involve coupling between electric and magnetic fields, which are
solved for simultaneously;
solve Maxwell's equations describing electromagnetic phenomena under
the low-frequency assumption that neglects the effects of displacement
currents;
require the use of electromagnetic elements in the whole domain;
require that magnetic permeability is specified in the whole domain
and electrical conductivity is specified in the conducting regions;
allow for both time-harmonic and transient electromagnetic solutions;
allow predefined conductor translation and rotation;
calculate as output variables, rate of Joule heating and intensity of
magnetic body forces associated with eddy currents, and these output variables
can be transferred from a time-harmonic electromagnetic solution to drive a
subsequent heat transfer, coupled temperature-displacement, or
stress/displacement analysis, thereby allowing for the coupling of
electromagnetic fields with thermal and/or mechanical fields in a sequentially
coupled manner; and
can be solved using continuum elements in two- and three-dimensional
space.
Eddy currents are generated in a metal workpiece when it is placed within a
time-varying magnetic field. Joule heating arises when the energy dissipated by
the eddy currents flowing through the workpiece is converted into thermal
energy. This heating mechanism is usually referred to as induction heating; the
induction cooker is an example of a device that uses this mechanism. The
time-varying magnetic field is usually generated by a coil that is placed close
to the workpiece. The coil carries either a known amount of total current or an
unknown amount of current under a known potential (voltage) difference. The
current in the coil is assumed to be alternating at a known frequency for a
time-harmonic eddy current analysis but may have an arbitrary variation in time
for a transient eddy current analysis.
The time-harmonic eddy current analysis procedure is based on the assumption
that a time-harmonic excitation with a certain frequency results in a
time-harmonic electromagnetic response with the same frequency everywhere in
the domain. In other words, both the electric and the magnetic fields oscillate
at the same frequency as that of the alternating current in the coil. The
transient eddy current analysis does not make any assumption regarding the
time-variation of the current in the coil; in fact any arbitrary time variation
can be specified, and the electric and magnetic fields follow from the solution
to Maxwell's equations in the time domain.
The eddy current analysis provides output, such as Joule heat dissipation or
magnetic body force intensity, that can be transferred, from a time-harmonic
eddy current analysis only, to drive a subsequent heat transfer, coupled
temperature-displacement, or stress/displacement analysis. This allows for
modeling the interactions of the electromagnetic fields with thermal and/or
mechanical fields in a sequentially coupled manner. See
Mapping Thermal and Magnetic Loads
and
Predefined Loads for Sequential Coupling
for details.
Electromagnetic elements must be used to model the response of all the
regions in an eddy current analysis including the coil, the workpiece, and the
space in between and surrounding them. To obtain accurate solutions, the outer
boundary of the space (surrounding the coil and the workpiece) being modeled
must be at least a few characteristic length scales away from the device on all
sides.
The electromagnetic elements use an element edge-based interpolation of the
fields instead of the standard node-based interpolation. The user-defined nodes
only define the geometry of the elements; and the degrees of freedom of the
element are not associated with these nodes, which has implications for
applying boundary conditions (see
Boundary Conditions
below).
Governing Field Equations
The electric and magnetic fields are governed by Maxwell's equations
describing electromagnetic phenomena. The formulation is based on the
low-frequency assumption, which neglects the displacement current correction
term in Ampere's law. This assumption is appropriate when the wavelength of the
electromagnetic waves corresponding to the excitation frequency is large
compared to typical length scales over which the response is computed. In the
following discussion, the governing equations are written for a linear medium.
Time-Harmonic Analysis
It is convenient to introduce a magnetic vector potential,
, such that the
magnetic flux density vector .
The solution procedure seeks a time-harmonic electromagnetic response,
,
with frequency
radians/sec when the system is subjected to a time-harmonic excitation of the
same frequency; for example, through an impressed oscillating volume current
density, .
In the preceding expressions the vectors
and
represent the amplitudes of the magnetic vector potential and applied volume
current density vector, respectively, while the exponential factors (with
)
represent the corresponding phases. Under these assumptions, Maxwell's
equations in the absence of conductor motion reduce to
in terms of the amplitudes of the field quantities,
and ;
the magnetic permeability tensor, ; and the
electrical conductivity tensor, .
The magnetic permeability relates the magnetic flux density,
, to the magnetic
field, , through a
constitutive equation of the form: ,
while the electrical conductivity relates the volume current density,
, and the electric
field, , by Ohm's law:
.
The variational form of the above equation is
where
represents the variation of the magnetic vector potential, and
represents the applied tangential surface current density, if any, at the
external surfaces.
Abaqus/Standard
solves the variational form of Maxwell's equations for the in-phase (real) and
out-of-phase (imaginary) components of the magnetic vector potential. The other
field quantities are derived from the magnetic vector potential.
Transient Analysis
It is convenient to introduce a magnetic vector potential,
, assumed to be a
function of spatial position and time, such that the magnetic flux density
vector .
The solution procedure seeks a time-dependent electromagnetic response,
,
when the system is subjected to a time-dependent excitation; for example,
through an impressed distribution of volume current density,
.
Under these assumptions, Maxwell's equations in the absence of conductor motion
reduce to
in terms of the field quantities, and
; the magnetic
permeability tensor, ; and the
electrical conductivity tensor, .
The magnetic permeability relates the magnetic flux density,
, to the magnetic
field, , through a
constitutive equation of the form: ,
while the electrical conductivity relates the volume current density,
, and the electric
field, , by Ohm's law:
.
The variational form of the above equation is
where represents
the variation of the magnetic vector potential, and represents the
applied tangential surface current density, if any, at the external surfaces.
Abaqus/Standard
solves the variational form of Maxwell's equations for the components of the
magnetic vector potential. The other field quantities are derived from the
magnetic vector potential.
Predefined Conductor Motion
Electric fields induced in a conductor have two parts: the first part due to
the changing magnetic flux (Faraday’s law of induction), which is already
accounted for in the formulation above, and the second part due to the motion
of the conductor in the magnetic field. The second part modifies the governing
equation as follows (shown only for a transient procedure, although the
capability is available for the time-harmonic procedure as well):
in terms of the prescribed velocity of motion . You can prescribe
both translational and rotational velocity of motion. The formulation assumes
that the conductor is uniform in the direction of motion; in other words, it
does not have any geometric features in the direction of motion.
Conductor motion results in unsymmetric contributions toward the element
operator. By default, the unsymmetric storage and solution scheme is used with
conductor motion.
Defining the Magnetic Behavior
The magnetic behavior of the electromagnetic medium can be linear or
nonlinear. However, only linear magnetic behavior is available for
time-harmonic eddy current analysis. Linear magnetic behavior is characterized
by a magnetic permeability tensor that is assumed to be independent of the
magnetic field. It is defined through direct specification of the absolute
magnetic permeability tensor, , which can be
isotropic, orthotropic, or fully anisotropic (see
Magnetic Permeability).
The magnetic permeability can also depend on temperature and/or predefined
field variables. For a time-harmonic eddy current analysis, the magnetic
permeability can also depend on frequency.
Nonlinear magnetic behavior, which is available only for transient eddy
current analysis, is characterized by magnetic permeability that depends on the
strength of the magnetic field. The nonlinear magnetic material model in
Abaqus
is suitable for ideally soft magnetic materials characterized by a
monotonically increasing response in B–H space, where B and H refer to the
strengths of the magnetic flux density vector and the magnetic field vector,
respectively. Nonlinear magnetic behavior is defined through direct
specification of one or more B–H curves that provide B as a function of H and,
optionally, temperature and/or predefined field variables, in one or more
directions. Nonlinear magnetic behavior can be isotropic, orthotropic, or
transversely isotropic (which is a special case of the more general orthotropic
behavior).
Defining the Electrical Conductivity
The electrical conductivity, ,
can be isotropic, orthotropic, or fully anisotropic (see
Electrical Conductivity).
The electrical conductivity can also depend on temperature and/or predefined
field variables. For a time-harmonic eddy current analysis, the electrical
conductivity can also depend on frequency. Ohm's law assumes that the
electrical conductivity is independent of the electrical field,
.
Time-Harmonic Analysis
The eddy current analysis procedure provides the time-harmonic solution
directly at a given excitation frequency. You can specify one or more
excitation frequencies, one or more frequency ranges, or a combination of
excitation frequencies and ranges.
Transient Analysis
The eddy current analysis procedure provides the transient solution to a
given arbitrary time-dependent excitation.
Time Incrementation
Time integration in the transient eddy current analysis is done with the
backward Euler method. This method is unconditionally stable for linear
problems but may lead to inaccuracies if time increments are too large. The
resulting system of equations can be nonlinear in general, and
Abaqus/Standard
uses Newton's method to solve the system. The solution usually is obtained as a
series of increments, with iterations to obtain equilibrium within each
increment. Increments must sometimes be kept small to ensure accuracy of the
time integration procedure. The choice of increment size is also a matter of
computational efficiency: if the increments are too large, more iterations are
required. Furthermore, Newton's method has a finite radius of convergence; too
large an increment can prevent any solution from being obtained because the
initial state is too far away from the equilibrium state that is being
sought—it is outside the radius of convergence. Thus, there is an algorithmic
restriction on the increment size.
Automatic Incrementation
In most cases the default automatic incrementation scheme is preferred
because it will select increment sizes based on computational efficiency.
However, you must ensure that the time increments are such that the time
integration results in an accurate solution.
Abaqus/Standard
does not have any built in checks to ensure integration accuracy.
Direct Incrementation
Direct user control of the increment size is also provided; if you have
considerable experience with a particular problem, you may be able to select a
more economical approach.
Ill-Conditioning in Eddy Current Analyses with Electrically Nonconductive Regions
In an eddy current analysis it is very common that large portions of the
model consist of electrically nonconductive regions, such as air and/or a
vacuum. In such cases it is well known that the associated stiffness matrix can
be very ill-conditioned; i.e., it can have many singularities (Bíró,
1999).
Abaqus
uses a special iterative solution technique to prevent the ill-conditioned
matrix from negatively impacting the computed electric and magnetic fields. The
default implementation works well for many problems. However, there can be
situations in which the default numerical scheme fails to converge or results
in a noisy solution. In such cases adding a “small” amount of artificial
electrical conductivity to the nonconductive domain may help regularize the
problem and allow
Abaqus
to converge to the correct solution. The artificial electrical conductivity
should be chosen such that the electromagnetic waves propagating through these
regions undergo little modification and, in particular, do not experience the
sharp exponential decay that is typical when such fields impinge upon a real
conductor. It is recommended that you set the artificial conductivity to be
about five to eight orders of magnitude less than that of any of the conductors
in the model.
As an alternative to specifying electrical conductivity in the nonconductive
domain,
Abaqus
also provides a stabilization scheme to help mitigate the effects of the
ill-conditioning. You can provide input to this stabilization algorithm by
specifying the stabilization factor, which is assumed to be 1.0 by default if
the stabilization scheme is used. Higher values of the stabilization factor
lead to more stabilization, while lower values of the stabilization factor lead
to less stabilization.
Prescribed Conductor Motion
You can specify conductor motion by prescribing the direction and magnitude
of the translational or rotational velocity vector over an element set
representing the conductor. Only a single conductor motion is allowed in a
step.
Initial Conditions
Initial values of temperature and/or predefined field variables can be
specified. These values affect only temperature and/or field-variable-dependent
material properties, if any. Initial conditions on the electric and/or magnetic
fields cannot be specified in an eddy current analysis.
Boundary Conditions
Electromagnetic elements use an element edge-based interpolation of the
fields. The degrees of freedom of the element are not associated with the
user-defined nodes, which only define the geometry of the element.
Consequently, the standard node-based method of specifying boundary conditions
cannot be used with electromagnetic elements. The method used for specifying
boundary conditions for electromagnetic elements is described in the following
paragraphs.
Boundary conditions in
Abaqus
typically refer to what are traditionally known as Dirichlet-type boundary
conditions in the literature, where the values of the primary variable are
known on the whole boundary or on a portion of the boundary. The alternative,
Neumann-type boundary conditions, refer to situations where the values of the
conjugate to the primary variable are known on portions of the boundary. In
Abaqus
Neumann-type boundary conditions are represented as surface loads in the
finite-element formulation.
For electromagnetic boundary value problems, Dirichlet boundary conditions
on an enclosing surface must be specified as , where
is the outward normal
to the surface, as discussed in this section. Neumann boundary conditions must
be specified as the surface current density vector, ,
as discussed in
Loads
below.
In
Abaqus
Dirichlet boundary conditions are specified as magnetic vector potential,
, on (element-based)
surfaces that represent symmetry planes and/or external boundaries in the
model;
Abaqus
computes for the
representative surfaces. In applications where the electromagnetic fields are
driven by a current-carrying coil that is close to the workpiece, the model may
span a domain that is up to 10 times the characteristic length scale associated
with the coil/workpiece assembly. In such cases, the electromagnetic fields are
assumed to have decayed sufficiently in the far-field, and the value of the
magnetic vector potential can be set to zero in the far-field boundary. On the
other hand, in applications such as one where a conductor is embedded in a
uniform (but varying time-harmonically in a time-harmonic eddy current analysis
or with a more general time variation in a transient eddy current analysis)
far-field magnetic field, it may be necessary to specify nonzero values of the
magnetic vector potential on some portions of the external boundary. In this
case an alternative method to model the same physical phenomena is to specify
the corresponding unique value of surface current density,
, on the far-field
boundary (see
Loads
below). can be computed based
on known values of the far-field magnetic field.
A surface without any prescribed boundary condition corresponds to a surface
with zero surface currents, or no loads.
Nonuniform boundary conditions can be defined with user subroutine
UDEMPOTENTIAL.
Prescribing Boundary Conditions in a Time-Harmonic Eddy Current Analysis
In a time-harmonic eddy current analysis the boundary conditions are assumed
to be time harmonic and are applied simultaneously to both the real and
imaginary parts of the magnetic vector potential. It is not possible to specify
Dirichlet boundary conditions on the real parts and Neumann boundary conditions
on the imaginary parts and vice versa.
Abaqus
automatically restrains both the real and imaginary parts even if only one part
is prescribed explicitly. The unspecified part is assumed to have a magnitude
of zero.
When you prescribe the boundary condition on an element-based surface for a
time-harmonic eddy current analysis (see
Element-Based Surface Definition),
you must specify the surface name, the region type label (S), the boundary
condition type label, an optional orientation name, the magnitude of the real
part of the boundary condition, the direction vector for the real part of the
boundary condition, the magnitude of the imaginary part of the boundary
condition, and the direction vector for the imaginary part of the boundary
condition. The optional orientation name defines the local coordinate system in
which the components of the magnetic vector potential are defined. By default,
the components are defined with respect to the global directions. The specified
direction vector components are normalized by
Abaqus
and, thus, do not contribute to the magnitude of the boundary condition.
Prescribing Boundary Conditions in a Transient Eddy Current Analysis
The method of specification of the boundary condition for a transient eddy
current analysis is substantially similar to that of the time-harmonic eddy
current analysis, except that the concepts of real and imaginary are not
relevant any more. In this case you specify the magnitude of the magnetic
vector potential, followed by its direction vector. The specified direction
vector components are normalized by
Abaqus
and, thus, do not contribute to the magnitude of the boundary condition.
During a transient eddy current analysis, prescribed boundary conditions can
be varied using an amplitude definition (see
Amplitude Curves).
Frequency-Dependent Boundary Conditions in a Time-Harmonic Eddy Current Analysis
An amplitude definition can be used to specify the amplitude of a boundary
condition as a function of frequency (Amplitude Curves).
Element-based distributed volume current density vector:
in a time-harmonic eddy current analysis, and
in a transient eddy current analysis
Surface-based distributed surface current density vector:
in a time-harmonic eddy current analysis, and
in a transient eddy current analysis
All loads in a time-harmonic eddy current analysis are assumed to be
time-harmonic with the excitation frequency. During a transient eddy current
analysis all loads can be varied using an amplitude definition (see
Amplitude Curves).
Nonuniform loads can be specified using user subroutines
UDECURRENT and
UDSECURRENT.
Frequency-Dependent Loading in a Time-Harmonic Eddy Current Analysis
In a time-harmonic eddy current analysis, an amplitude definition can be
used to specify the amplitude of a load as a function of frequency (Amplitude Curves).
Predefined Fields
Predefined temperature and field variables can be specified in an eddy
current analysis; however, user-defined fields that allow the value of field
variables at a material point to be redefined via user subroutine
USDFLD are not supported. These values affect only temperature
and/or field-variable-dependent material properties, if any. See
Predefined Fields.
Material Options
Magnetic material behavior (see
Magnetic Permeability)
must be specified everywhere in the model. Only linear magnetic behavior is
supported in a time-harmonic eddy current analysis, but nonlinear magnetic
behavior is also supported in a transient eddy current analysis. Linear
magnetic behavior can be defined by specifying the magnetic permeability
directly, while nonlinear magnetic behavior is defined in terms of one or more
B–H curves. Electrical conductivity (see
Electrical Conductivity)
must be specified in conductor regions. All other material properties are
ignored in an eddy current analysis.
Both magnetic permeability and electrical conductivity can be functions of
frequency, predefined temperature, and field variables in a time-harmonic eddy
current analysis. In a transient eddy current analysis, all material behavior
can be functions of predefined temperature and/or field variables.
Permanent magnets (see
Magnetic Permeability)
can be included in a transient eddy current analysis.
Elements
Electromagnetic elements must be used to model all regions in an eddy
current analysis. Unlike conventional finite elements, which use node-based
interpolation, these elements use edge-based interpolation with the tangential
components of the magnetic vector potential along element edges serving as the
primary degrees of freedom.
Electromagnetic elements are available in
Abaqus/Standard in
two dimensions (planar only) and three dimensions (see
Choosing the Appropriate Element for an Analysis Type).
The planar elements are formulated in terms of an in-plane magnetic vector
potential, thereby the magnetic flux density and magnetic field vectors only
have an out-of-plane component. The electric field and the current density
vectors are in-plane for the planar elements.
Output
Eddy current analysis provides output only to the output database (.odb)
file (see Output to the Output Database). Output to the data
(.dat) file and to the results (.fil) file is
not available. For the first four vector quantities listed below (which are derived from the
magnetic vector potential and the constitutive equations) and the applied volume current
density vector, the magnitude and components of the real and imaginary parts are output in a
time-harmonic eddy current procedure.
Element centroidal variables:
EMB
Magnitude and components of the magnetic flux density vector,
.
EMH
Magnitude and components of the magnetic field vector,
.
EME
Magnitude and components of the electric field vector,
.
EMCD
Magnitude and components of the eddy current density vector,
, in
conducting regions.
EMCDA
Magnitude and components of the applied volume current density vector.
EMBF
Magnetic body force intensity vector (force per unit volume per unit time)
due to flow of induced current.
EMBFC
Complex magnetic body force intensity vector (real and imaginary parts of
the force per unit volume) due to flow of current. Only available in a
time-harmonic eddy current analysis.
EMJH
Rate of Joule heating (amount of heat per unit volume per unit time) due to
flow of current.
TEMP
Temperature at the centroid of the element. For a time-harmonic eddy current
analysis, this value represents the temperature that is used for evaluating the
temperature-dependent material properties.
Whole element
variables:
ELJD
Total rate of Joule heating (amount of heat per unit time) due to flow of
current in an element.
EVOL
Element volume.
Whole model
variables:
ALLJD
Rate of Joule heating (amount of heat per unit time) summed over the model
or an element set.
Input File Template
The following is an input file template that makes use of linear magnetic
material behavior in a time-harmonic eddy current analysis:
HEADING
…
MATERIAL, NAME=mat1MAGNETIC PERMEABILITYData lines to define magnetic permeabilityELECTRICAL CONDUCTIVITYData lines to define electrical conductivity in the conductor region
**
STEPELECTROMAGNETIC, LOW FREQUENCY, TIME HARMONICData line to specify excitation frequenciesD EM POTENTIALData lines to define boundary conditions on magnetic vector potentialDECURRENTData lines to define element-based distributed volume current density vectorDSECURRENTData lines to define surface-based distributed surface current density vectorOUTPUT, FIELD or HISTORYData lines to request element-based outputENERGY OUTPUTData line to request whole model Joule heat dissipation outputEND STEP
The following is an input file template that makes use of
nonlinear magnetic material behavior in a transient eddy current
analysis:
HEADING
…
MATERIAL, NAME=mat1MAGNETIC PERMEABILITY, NONLINEARNONLINEAR BH, DIR=directionData lines to define nonlinear B-H curveELECTRICAL CONDUCTIVITYData lines to define electrical conductivity in the conductor region
**
STEPELECTROMAGNETIC, LOW FREQUENCY, TRANSIENTD EM POTENTIALData lines to define boundary conditions on magnetic vector potentialDECURRENTData lines to define element-based distributed volume current density vectorDSECURRENTData lines to define surface-based distributed surface current density vectorOUTPUT, FIELD or HISTORYData lines to request element-based outputENERGY OUTPUTData line to request whole model Joule heat dissipation outputEND STEP
References
Bíró, O., “Edge Element Formulation of Eddy Current
Problems,” Computer Methods in Applied
Mechanics and Engineering, vol. 169, pp. 391–405, 1999.