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A novel strategy is proposed for the coupling of field and circuit equations when modeling power devices in the low-frequency regime. The resulting systems of differential-algebraic equations have a particular geometric structure which explicitly encodes the energy storage, dissipation, and transfer mechanisms. This implies a power balance on the continuous level which can be preserved under appropriate discretization in space and time. The models and main results are presented in detail for linear constitutive models, but the extension to nonlinear elements and more general coupling mechanisms is possible. The theoretical findings are demonstrated by numerical results.

High-temperature superconductors (HTS) have the potential to enable magnetic fields beyond the current limits of low-temperature superconductors in applications like accelerator magnets. However, the design of HTS-based magnets requires computationally demanding transient multi-physics simulations with highly non-linear material properties. To reduce the solution time, we propose using Parareal (PR) for parallel-in-time magneto-thermal simulation of magnets based on HTS, particularly, no-insulation coils without turn-to-turn insulation. We propose extending the classical PR method to automatically find a time partitioning using a first coarse adaptive propagator. The proposed PR method is shown to reduce the computing time when fine engineering tolerances are required despite the highly nonlinear character of the problem. The full software stack used is open-source., Comment: Pre-submission version (preprint). Presented at and submitted to the proceedings of "The 15th International Conference on Scientific Computing in Electrical Engineering" (SCEE 2024), March 4-8, 2024, Darmstadt, Germany

This work features the optimization of a Permanent Magnet Synchronous Motor using 2D nonlinear simulations in an Isogeometric Analysis framework. The rotor and stator designs are optimized for both geometric parameters and surface shapes via modifications of control points. The scaling laws for magnetism are employed to allow for axial and radial scaling, enabling a thorough optimization of all critical machine parameters for multiple operating points. The process is carried out in a gradient-based fashion with the objectives of lowering motor material cost, torque ripple and losses. It is shown that the optimization can be efficiently conducted for many optimization variables and all objective values can be reduced.

In structural optimization, both parameters and shape are relevant for the model performance. Yet, conventional optimization techniques usually consider either parameters or the shape separately. This work addresses this problem by proposing a simple yet powerful approach to combine parameter and shape optimization in a framework using Isogeometric Analysis (IGA). The optimization employs sensitivity analysis by determining the gradients of an objective function with respect to parameters and control points that represent the geometry. The gradients with respect to the control points are calculated in an analytical way using the adjoint method, which enables straightforward shape optimization by altering of these control points. Given that a change in a single geometry parameter corresponds to modifications in multiple control points, the chain rule is employed to obtain the gradient with respect to the parameters in an efficient semi-analytical way. The presented method is exemplarily applied to nonlinear 2D magnetostatic simulations featuring a permanent magnet synchronous motor and compared to designs, which were optimized using parameter and shape optimization separately. It is numerically shown that the permanent magnet mass can be reduced and the torque ripple can be eliminated almost completely by simultaneously adjusting rotor parameters and shape. The approach allows for novel designs to be created with the potential to reduce the optimization time substantially.

Electrical circuits are present in a variety of technologies, making their design an important part of computer aided engineering. The growing number of parameters that affect the final design leads to a need for new approaches to quantify their impact. Machine learning may play a key role in this regard, however current approaches often make suboptimal use of existing knowledge about the system at hand. In terms of circuits, their description via modified nodal analysis is well-understood. This particular formulation leads to systems of differential-algebraic equations (DAEs) which bring with them a number of peculiarities, e.g. hidden constraints that the solution needs to fulfill. We use the recently introduced dissection index that can decouple a given system of DAEs into ordinary differential equations, only depending on differential variables, and purely algebraic equations, that describe the relations between differential and algebraic variables. The idea is to then only learn the differential variables and reconstruct the algebraic ones using the relations from the decoupling. This approach guarantees that the algebraic constraints are fulfilled up to the accuracy of the nonlinear system solver, and it may also reduce the learning effort as only the differential variables need to be learned., Comment: 21 pages, 16 figures

The magnetoquasistatic simulation of large power converters, in particular transformers, requires efficient models for their foils windings by means of homogenization techniques. In this article, the classical foil conductor model is derived and an inconsistency in terms of circuit theory is observed, which may lead to time-stepping instability. This can be related to the differential-algebraic nature of the resulting system of equations. It is shown how the foil conductor model can be adapted to mitigate this problem by a modified definition of the turn-by-turn conductance matrix. Numerical results are presented to demonstrate the instability and to verify the effectiveness of the new adapted foil conductor model.

In the search for more efficient and less environmentally harmful cooling technologies, the field of magnetocalorics is considered a promising alternative. To generate cooling spans, rotating permanent magnet assemblies are used to cyclically magnetize and demagnetize magnetocaloric materials, which change their temperature under the application of a magnetic field. In this work, an axial rotary permanent magnet assembly, aimed for commercialization, is computationally designed using topology and shape optimization. This is efficiently facilitated in an isogeometric analysis framework, where harmonic mortaring is applied to couple the rotating rotor-stator system of the multipatch model. Inner, outer and co-rotating assemblies are compared and optimized designs for different magnet masses are determined. These simulations are used to homogenize the magnetic flux density in the magnetocaloric material. The resulting torque is analyzed for different geometric parameters. Additionally, the influence of anisotropy in the active magnetic regenerators is studied in order to guide the magnetic flux. Different examples are analyzed and classified to find an optimal magnet assembly for magnetocaloric cooling.

The modified nodal analysis (MNA) is probably the most widely used formulation for the modeling and simulation of electric circuits. Its conventional form uses electric node potentials and currents across inductors and voltage sources as unknowns, thus taking an electric viewpoint. In this paper, we propose a magnetic oriented nodal analysis (MONA) for electric circuits, which is based on magnetic node potentials and charges across capacitors and voltage sources as the primary degrees of freedom, thus giving direct access to these quantities. The resulting system has the structure of a generalized gradient system which immediately ensures passivity in the absence of sources. A complete index analysis is presented showing regularity of the magnetic oriented formulation under standard topological conditions on the network interconnection. In comparison to conventional MNA, the differential-algebraic index is reduced by one in most cases which facilitates the numerical solution. Some preliminary numerical experiments are presented for illustration of the feasibility and stability of the new approach.

This article proposes modifications of the Parareal algorithm for its application to higher index differential algebraic equations (DAEs). It is based on the idea of applying the algorithm to only the differential components of the equation and the computation of corresponding consistent initial conditions later on. For differential algebraic equations with a special structure as e.g. given in flux-charge modified nodal analysis, it is shown that the usage of the implicit Euler method as a time integrator suffices for the Parareal algorithm to converge. Both versions of the Parareal method are applied to numerical examples of nonlinear index 2 differential algebraic equations.

The time domain analysis of eddy current problems often requires the simulation of long time intervals, e.g. until a steady state is reached. Fast-switching excitations e.g. in pulsedwidth modulated signals require in addition very small time step sizes that significantly increase computation time. To speed up the simulation, parallel-in-time methods can be used. In this paper, we investigate the combination of explicit and implicit time integration methods in the context of the parallel-in-time method Parareal and using a simplified model for the coarse propagator.

Motivated by the task to design quench protection systems for superconducting magnets in particle accelerators we address a coupled field/circuit simulation based on a magneto-quasistatic field modeling. We investigate how a waveform relaxation of Gau{\ss}-Seidel type performs for a coupled simulation when circuit solving packages are used that describe the circuit by the modified nodal analysis. We present sufficient convergence criteria for the coupled simulation of FEM discretised field models and circuit models formed by a differential-algebraic equation (DAE) system of index 2. In particular, we demonstrate by a simple benchmark system the drastic influence of the circuit topology on the convergence behavior of the coupled simulation.

The structural analysis, i.e., the investigation of the differential-algebraic nature, of circuits containing simple elements, i.e., resistances, inductances and capacitances is well established. However, nowadays circuits contain all sorts of elements, e.g. behavioral models or partial differential equations stemming from refined device modelling. This paper proposes the definition of generalized circuit elements which may for example contain additional internal degrees of freedom, such that those elements still behave structurally like resistances, inductances and capacitances. Several complex examples demonstrate the relevance of those definitions.

This paper proposes an efficient parallelised computation of field/circuit coupled systems co-simulated with the Waveform Relaxation (WR) technique. The main idea of the introduced approach lies in application of the parallel-in-time method parareal to the WR framework. Acceleration obtained by the time-parallelisation is further increased in the context of micro-macro parareal. Here, the field system is replaced by a lumped model in the circuit environment for the sequential computations of parareal. The introduced algorithm is tested with a model of a single-phase isolation transformer coupled to a rectifier circuit.

The application of high-temperature superconductors to accelerator magnets for future particle colliders is under study. Numerical methods are crucial for an accurate evaluation of the complex dynamical behavior of the magnets, especially concerning the magnetic field quality and thermal behavior. We present a coupled $\textbf{A}$-$\textbf{H}$ field formulation for the analysis of magneto-thermal transients in accelerator magnets. The magnetic field strength $\textbf{H}$ accounts for the eddy current problem in the source regions containing the superconducting domains, while the magnetic vector potential $\textbf{A}$ represents the magnetoquasistatic problem in the normal and non-conducting domains. Furthermore, we include a slab approximation for the source regions, making the formulation suitable for large scale models composed of thousands of tapes. In this work, the relevant equations are derived and discussed, with emphasis on the coupling conditions. The weak formulation is derived, and numerical results are provided in order to both, verify the formulation and scale it to the size of an accelerator magnet., Comment: 10 pages, 11 figures

Starting from space-discretisation of Maxwell's equations, various classical formulations are proposed for the simulation of electromagnetic fields. They differ in the phenomena considered as well as in the variables chosen for discretisation. This contribution presents a literature survey of the most common approximations and formulations with a focus on their structural properties. The differential-algebraic character is discussed and quantified by the differential index concept.

Simulating the transient effects occurring in superconducting accelerator magnet circuits requires including the mutual electro-thermo-dynamic interaction among the circuit elements, such as power converters, magnets, and protection systems. Nevertheless, the numerical analysis is traditionally done separately for each element in the circuit, leading to possible non-consistent results. We present STEAM, a hierarchical co-simulation framework featuring the waveform relaxation method. The framework simulates a complex system as a composition of simpler, independent models that exchange information. The convergence of the coupling algorithm ensures the consistency of the solution. The modularity of the framework allows integrating models developed with both proprietary and in-house tools. The framework implements a user-customizable hierarchical algorithm to schedule how models participate to the co-simulation, for the purpose of using computational resources efficiently. As a case study, a quench scenario is co-simulated for the inner triplet circuit for the High Luminosity upgrade of the LHC at CERN., Comment: 7 pages, 14 figures

In some applications there arises the need of a spatially distributed description of a physical quantity inside a device coupled to a circuit. Then, the in-space discretised system of partial differential equations is coupled to the system of equations describing the circuit (Modified Nodal Analysis) which yields a system of Differential Algebraic Equations (DAEs). This paper deals with the differential index analysis of such coupled systems. For that, a new generalised inductance-like element is defined. The index of the DAEs obtained from a circuit containing such an element is then related to the topological characteristics of the circuit's underlying graph. Field/circuit coupling is performed when circuits are simulated containing elements described by Maxwell's equations. The index of such systems with two different types of magnetoquasistatic formulations (A* and T-$\Omega$) is then deduced by showing that the spatial discretisations in both cases lead to an inductance-like element.

In this paper we present an algorithm for the coupling of magneto-thermal and mechanical finite element models representing superconducting accelerator magnets. The mechanical models are used during the design of the mechanical structure as well as the optimization of the magnetic field quality under nominal conditions. The magneto-thermal models allow for the analysis of transient phenomena occurring during quench initiation, propagation, and protection. Mechanical analysis of quenching magnets is of high importance considering the design of new protection systems and the study of new superconductor types. We use field/circuit coupling to determine temperature and electromagnetic force evolution during the magnet discharge. These quantities are provided as a load to existing mechanical models. The models are discretized with different meshes and, therefore, we employ a mesh-based interpolation method to exchange coupled quantities. The coupling algorithm is illustrated with a simulation of a mechanical response of a standalone high-field dipole magnet protected with CLIQ (Coupling-Loss Induced Quench) technology., Comment: 5 pages, 6 figures

This contributions discusses the simulation of magnetothermal effects in superconducting magnets as used in particle accelerators. An iterative coupling scheme using reduced order models between a magnetothermal partial differential model and an electrical lumped-element circuit is demonstrated. The multiphysics, multirate and multiscale problem requires a consistent formulation and framework to tackle the challenging transient effects occurring at both system and device level.

Superconducting accelerator magnets require sophisticated monitoring and means of protection due to the large energy stored in the magnetic field. Numerical simulations play a crucial role in understanding transient phenomena occurring within the magnet, and can, therefore, help to prevent disruptive consequences. We present a 2-D FEM model for the simulation of electro-thermal transients occurring in superconducting accelerator magnets. The magnetoquasistatic problem is solved with a modified magnetic vector potential formulation, where the cable eddy currents are resolved in terms of their equivalent magnetization. The heat balance equation is then investigated, and the relevant heat sources are discussed. The model implements a two-port component interface and is resolved, as part of an electrical circuit, in a cooperative simulation scheme with a lumped-parameter network., Comment: 4 pages, 12 figures, approved for publication, IEEE Transactions on Magnetics, 2017

In this paper we present the co-simulation of a PID class power converter controller and an electrical circuit by means of the waveform relaxation technique. The simulation of the controller model is characterized by a fixed-time stepping scheme reflecting its digital implementation, whereas a circuit simulation usually employs an adaptive time stepping scheme in order to account for a wide range of time constants within the circuit model. In order to maintain the characteristic of both models as well as to facilitate model replacement, we treat them separately by means of input/output relations and propose an application of a waveform relaxation algorithm. Furthermore, the maximum and minimum number of iterations of the proposed algorithm are mathematically analyzed. The concept of controller/circuit coupling is illustrated by an example of the co-simulation of a PI power converter controller and a model of the main dipole circuit of the Large Hadron Collider.

In this paper, we propose an optimized field/circuit coupling approach for the simulation of magnetothermal transients in superconducting magnets. The approach improves the convergence of the iterative coupling scheme between a magnetothermal partial differential model and an electrical lumped-element circuit. Such a multi-physics, multi-rate and multi-scale problem requires a consistent formulation and a dedicated framework to tackle the challenging transient effects occurring at both circuit and magnet level during normal operation and in case of faults. We derive an equivalent magnet model at the circuit side for the linear and the non-linear settings and discuss the convergence of the overall scheme in the framework of optimized Schwarz methods. The efficiency of the developed approach is illustrated by a numerical example of an accelerator dipole magnet with accompanying protection system., Comment: 8 pages, 7 figures