Finite Element Modeling

of Electromagnetic Systems

Mathematical and numerical tools

Unit of Applied and Computational Electromagnetics (ACE)

Dept. of Electrical Engineering - University of Lige - Belgium
Patrick Dular, Christophe Geuzaine

October 2009
1
Introduction
Formulations of electromagnetic problems
Maxwell equations, material relations
Electrostatics, electrokinetics, magnetostatics, magnetodynamics
Strong and weak formulations
Discretization of electromagnetic problems
Finite elements, mesh, constraints
Very rich content of weak finite element formulations

2
 Formulations
of Electromagnetic Problems

Electrostatics

Electrokinetics
Maxwell equations
Magnetostatics

Magnetodynamics

Waves
3
Electromagnetic models
All phenomena are described by Maxwell equations
Electrostatics
Distribution of electric field due to static charges and/or levels of electric
potential
Electrokinetics
Distribution of static electric current in conductors
Electrodynamics
Distribution of electric field and electric current in materials (insulating
and conducting)
Magnetostatics
Distribution of static magnetic field due to magnets and continuous
currents
Magnetodynamics
Distribution of magnetic field and eddy current due to moving magnets
and time variable currents
Wave propagation
Propagation of electromagnetic fields 4
Maxwell equations

Maxwell equations

curl h = j + t d Ampre equation

curl e = t b Faraday equation

div b = 0
Conservation equations
div d = v

Principles of electromagnetism

Physical fields and sources

h magnetic field (A/m) e electric field (V/m)
b magnetic flux density (T) d electric flux density (C/m2)
j current density (A/m2) v charge density (C/m3)

5
Material constitutive relations
Constitutive relations
b = h (+ bs) Magnetic relation
d = e (+ ds) Dielectric relation
j = e (+ js) Ohm law

Characteristics of materials Constants (linear relations)

magnetic permeability (H/m) Functions of the fields
dielectric permittivity (F/m) (nonlinear materials)
electric conductivity (1m1)
Tensors (anisotropic materials)
Possible sources
bs remanent induction, ...
ds ...
js source current in stranded inductor, ... 6
Electrostatics
Basis equations Type of electrostatic structure
curl e = 0 & boundary conditions
div d = n e | 0e = 0
d=e n d | 0d = 0
e electric field (V/m)
d electric flux density (C/m2)
electric charge density (C/m3)
dielectric permittivity (F/m)

Electric scalar potential formulation

div grad v = 0 Exterior region
with e = grad v c,i Conductors
d,j Dielectric
Formulation for the exterior region 0
the dielectric regions d,j
In each conducting region c,i : v = vi v = vi on c,i
7
Electrostatics

8
Electrokinetics
Basis equations Type of electrokinetic structure
curl e = 0 & boundary conditions
div j = 0 0j
n e | 0e = 0
0e,1
j=e n j | 0j = 0
c
e electric field (V/m) 0e,0
j electric current density (C/m2) e=?, j=?
electric conductivity (1m1)

Electric scalar potential formulation V = v1 v0

div grad v = 0 c Conducting region

with e = grad v
Formulation for the conducting region c
On each electrode 0e,i : v = vi v = vi on 0e,i

9
Electrostatic problem
Basis equations
curl e = 0 d=e div d =

0 3

Fe ( v)
Fd

grad e div d
0 e =d 3
Se F e1 e d Fd2 Sd
curl e curl d
S e1 F e2 0 (u) Fd1 S d2
div e gradd
S e2 F e3 0 Fd0 S d1

S e3 S d0
"e" side e = grad v
d = curl u "d" side
10
Electrokinetic problem
Basis equations
curl e = 0 j=e div j = 0

0 3

Fe ( v)
Fj

grad e div j
0 e =j 3
Se F e1 e d F j2 Sj
curl e curl j
S e1 F e2 0 (t) F j1 S j2
div e grad j
S e2 F e3 0 F j0 S j1

S e3 S j0
"e" side e = grad v
j = curl t "j" side
11
Classical and weak formulations

Partial differential problem

Classical formulation Notations

Lu=f in ( u , v ) =
u( x ) v( x ) dx , u, v
L2 (
)
Bu=g on =




u classical solution ( u , v ) =
u( x ) . v( x ) dx , u, v
L2 (
)




Weak formulation

( u , L* v ) -
( f , v ) +
Q g ( v ) ds =
0 ,
v
V(
)




v test function Continuous level : system
u weak solution Discrete level : n n system
numerical solution
12
Classical and weak formulations
Application to the magnetostatic problem

curl e = 0
Electrostatic
div d = 0
classical formulation
e d=e d
n e e = 0 n . d d = 0

( d , grad v' ) = 0 , v' V() with V() = { v H0() ; ve = 0 }

( div d , v' ) + < n . d , v' > = 0 , v' V() Weak formulation


of div d = 0
div d = 0 n . d d = 0 (+ boundary condition)

d=e & e = grad v curl e = 0

( grad v , grad v' ) = 0 , v' V() Electrostatic

weak formulation with v
13
Classical and weak formulations
Application to the magnetostatic problem

curl h = j
Magnetostatic
div b = 0 classical formulation
h b=h e
n h h = 0 n . b e = 0

( b , grad ' ) = 0 , ' () with () = { H0() ; h = 0 }

( div b , ' ) + < n . b , ' > = 0 , ' () Weak formulation


of div b = 0
div b = 0 n . b e = 0 (+ boundary condition)

b=h & h = hs grad (with curl hs = j) curl h = j

( (hs grad ) , grad ' ) = 0 , ' () Magnetostatic

weak formulation with

14
Quasi-stationary approximation

curl h = j + t d

Dimensions << wavelength

Conduction current Displacement current

>>>
density density

curl h = j
Applications
Electrotechnic apparatus (motors, transformers, ...)
Frequencies from Hz to a few 100 kHz
15
Magnetostatics
Type of studied configuration
Equations
curl h = j Ampre equation

div b = 0 Magnetic conservation

equation

Constitutive relations
Studied domain
b = h + bs Magnetic relation m Magnetic domain
j= js Ohm law
& source current
s Inductor
16
Magnetodynamics
Type of studied configuration
Equations
curl h = j Ampre equation

curl e = t b Faraday equation

div b = 0 Magnetic conservation

equation

Constitutive relations
Studied domain
b = h + bs Magnetic relation p Passive conductor
j = e + js and/or magnetic domain
Ohm law
& source current a Active conductor
s Inductor
17
Magnetic constitutive relation

b=h = r 0 relative magnetic permeability

r

Diamagnetic and paramagnetic materials

Linear material r 1 (silver, copper,
aluminium)
Ferromagnetic materials
Nonlinear material r >> 1 , r = r(h) (steel, iron)
b-h characteristic of steel r-h characteristic of steel

18
Magnetodynamics
Inductor (portion : 1/8th)

Stranded inductor - Massive inductor -

uniform current density (js) non-uniform current density (j) 19
Magnetodynamics - Joule losses
Foil winding inductance - current density (in a cross-section)
With air gaps, Frequency f = 50 Hz

All foils

20
Magnetodynamics - Joule losses

Transverse induction heating

(nonlinear physical characteristics,
moving plate, global quantities)
Eddy current density

Search for OPTIMIZATION

of temperature profile

Temperature distribution

21
Magnetodynamics - Forces

22
Magnetodynamics - Forces
Magnetic field lines and electromagnetic force (N/m)
(8 groups, total current 3200 A)

Currents in each of the

8 groups in parallel
non-uniformly distributed!

23
Inductive and capacitive effects
Magnetic flux density Electric field

Frequency and
time domain
analyses
Any conformity
level

Resistance, inductance and capacitance versus frequency

24
Magnetostatic formulations

Maxwell equations
(magnetic - static)
curl h = j b = h
div b = 0

Formulation a Formulation

"h" side "b" side

25
Magnetostatic formulations
Basis equations
curl h = j b=h div b = 0
(h) (m) (b)

Formulation a Formulation
Magnetic scalar potential
Magnetic vector potential a

h = hs grad
(h) OK (b) OK
b = curl a
hs given such as curl hs = j
(non-unique)
div ( ( hs grad ) ) = 0 (b) & (m) (h) & (m)
curl ( 1 curl a ) = j

Multivalued potential Non-unique potential

Cuts Gauge condition
26
Multivalued scalar potential

Kernel of the curl (in a domain )

ker ( curl ) = { v : curl v = 0 }

grad

dom(grad)
cod(grad) curl

ker(curl) .0
dom(curl) cod(curl)
curl

cod ( grad ) ker ( curl )

27
Multivalued scalar potential - Cut
OK

Scalar potential

curl h = 0 in

h = grad in

?

Circulation of h along path AB in

h . dl =

-
grad
. dl =



AB
AB
A -

B

Closed path AB (AB)

surrounding a conductor (with current I)
A B = 0 I ! ! !

must be discontinuous ... through a cut

= I
28
Vector potential - gauge condition
OK

Vector potential a
div b = 0 in

b = curl a in

?

Non-uniqueness of vector potential a

b = curl a = curl ( a + grad ) ex.:
w(r)=r
Gauge condition

Coulomb gauge div a = 0

Gauge a . = 0
vector field with non-closed lines
linking any 2 points in

29
Magnetodynamic formulations

h- Formulation a* Formulation

Maxwell equations
(quasi-stationary)
curl h = j b=h
curl e = t b j = e
div b = 0
t- Formulation a-v Formulation

"h" side "b" side

30
Magnetodynamic formulations
Basis equations
curl e = t b
curl h = j
(h) b=h j=e div b = 0 (b)

h- Formulation t- Formulation
Magnetic field h Electric vector potential t
Magnetic scalar potential
Magnetic scalar potential

h ds c (h) OK
j = curl t
h = hs grad ds cC (h) OK

curl hs = js h = t grad

(b)

curl (1 curl h) + t ( h) = 0 in c curl (1 curl t) + t ( (t grad )) = 0
div ( (hs grad )) = 0 in cC
div ( (t grad )) = 0
+ Gauge
31
Magnetodynamic formulations
Basis equations
curl e = t b
curl h = j
(h) b=h j=e div b = 0 (b)

a* Formulation a-v Formulation

Magnetic vector potential a
Magnetic vector potential a*
Electric scalar potential v

b = curl a* b = curl a
(b) OK (b) OK

e = t a* e = t a grad v

curl (1 curl a*) + t a* = js (h)

curl (1 curl a) + (t a + grad v)) = js

+ Gauge in cC + Gauge in

32
Magnetostatic problem
Basis equations
curl h = j b=h div b = 0

"h" side h = grad

b = curl a "b" side
33
Magnetodynamic problem
Basis equations
curl e = t b
curl h = j
b=h j=e div b = 0

b = curl a
"h" side h = t grad
"b" side
e = t a grad v 34
Continuous mathematical structure
Domain , Boundary = h U e

Basis structure Function spaces Fh0 L2, Fh1 L2, Fh2 L2, Fh3 L2
dom (gradh) = Fh0 = { L2() ; grad L2() , h = 0 }
dom (curlh)= Fh1 = { h L2() ; curl h L2() , n hh = 0 }
dom (divh)= Fh2 = { j L2() ; div j L2() , n . jh = 0 }
gradh Fh0 Fh1 , curlh Fh1 Fh2 , divh Fh2 Fh3 Boundary conditions on h
grad curl div
Sequence Fh 0




F
h1

h h


F
h 2

h


F
h 3

Basis structure Function spaces Fe0 L2, Fe1 L2, Fe2 L2, Fe3 L2
dom (grade) = Fe0 = { v L2() ; grad v L2() , ve = 0 }
dom (curle)= Fe1 = { a L2() ; curl a L2() , n ae = 0 }
dom (dive)= Fe2 = { b L2() ; div b L2() , n . be = 0 }
gradh Fe0 Fe1 , curle Fe1 Fe2 , dive Fe2 Fe3 Boundary conditions on e
div curl grad
Sequence Fe 3 e


F
e 2


F
e1

e


F
e 0

e



35
 Discretization
of Electromagnetic Problems

Nodal, edge, face and volume finite elements

36
Discrete mathematical structure

Continuous problem
Continuous function spaces & domain
Classical and weak formulations

Discretization Approximation

Discrete problem
Discrete function spaces piecewise defined
in a discrete domain (mesh)
Finite element method
Objective
Questions
To build a discrete structure
Classical & weak formulations ?
as similar as possible
Properties of the fields ?
as the continuous structure
37
Discrete mathematical structure

Finite element
Interpolation in a geometric + f
element of simple shape

Finite element space

Function space
& Mesh +
" fi
i

Sequence of finite element spaces

Sequence of function spaces
& Mesh


+

"


i
fi

38
Finite elements

Finite element (K, PK, K)

K = domain of space (tetrahedron, hexahedron, prism)
PK = function space of finite dimension nK, defined in K
K = set of nK degrees of freedom
represented by nK linear functionals i, 1 i nK,
defined in PK and whose values belong to IR

39
Finite elements

Unisolvance
u PK , u is uniquely defined by the degrees of freedom
Interpolation
Degrees of freedom
nK
u K =


(u) p
i =
1
i i

Basis functions

Finite element space

Union of finite elements (Kj, PKj, Kj) such as :
the union of the Kj fill the studied domain ( mesh)

some continuity conditions are satisfied across the element

interfaces

40
Sequence of finite element spaces

Geometric elements
Tetrahedral Hexahedra Prisms
(4 nodes) (8 nodes) (6 nodes)

Mesh

Nodes Edges Faces Volumes

iN iE iF iV

Geometric entities

S0 S1 S2 S3
Sequence of function spaces
41
Sequence of finite element spaces

Degrees of
Functions Properties Functionals
freedom
Point Nodal
S0 {si , i N} Nodal value element
evaluation
Curve Circulation Edge
S1 {si , i E} element

i, j
E integral along edge
Surface Flux across Face
S2 {si , i F} element
integral face
Volume Volume Volume
S3 {si , i V} element
integral integral

Bases Finite elements

42
Sequence of finite element spaces

Base Continuity across Codomains of the

functions element interfaces operators

S0 {si , i N} value
S0
S1 {si , i E} tangential component grad S0 S1
S1 grad S0
S2 {si , i F} normal component curl S1 S2
S2 curl S1
S3 {si , i V} discontinuity div S2 S3
S3 div S2

Conformity Sequence
grad curl div
S0
S
1




S
2


S
3



43
Function spaces S0 et S3

For each node i N scalar field

si (x) = pi (x) S0 0

0 0
0
1
at node i
p i =



0 at all other nodes node i pi = 1 0
0 0
pi continuous in
0

0 0

sv = 1 / vol (v) S3
44
Edge function space S1

For each edge eij = {i, j} E vector field

se S1
se ij =
p j grad
p
r
N F, j i
r -
pi grad
p
r
N F,ij
r

Definition of the set of nodes NF,mn- Illustration of the vector field se

N.B.: In an element : 3 edges/node

45
Edge function space S1

Geometric interpretation
of the vector field se

p j grad
p r
r
N F, j i

N F , ji se ij =
p j grad
p
r
N F, j i
r -
pi grad
p
r
N F,ij
r

-
p i grad
p
r
N F,i j
r

N F , ij
46
Function space S2

For each facet f F vector field

f = fijk(l) = {i, j, k (, l) } = {q1, q2, q3 (, q4) }

#Nf





s f =
a f

c =
1


pq c grad


r
N F,qc q c +
1


p r

grad


r
N F,q c qc -
1
p r



sf S2
Illustration of the vector field sf
3 af = 2
#Nf =
4 af = 1

47
Particular subspaces of S1

Applications
Kernel of the curl operator

h S1() ; curl h = 0 in cC h ? Ampere equation

in a domain cC
without current
( c)
Gauged subspace
Gauge condition
on a vector potential
a S1() ; b = curl a S2() a ?
Gauge a . = 0
to fix a Definition of a
generalized source field hs
such that curl hs = js

48
Kernel of the curl operator
Case of simply connected domains C
c

H =
{ h
S1 (
) ; curl h =
0 in
c C }
c
h = grad in cC c

h =

h
e
E
a s a =

h
k
E c
k s k +

h
l
E c C
l sl Ec
C C
Nc , E c
C C (interface)
h l =
h . dl =
-
grad
. dl =

a l -

b l


l ab


l ab
Nc , E c

h =

h
k
E c
k s k +

(


l
E c C
al )

-

b l s l
n' hk

h =

h
k
E c
k s k +


v
n
N c C
n n n
Base of H basis functions of
inner edges of c
with v =

s
n nj nodes of cC,
nj
E c C with those of c
49
Kernel of the curl operator
Case of multiply connected domains

H =
{ h
S1 (
) ; curl h =
0 in
c C }
h = grad in cC
= cont + disc (cuts)
+ = +eci eci = Ii
discontinuity
disc of disc

=

I
i
C
i qi

qi defined in cC
unit discontinuity across eci
h =

h k s k +


cont n v n +

I i ci continuous in a transition layer
zero out of this layer
k
A c n
N c C i
C
with c i =

s
nj
A c C
nj
Basis of H basis functions of
edges of cC
n
N eci
inner edges of c
starting from a node of the cut nodes of cC
and located on side '+' j
N c C +

but not on the cut j
N eci cuts of C
50
Gauged subspace of S1
Gauged space in

b = curl a with a =

a e se
S1 (
) , b =

bf sf
S2 (
)
e
E f
F

bf = CFE
b f =

i(e, f ) a
e
E
e , f
F matrix form:
ae
Face-edge
Tree set of edges connecting incidence matrix
(in ) all the nodes of without
"
forming any loop (E) tree
"
" E
Co-tree complementary set of the tree (E)

Gauged space of S1()

" "
1 1
S () = {a S () ; aj = 0 , j E}
" "
a =

a i s i
S1 (
) co-tree E
"
i
E
"
Basis of S1() co-tree edge basis functions
(explicit gauge definition) 51
Mesh of electromagnetic devices

Electromagnetic fields extend to infinity (unbounded

domain)
Approximate boundary conditions:
zero fields at finite distance

Rigorous boundary conditions:

"infinite" finite elements (geometrical transformations)
boundary elements (FEM-BEM coupling)

Electromagnetic fields are confined (bounded domain)

Rigorous boundary conditions

52
Mesh of electromagnetic devices

Electromagnetic fields enter the materials up to a

distance depending of physical characteristics and
constraints
Skin depth (<< if , , >>)

mesh fine enough near surfaces (material boundaries)

use of surface elements when 0

53
Mesh of electromagnetic devices

Types of elements
2D : triangles, quadrangles

3D : tetrahedra, hexahedra, prisms, pyramids

Coupling of volume and surface elements

boundary conditions
thin plates
interfaces between regions
cuts (for making domains simply connected)

Special elements (air gaps between moving pieces, ...)

54
Classical and weak formulations

Partial differential problem

Classical formulation Notations

Lu=f in ( u , v ) =
u( x ) v( x ) dx , u, v
L2 (
)
Bu=g on =




u classical solution ( u , v ) =
u( x ) . v( x ) dx , u, v
L2 (
)




Weak formulation

( u , L* v ) -
( f , v ) +
Q g ( v ) ds =
0 ,
v
V(
)




v test function Continuous level : system
u weak solution Discrete level : n n system
numerical solution
55
Constraints in
partial differential problems
Local constraints (on local fields)
Boundary conditions
i.e., conditions on local fields on the boundary of the studied domain
Interface conditions
e.g., coupling of fields between sub-domains

Global constraints (functional on fields)

Flux or circulations of fields to be fixed
e.g., current, voltage, m.m.f., charge, etc.

Flux or circulations of fields to be connected Weak formulations for

e.g., circuit coupling finite element models

Essential and natural constraints,

i.e., strongly and weakly satisfied
56
Constraints in
electromagnetic systems
Coupling of scalar potentials with vector fields
e.g., in h- and a-v formulations
Gauge condition on vector potentials
e.g., magnetic vector potential a, source magnetic field hs
Coupling between source and reaction fields
e.g., source magnetic field hs in the h- formulation,
source electric scalar potential vs in the a-v formulation
Interest for a
Coupling of local and global quantities correct discrete
e.g., currents and voltages in h- and a-v formulations form of these
(massive, stranded and foil inductors) constraints
Interface conditions on thin regions
Sequence of
i.e., discontinuities of either tangential or normal components
finite element
spaces
57
Complementary 3D formulations

Magnetodynamic h-formulation

Magnetodynamic a-formulation

How to enforce global fluxes ?

58
h- formulation

h- magnetodynamic finite element formulations with

massive and stranded inductors
Use of edge and nodal finite elements for h and
Natural coupling between h and
Definition of current in a strong sense with basis functions either for massive
or stranded inductors
Definition of voltage in a weak sense
Natural coupling between fields, currents and voltages
etc.

59
a-v formulation

a-vs Magnetodynamic finite element formulation with

massive and stranded inductors
Use of edge and nodal finite elements for a and vs
Definition of a source electric scalar potential vs in massive inductors in an
efficient way (limited support)
Natural coupling between a and vs for massive inductors
Adaptation for stranded inductors: several methods
Natural coupling between local and global quantities, i.e. fields and currents
and voltages
etc.

60
 Dual Procedures to take Inductors
into account in
Magnetodymic Formulations

Magnetodynamics
Numerical modeling
with voltages
with circuit coupling
and currents

Edge and nodal finite elements

allowing natural coupling of fields and global quantities
Magnetodynamic problem
with global constraints
Equations Boundary conditions
Global conditions
curl h = j
for circuit coupling
curl e = t b

div b = 0 Voltage Current

Constitutive relations
b=h

j=e

Inductor
h- and t- weak formulations

Magnetic scalar potential in nonconducting regions cC

with h = hs + hr
Reaction magnetic field

h- magnetodynamic formulation Source magnetic field

(1)

t- magnetodynamic formulation (similar)

How to couple local and global quantities ?

h,
Vi, Ii
Current as a strong global quantity
Characterization of curl-conform vector fields : h or t

Coupling of edge end nodal finite elements

Explicit constraints for circulations and zero curl

i.e. currents Ii
Ec : edges in c Basis functions
NcC : nodes in cC and on cC Circulation basis function,
C : cuts associated with a group of edges
from a cut
its circulation is equal to 1
along a closed path around c

Elementary geometrical
entities (nodes, edges) and
global ones (groups of edges)
Voltage as a weak global quantity
Discrete weak formulation

system of equations
(symmetrical matrix)

Test function h' = sk, vn classical treatment, no contribution for < >e
Test function h' = ci contribution for < >e

Electromotive force
Weak global quantity
Voltage as a weak global quantity
and circuit relations
Source of e.m.f.

Electromotive force

in (1)

Weak circuit relation between Vi and Ii for inductor i

Natural way to compute a weak voltage !

Better than an explicit nonunique line integration
Massive and stranded inductors
Massive inductor
Direct application

Stranded inductor
Additional treatment
Tree technique ...
Number of turns

Reaction field Source field due to a magnetomotive force Nj

(one basis function for each stranded inductor)

h'=hs,j

Weak circuit relation between Vj and Ij for stranded inductor j

Natural way to compute the magnetic flux through all the wires !
Stranded inductors - Source field
Simplified source field

Source
Projection method

Electrokinetic problem

Source = Nj

With gauge condition (tree) &

boundary conditions
Stranded inductors - Magnetic flux
Physical and geometrical interpretation of the circuit relation

Natural way to compute

the magnetic flux
through all the wires !
a-v weak formulation

Magnetic vector potential - Electric scalar potential

a v

a-v magnetodynamic formulation

(1)

How to couple local and global quantities ?

a, v Vi, Ii
Voltage as a strong global quantity

With a' = grad v' in (1)

(2)

Weak form of div j = 0

At the discrete level : implication only true when grad Fv(c) Fa()

OK with nodal and edge finite elements

Otherwise : consideration of the 2 formulations (1) and (2)

with a penalty term for gauge condition
Voltage as a strong global quantity
Needs a finite element
Unit source electric scalar potential v0 resolution !
(basis function for the voltage)

Electrokinetic problem (physical field)

Generalized potential
(nonphysical field) Direct expression

Reduced support

72
Current as a weak global quantity
and circuit relations
for massive inductor i

in (2)

Weak circuit relation between Vi and Ii

for massive inductor i

Natural way to compute a weak current !

Better than an explicit nonunique surface integration
Circuit relation for stranded inductors
From the a-formulation
cannot be used

From the h-formulation

Weak circuit relation between Vj and Ij

for massive inductor j
Equivalent current density (1)

Explicit distribution of the current density

Equivalent current density (2)
Source electric scalar potential Source electric vector potential

Source Source
Projection method Projection method

Source
Electrokinetic problem Electrokinetic problem

Source = Nj

Tensorial conductivity
With gauge condition (tree) &
boundary conditions
Conclusions

h- magnetodynamic finite element formulations with

massive and stranded inductors
Use of edge and nodal finite elements for h and
Natural coupling between h and
Definition of current in a strong sense with basis functions either for massive
or stranded inductors
Definition of voltage in a weak sense
Natural coupling between fields, currents and voltages
Conclusions

a-v0 Magnetodynamic finite element formulation with

massive and stranded inductors
Use of edge and nodal finite elements for a and v0
Definition of a source electric scalar potential v0 in massive inductors in an
efficient way (limited support)
Natural coupling between a and v0 for massive inductors
Adaptation for stranded inductors: several methods
Natural coupling between local and global quantities, i.e. fields and currents
and voltages
Application - Massive inductor
Inductor-Core system in air
13

12
a-form., 200 Hz
11

10

Resistance R (!1/m)
h-form., 200 Hz
9

7
r,core = 100
6 a-form., 50 Hz

5 h-form., 50 Hz

4
2000 4000 6000 8000 10000 12000
Number of elements

(1/4th) 3

r,core = 1, 10, 100 , = 5.9 107m S/m

Frequency f = 50, 200 Hz 2.9

2.8

Inductance L (H/m)
Computation of resistance h-form., 50 Hz
r,core = 100
2.7
and inducance a-form., 50 Hz
h-form., 200 Hz
2.6
a-form., 200 Hz

Complementarity between a-v and h- 2.5

formulations validation at global level 2.4

2000 4000 6000 8000 10000 12000
Number of elements
79
Application - Stranded inductor
Inductor-Core system in air r,core = 10

Computation of a source field

hs

3.2

3
h-form., r=100
2.8
r,core = 10
2.6
a-form., r=100
h-form., r=10

Inductance L (H/m)
2.4 a-form., r=10

2.2

Computation of reaction field, total field 2

and inducance 1.8

1.6 h-form., r=1

Complementarity between h- and a-v 1.4 a-form., r=1

formulations validation at global level 1.2

1000 2000 3000 4000
Number of elements
5000 806000
Application
0.1
bz(x), h-form.
bz(x), a-form.

Inductor-Core system in air 0.08

bz(z), h-form.
bz(z), a-form.

0.06

Mesh quality factor = 3

bz (T)
0.04

r,core = 100
= 5.9 107m S/m 0.02

-0.02
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
x (y=0, z=0) and z (x=0, y=0) (m)
0.1
bz(x), h-form.
bz(x), a-form.
bz(z), h-form.
bz(z), a-form.
0.08
(1/16th)
0.06

Mesh quality factor = 7

bz (T)
0.04

Enforcement of the current Ij

0.02

1A
0

Complementarity between h- and a-v

-0.02
formulations validation at local level 0 0.02 0.04 0.06 0.08 0.1 0.12
x (y=0, z=0) and z (x=0, y=0) (m)
0.14 0.16 0.18 0.2

81
 Application
Inductor-Core system in air

Computation of the inductance

1
3D coil
2
h-form., r=100
0.9 h-form., r=10000
2D Axi
h-form., r=100 a-form., r=10000 1.8 a-form., r=100
2D Axi
0.8
a-form., r=100
1.6
Inductance L (H/m)

Inductance L (H/m)
0.7
h-form., r=10
h-form., r=10 1.4
0.6
a-form., r=10
2D Axi a-form., r=10
1.2
0.5

1
0.4

h-form., r=1 0.8 h-form., r=1

0.3
2D Axi a-form., r=1
0.6 a-form., r=1
0.2
2000 4000 6000 8000 10000 12000 14000 2 3 4 5 6 7 8 9
Number of elements Mesh quality factor

Axisymmetrical coil
Complementarity between a-v and h-
formulations validation at global level
82
Strong and weak formulations

Equations in Scalar potential

curl h = js h = hs - grad , with curl hs = js
Strongly satisfies
div b = s

Constitutive relation
b=h
Vector potential a
b = bs + curl a , with div bs = s

Boundary conditions (BCs)

83
Strong formulations

Electrokinetics
curl e = 0 , div j = 0 , j = e , e = - grad v or j = curl u

Electrostatics
curl e = 0 , div d = s , d = e , e = - grad v or d = ds + curl u

Magnetostatics
curl h = js , div b = 0 , b = h , h = hs - grad or b = curl a

Magnetodynamics
curl h = j , curl e = t b , div b = 0 , b = h , j = e + js , ...

84
Grad-div weak formulation

grad-div Green formula

integration in and divergence theorem

grad-div scalar potential weak formulation

85
Curl-curl weak formulation

curl-curl Green formula

integration in and
divergence theorem

curl-curl vector potential a weak formulation

86
Grad-div weak formulation

Use of hierarchal TF p' in the weak formulation 1

Error indicator: lack of fulfillment of WF

... can be used as a source for a local FE problem (naturally

limited to the FE support of each TF) to calculate the higher
order correction bp to be given to the actual solution b for
satisfying the WF... solution of :

or 1 Local FE problems

87
A posteriori error estimation (1/2)
(1st order)
Electrokinetic / electrostatic problem V
Electric scalar
potential v

Electric field (V/mm)

1.8 Y
Electric field Z X
1.6

1.4

1.2 Solution e
Coarse mesh Fine mesh Refined solution e + ep
0 5 10 15 20 25 30 35 40
Higher order hierarchal correction vp
(2nd order, BFs and TFs on edges)

Y Correction ep

Electric field (V/mm)

0.2
Z X
0.1
0
-0.1
-0.2

0 5 10 15 20 25 30 35 40
Position along top electrode (mm)

Field discontinuity directly

Large local
Z
Y
correction
Large error
X

88
Curl-curl weak formulation

Use of hierarchal TF ap' in the weak formulation 2

Error indicator: lack of fulfillment of WF

... also used as a source to calculate the

higher order correction hp of h... solution of :

Local FE problems 2

89
A posteriori error estimation (2/2)
V
Magnetostatic problem Magnetodynamic problem
potential a
(1st order)
Magnetic vector

Fine mesh

skin depth

Y Y
Y
Z X Z X
Z X

Magnetic core Conductive core

correction ap (2nd order,
Higher order hierarchal

BFs and TFs on faces)

Coarse mesh

Large
local correction
Large error
Y Y
Z X Z X

90