The "Modified Trapezoidal Rule" (Theta-Method) for the Integration
of DAEs Modelling an Electro-Mechanical Drive Including External Circuitry,
Magnetic Field-Distribution and Torsional Behaviour and its Effects on
Accuracy
Partial differential equations (PDEs)
of the parabolic type are often solved numerically by the Crank-Nicholson-method.
This method can be considered an integration by the trapezoidal rule applied
to a system of ordinary differential equations derived from the PDE by
spatial discretization. A set of additional algebraic equations is obtained
by the spatial discretization of regions to be described by PDEs of the
elliptical type as found e.g. in electrical machines. Moreover a supply
device like a three-phase ac power-controller for soft-starting and a transmission
shafting with torsional elasticity and inertia in a whole electro-mechanical
drive have to be modelled by differential and algebraic equations, too.
The complete system of equations is therefore of a differential-algebraic
type (DAE). Although absolutely stable, the Crank-Nicholson or trapezoidal
rule method applied to these DAEs sometimes results in numerical oscillations
falsifying the correct solution as shown e.g. in [1]. This "stiffness problem"
depends on the eigenvalues of the system in comparison to the time-step.
It appears that very small time-constants are often caused by external
electric elements, when e.g. a power-electronic valve in an inductive mesh
is turned off and becomes highly resistive. The Theta-method for parabolic
type PDEs as described in [2] and [3] is a modified trapezoidal rule, where
an additional parameter Theta between 0 and 0.5 determines the weighting
of the two boundaries of the integrational interval. Theta=0.5 represents
the trapezoidal rule, whereas Theta=0 results in the backward Euler-formula.
This method can overcome the stiffness problem. However, its uncritical
transfer onto arbitrary DAEs can lead to unacceptably errornous solutions
concerning the damping of natural oscillations. This is shown by a theoretical
investigation and some simulations of an induction-motor drive with a soft-start-supply
and a load inertia driven via a torque-measuring-shaft. From the results
the recommendation is derived to handle stiffness problems rather by a
modelling closer to physics and the actual technical design, i.e. additionally
taking into account parasitic or otherwise neglected elements similar to
a regularization of DAEs [4] than by choosing a parameter Theta very less
than 0.5.
[1] Belmans, R., Hameyer K. and Mertens, R.: Combined
Time-Harmonic-Transient Approach to Calculate the Steady-State Behaviour
of Induction Machines, IEEE Transactions on Magnetics, 1999.
[2] Krawczyk, A., Tegopoulos, J. A.: Numerical
Modelling of Eddy Currents, Oxford:Clarendon Press, 1993.
[3] Zlamal, M.: Finite element method in heat
conduction problems. In: The mathematics of finite elements and applications,
Academic Press, New York (1976).
[4] Feldmann, U., Günther M.: Some Remarks
on Regularization of Circuit Equations, Conference Proceedings of X. ISTET,
1999.
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