Napoca
Cluj-Napoca, Romania
ioana.nasui@mae.utcluj.ro

Abstract—The present paper gives an overview on the
influence of the saturation and cross-saturation on the machine
parameters and on the evaluation of SynRM drives performances.
A SynRM with optimized flux-barriers shapes and a Permanent
Magnet (PM) assisted SynRM will be considered for analysis. A
comprehensive analysis of the variation of d- and q-axis fluxes, as
well as several modeling approaches are presented in order to
evaluate the influence of saturation and cross-saturation on the
behavior of the two machines.
Keywords—SynRM; PM assisted SynRM; saturation; cross-
saturation; cross-coupling; d- and q-axis inductances;
Nomenclature
d, q – d and q-axis components of the stator linkage flux torque
id, iq - d and q-axis components of armature current
Ld, Lq - d and q-axis inductance
Ldq, Lqd – mutual inductances
SM – synchronous machine
IPMSM – interior permanent magnet synchronous machine
SynRM – synchronous reluctance machine
PMSynRM - permanent magnet assisted synchronous reluctance
machine
IPMSM – interior permanent magnet synchronous machine
MEC – magnetic equivalent circuit
FEA – finite element analysis
is not a comparison of the performances of the machines under
study.
Section II presents several approaches in the modeling of SM
for describing and analyzing the two phenomena, while Section
III is focused on the specific analysis of the two phenomena in
the above mentioned machines.
II. MACHINE MODELLING
Considering d-q frame, saturation describes a phenomenon
that is linked to the material propriety, and is very well described
by the B-H curve in the figure bellow. The direct (d-axis) current
influences the saturation along the d-axis flux path and as a
result, the d-axis synchronous inductance Ld is changed. The
same principle applies for the quadrature (q-axis) inductance Lq
[3].
While the concept of saturation is very clear, the subject of
cross-saturation, based on the papers published, was defined in
two different ways. As a hypothesis, all the papers agree that
cross-saturation is a phenomenon derived from saturation. The
problem appears when trying to mathematically define the two
phenomena.

I. INTRODUCTION
It is well known that both torque and power factor, as well
as the dynamic response of salient Synchronous Machines (SM)
drives are directly related to the d- and q-axis inductances.
Moreover, the nonlinear behavior of the machine, including iron
losses, saturation and cross-saturation, increases the complexity
of its control and requests special attention in developing off-
and on-line models for SM performances evaluation.
Inductances (Ld and Lq) are one of the most important Fig. 1. Magnetization loop - BH curve [4].
parameters that decide the characteristics of a designed SM [1]. On one hand, there are papers that state the fact that cross-
They are very much dependent on axes saturation and cross- saturation is a mutual inductance and it is caused by the
saturation; this leads to the fact that flux versus current saturation of portions of magnetic circuit associated to one axis
characteristics of SM are not linear and saturation and cross caused by the current of the other axis [5],[6].
saturation phenomenon heavily affects the motor anisotropy [2].
‫ܮ‬ௗ ൌ ݂ሺ݅ௗ ሻ (1)
The present paper analyzes the impact of saturation and
cross-saturation on two different types of SM: a Synchronous ‫ܮ‬௤ ൌ ݂൫݅௤ ൯ (2)
Reluctance Machine (SynRM) and a Permanent Magnet assisted
Synchronous Reluctance Machine (PMSynRM). However, this ‫ܮ‬ௗ௤ ൌ ‫ܮ‬௤ௗ ൌ ݂൫݅ௗ ǡ ݅௤ ൯ (3)

978-1-5386-5062-2/18/$31.00 ©2018 European Union

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 On the other hand, other papers describe the phenomena
differently. The d axis can saturate the q axis and vice versa, so
each current has an action on the other axis inductance [7]. In
[7-9], the cross-saturation phenomena is considered to be
included in d axis and q axis fluxes/inductances:
ߖௗ ൌ ݂൫݅ௗ ǡ ݅௤ ൯Ǣ ‫ܮ‬ௗ ൌ ݂൫݅ௗ ǡ ݅௤ ൯ (4)
ߖ௤ ൌ ݂൫݅ௗ ǡ ݅௤ ൯Ǣ ‫ܮ‬௤ ൌ ݂൫݅ௗ ǡ ݅௤ ൯ (5)
Thus, the d and q axes fluxes/inductances depend on both id
and iq at the same time and they also share the same magnetic
circuit [9].
The importance of including the saturation and cross-
saturation effect is emphasized and even demonstrated in many
scientific papers [1],[3],[10],[11]. This has a direct impact on the
results of the performance analysis and parameter’s
identification and for the development of the advanced control
models of any machine [1],[12], especially in sensorless control
[3].
In [13] are highlighted the errors that are present if the cross-
saturation is not taken into consideration. It was also showed that
in standard control schemes, the problem of saturation and cross-
saturation can get to tenths of degrees of error in conventional
sensorless position. The same problem of the accuracy of rotor
position estimation it is detailed in [14].
Further on, having enunciated the saturation and cross-
saturation as a phenomenon and the importance of taking it into
account, the second section addresses the methods, models and
techniques fit to describe the saturation and cross-saturation
effect and to compute the parameters (i.e. the d- and q-axis
inductances). In the third section, two study cases, one for each
machine under study, are performed. Finite Element (FE)
multiphysics analysis based software package (JMAG Designer)
and Matlab/Simulink are used for parameters computation and
the evaluation of saturation and cross-saturation influence on the
drives performances. The paper will present, in the final section
the conclusions and future work.
On a design stage, the magnetic model can be derived from
analytical calculations and finite element simulations [8].
The classical d-q model of the machine that does not take
into account saturation and cross-saturation, is useful in cases
where the inductance variation is not that significant, for
example in cases when the machine’s operation is below the
point where saturation becomes noticeable [7]. Equations (6)
and (7) define the flux in an electrical machine where saturation
and cross-saturation is not taken into account.
Ȳௗ ൌ ‫ܮ‬ௗ ݅ௗ , where ‫ܮ‬ௗ ൌ ܿ‫ݐ݊ܽݐݏ݊݋‬
Ȳ௤ ൌ ‫ܮ‬௤ ݅௤ , where ‫ܮ‬௤ ൌ ܿ‫ݐ݊ܽݐݏ݊݋‬
However, in traction applications, saturation has a huge
impact on the torque ripple at low speeds or in the field
weakening region using control schemes [7][15][16]. Advanced
d-q models are presented for both machines, and the
performances will be evaluated in a comparative manner for the
machines with and without taking into account the two
phenomena.
There are two methods used to describe and analyze the
saturation and cross-saturation effects in an electrical machine.
In this paper two methods will be described: Finite Element
Analysis (FEA) and Magnetic Equivalent Circuit (MEC)
Method.
A. Magnetic Equivalent Circuit (MEC)
This method to calculate the machine’s inductances is using
a model based on the modified equivalent circuit (MEC) and
space vector theory [17]. The results of this method were
compared to results from FEM and experiment and they are
comparable.
This approach was introduced after 1950s by several
scientists like Slemon, Fiennes and Ostovic. In the beginning, it
was only used as the analysis of an electrical machine in
saturated state [18]. Ostovic used MEC in the study of electrical
machines transient and steady state regimes. Basically, it is used
to characterize an electrical machine as lumped magnetic
parameters (a resistive electrical network) and not as
complicated magnetic circuit.
The computation of the electromagnetic torque of an
IPMSM based on the equivalent magnetic circuit with the
consideration of the d- and q- axes cross-saturation effect on the
machine’s characteristics is studied in [19]. The method is useful
to estimate the electromagnetic torque of a motor with an
important reluctance component and it is applied to evaluate the
variation of the electromagnetic torque versus the changed
slanted air-gap shape. A new computation method of the
inductances is developed, based on the variation of the magnetic
saturation at different load conditions in order to improve the
estimation of the IPMSM performances. The flux linkage look-
up tables are used to compute the cross-coupled inductances for
both direct and quadrature axes.
Considering the fact that MEC has fewer elements (30-100)
than FEA (2000-10,000), it is obvious that the computation time
is lower, but also with a lower accuracy, so it can be said that
MEC it is a “reduced order of FEA” [20]. In this decade, when
computational speed grows day by day it is uncertain if this
method is worth used.
B. Finite Element Analysis (FEA)
Due to simplicity and good accuracy, many papers use the
FEA, using dedicated software packages, like Maxwell, JMAG
Designer, Flux 2D/3D, etc. The magnetostatic analysis is done
at different rotor positions and for different id and iq currents
[21], [22].
݀Ȳௗ ȟȲௗ
‫ܮ‬ௗ ൌ ห݅௤ ൌ ܿ‫ ݐ݊ܽݐݏ݊݋‬؆  ห݅ ൌ ܿ‫ݐ݊ܽݐݏ݊݋‬ (8)
݀݅ௗ ȟ݅ௗ ௤
(6)
(7) ݀Ȳ௤ ȟȲ௤
‫ܮ‬௤ ൌ ȁ݅ௗ ൌ ܿ‫ ݐ݊ܽݐݏ݊݋‬؆  ȁ݅ ൌ ܿ‫ݐ݊ܽݐݏ݊݋‬ (9)
݀݅௤ ȟ݅௤ ௗ
The fluxes variation Ȳௗ ൌ ݂ሺ݅ௗ ሻ for different rotor
positions and different q-axis current values and Ȳ௤ ൌ ݂ሺ݅௤ ሻ for
different rotor positions and different d-axis current values, of
both machines are determined from the FEA. Later on, direct
and quadrature inductances, Ld and Lq respectively, were
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computed as derivative of flux linkage with respect to current id Fig. 3b presents q axis flux linkage which increases almost
and iq. The expected results will undoubtedly demonstrate the linearly with ‹୯ current. This is caused by the presence of flux
influence of the saturation and cross-saturation effects on flux barriers in the rotor which are penetrated by magnetic field. The
and inductances values and will also highlight the errors that are
presence of the air in the path of magnetic flux significantly
present if the cross-saturation is not taken into consideration.
increases the reluctance of q axis magnetic circuit. In this case,
III. RESULTS when ‹ୢ component of phase current is present, the q axis flux
Both of the studied machines are the synchronous type. linkage decreases similarly as in case of d axis flux linkage.
Considering the design, the studied SynRM has 4 flux barriers
and 5 ribs, while the PM assisted SynRM has only 3 flux barriers
and 3 ribs and each flux barrier is filled in with ferrite permanent
magnets.

Fig. 2. The topologies of the studied machines and the representation of D and
Q axis. (a)

TABLE I. PARAMETERS VALUES

Value
Parameter
SynRM PM - SynRM
Stator slots 27 36
Number of poles 4 6
Stator outer diameter [mm] 205 170
Rotor outer diameter [mm] 130 114
Stack length [mm] 145 110
Airgap [mm] 0.4 0.5
Rated voltage [V] 400 120
Nominal current [A] 155 57.4
Nominal speed [rpm] 4500 2000
Maximum speed [rpm] 12000 9000
Remanent flux density of ferrite
- 0.4
PM [T]
Number of phases 3 3
Winding resistance [] 0.017 0.0402

If the cross-saturation phenomenon is taken into account, the
d- and q-axis flux linkages can be written as:
Ψd = Ld id + Lqd iq
(10)
Ψq = Lq iq + Ldq id
with Ld, Lq, Lqd and Ldq dependent on both id and iq. In order to
calculate the inductances of the machines 2D FEA was
performed.
As it can be noticed in Fig. 3a, d axis flux linkage for SynRM
rises very quickly with ‹ୢ current and eventually saturates. This
is because the flux path in d axis of the rotor mostly consists of
iron flux paths. The magnetic field in d axis almost completely
avoids air flux barriers in the rotor. The presence of ‹୯
component generates a decrease of the flux linkage in d axis.
(b)
Fig. 3. d- and q-axis flux linkage as function of d- and q-axis currents.
Fig. 4a shows the impact of cross saturation on d axis flux
linkage. If there was no cross saturation, the flux linkage in d
axis would depend on d axis current only and it would remain
constant regardless the variations of q axis current. However,
increasing q axis current causes the flux linkage in d axis to
drop. This phenomenon is stronger for low d axis current and
lowers when the current in d axis increases. Similarly q axis
flux drops when the current in d axis grows. Variations of q axis
flux linkage are greater than those of d axis flux. This situation
is presented in Fig. 4b.

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 If there was no cross saturation, the flux linkage in d axis
would depend on d axis current only and it would remain
constant regardless the variations of q axis current. However,
increasing q axis current causes the flux linkage in d axis to
drop. This phenomenon is stronger for low d axis current and
lowers when the current in d axis increases. Similarly q axis
flux drops when the current in d axis grows. Variations of q axis
flux linkage are greater than those of d axis flux.
these “flux barriers” are filled with permanent magnets. So, due
to the permanent magnet’s polarization and nonlinear magnetic
behavior, the symmetry with respect to the q-axis is lost and it
produces a negative flux linkage, just like in Fig. 5b. In this
case, when ‹ୢ component of phase current is present, the q axis
flux linkage shows a slight decrease.
0.25

0.2

Direct Flux linkage [Wb]

0.15

0.1

0.05 Iq= 45A

Iq= 90A
Iq=135A
Iq=180A
0
0 20 40 60 80 100 120 140 160 180 200
Id [A]
(a)
(a)

0.05

0
Quadrature Flux linkage [Wb]

-0.05

-0.1

-0.15 Id= 45A

Id= 90A
Id=135A
Id=180A
-0.2
-200 -150 -100 -50 0 50 100 150 200
(b) Iq [A]

Fig. 4. d- and q-axis flux linkage as function of q- and d-axis currents (b)
respectively. Fig. 5. d- and q-axis flux linkage as function of d- and q-axis currents.

The saturation and cross saturation in the PMSynRM

machine can be observed in Figures 5 and 6. In Fig. 5a the
PMSynRM’s flux linkage rises very quickly with the ‹ୢ current
and eventually saturates, the reason being similar to the SynRM,
because it mostly consists of iron flux paths. Unlike the SynRM,
the presence of ‹୯ component doesn’t affect much the flux
linkage in d axis and it can be said that the flux has almost the
same values and does not depend on ‹୯ .
Fig. 5b presents q axis flux linkage with respect to ‹୯ current,
which varies differently than in the case of SynRM. While the
SynRM is designed with flux barriers, in the case of PMSynRM
Fig.6a shows the impact of cross saturation on d axis flux
linkage. This impact is similar to the one in the case of not
having permanent magnets in the rotor. If there was no cross
saturation, the flux linkage in d axis would depend on d axis
current only and it would remain constant regardless the
variations of q axis current.
However, increasing q axis current causes the flux linkage in
d axis to drop. This phenomenon is stronger for low d axis
current and lowers when the current in d axis increases.

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0.25
[4] https://www.quora.com/What-do-you-meant-by-magnetic-saturation -
“Magnetization curve - BH Curve.”
0.2
[5] D. Mingardi, M. Morandin, S. Bolognani, and N. Bianchi, “On the Proprieties
Direct Flux linkage [Vs]

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[6] P. Guglielmi, M. Pastorelli, and A. Vagati, “Cross-saturation effects in IPM
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0.05 Id= 45A [7] P. Ponomarev, I. Petrov, and J. Pyrhönen, “Influence of travelling current
Id= 90A
Id=135A
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[9] K. J. Meessen, P. Thelin, J. Soulard, and E. A. Lomonova, “Inductance
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0.01
0
-0.01
-0.02
-0.03
-0.04
-0.05
-200
(b)
Fig. 6. d- and q-axis flux linkage as function of q- and d-axis currents
Variations of q axis flux linkage are greater than those of d
axis flux. This situation is presented in Fig. 6b, where the
phenomenon of nonlinear magnetic behavior can be observed.
IV.
The paper presented the effects of the saturation and cross-
saturation on the direct and quadrature fluxes in two SM:
SynRM and PMSynRM. Next step is to implement the
saturation and cross-saturation in the dynamic model of the two
machines and analyze the impact on the performances of the
machines working under different control strategies.
This work was supported by the European Union in the
project Horizon 2020 Twinning ESPESA grant number
692224/2015 and by the UEFISCDI in the project 10PTE/2016
SMC4SERVO.
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