Study of Radial Forces of Permanent Magnetic

Synchronous Motor
Claudia Martis
Florin Jurca

Florin Pop Piglesan

Claudiu Oprea

Universitatea Tehnica Cluj-Napoca, Romania

claudia.martis@emd.utcluj.ro florin123_pop@yahoo.com
fjurca@mail.utcluj.ro

Claudiu.Oprea@mae.utcluj.ro

Abstract The present work aims to show an comparative study of the radial forces behavior
analysis of a PMSM. For this work we used a single topology, an PMSM with 27 slots and 3 pole pairs. To
analyzed the radial forces, we have changed the airgap dimension, magnet shape and stator windings. The
radial forces delivered by the simulations with J-mag Studio and J-mag Designer are exported in MathLab
to process the results.

I. INTRODUCTION
Recent developments in rare earth permanent magnet (PM) materials and power electronics have created new
opportunities for design construction, and application of permanent magnet synchronous motors (PMSMs). The
PMSMs are preferred over other motors used for ac servo drives due to their high efficiency, high torque-to-current
and torque to-volume ratios, compact structure, and fast dynamic response. These motors are adopted in several
residential and industrial applications. However, many of such applications require minimum torque ripple, and
reduced vibration and acoustic noise.
Servo motor technology has moved in recent years from conventional DC or two-phase AC motors drives to
new maintenance-free brushless three phase PMSM drives for motor applications where quick response, light
weight, and large continuous and peak toques are required. The torque produced by these machines has a pulsating
component, which varies as a function of the rotor position, in addition to the dc component.
The torque pulsation are known as torque ripple. The shape of the torque waveform, thus, the frequency
content of the waveform are influenced by several factors related to motor design and construction. A consequence
of introducing PMs in the rotor is torque pulsation even in the absence of any stator excitation, this torque is known
as cogging torque.
The harmonics in the BEMF due to design imperfections also introduce torque pulsations. The torque ripple
content in PMSMs must be improved through cogging torque and BEMF harmonics reduction for smooth operation
of the motor.

Mechanical vibration and noise is mainly due to bearings, their defects, journal ovality, sliding contacts, bent
shaft, rotor unbalance, shaft misalignment or rotor eccentricity, couplings etc. The rotor should be precisely
balanced as it can significantly reduce the vibration. The rotor unbalance causes rotor dynamic vibration and
eccentricity, which in turn results in noise emission from the stator, rotor, and rotor support structure. Again, the
rotor eccentricity causes unbalanced magnetic pull in the air-gap that leads toward vibration.

II. RADIAL FORCES IN PMSMS

The acoustic noise in PM machines is lower compared to switched reluctance and induction machines, yet
quieter performance is desired in automotive and robotics applications. Noise and vibration of the electromagnetic
origin dominates in low to medium power PM machines. The electromechanical energy conversion due to an
interaction between the magnetic fields of PMs and armature conductors takes place in the airgap of these
machines. As a result of this interaction a strong electromagnetic force field exists between the rotor magnets and
the stator teeth. This force field can be decomposed into tangential and radial force components at any point in the
airgap.
The radial force density or pressure can be written as:
p rmp , t

1
B2n , t B2t , t
2 0

(1)

where Bn and Bt are the normal and tangential components of the airgap magnetic field density. As the tangential
component is much smaller than the normal component of the airgap magnetic field density, the magnetic pressure
results as:
B 2 , t
p rmp , t n
2 0

(2)

The airgap magnetic flux density can be written as:

Bn ,t Bs ,t Br ,t

(3)

with Bs(,t)/Br(,t) the stator/rotor magnetic field density for uniform airgap, as function of angle and time, and
() the relative permeance of the airgap.
The stator magnetic field density of a three-phase symmetrical winding fed with a balanced current system
(considering only the fundamental of the supply source) can be written as:
Bs ,t

Bs cos t p

6 k 1

4)
with p the number of pole pairs of the machine, the electrical supply pulsation and B s the magnitude of the th
space harmonic. The rotor magnetic field density of a 2p-pole permanent magnet rotor is given as:
Br ,t

t p
p

r cos

2k 1

(5)

with Br the magnitude of the th harmonic

The relative permeance of the airgap including slot opening effect can be written as:

0 rel

(6)

with
0

0
equiv

(7)

where equiv the equivalent airgap length. For a surface mounted PM machine, the equivalent airgap length can be
written as:

equiv kC

hm

(8)

rel _ PM

with kC the Carter factor, the airgap length and rel_PM the relative permeability of the PMs.
The relative permeance coefficient can be computed using different approaches, is given as:

rel 1

Ak cos kZ s

(9)

k 1,2 ,3

with Zs the number of slots, Ak the magnitude of the kth harmonic.

Thus, the radial magnetic pressure can be written as:

prmp ,t p j Pj cos j j t
j

(10)

with j the corresponding orders of the radial magnetic pressure, j and Pj the angular velocity and amplitude of the
jth order respectively.
For the PMSM the stator and rotor airgap magnetic field density space harmonics are:

2km1 1
1 2k

III. ELECTROMAGNETIC ANALYSIS USING J-MAG

The machine under study is a PMSM with 27 stator slots and 6 rotor poles two-layer winding, are analyzed for
both 0.5mm and 1mm airgap length (Fig.1).The main geometrical data of the machine are given in Table I.
TABLE
Parameters
Stator outer diameter
Stator inner diameter
Air gap
Stack length

Notation
Dso
Dsi

Ls

Value [u.m.]
0.08539 [m]
0.051 [m]
0.001 [m]
0.08 [m]

0.0005 [m]

MAIN GEOMETRICAL DATA OF THE STUDIED MACHINES

a)

b)
Fig. 1. 27 slots 3 pole pairs field lines for: a) 1 mm b) 0.5 mm

From fig.1 it can be deducted that the distribution is uniform in both cases.The flux density distribution is
comparatively analysed at t=0.01764 s.

a)

b)
Fig. 2. 27 slots 3 pole pairs/3400 rpm at t=0.01764 s,

Comparison between the flux density distribution : a) 1 mm b) 0.5 mm

The magnetic flux density for the motor with 1 mm air-gap size has a maximum value of 1.05 T and for the
motor with 0.5 mm air-gap size has a maximum value of 1.2 T.

Fig. 3 Magnetic Flux Density

The airgap magnetic field density provides valuable information on the electromagnetic machine behavior
(electromagnetic torque, cogging torque, back-emf, etc) but also on other aspects as thermal and vibro-acoustics.
The airgap magnetic field distribution for load regime, as well as the electromagnetic torque developed by the
motor is presented in Fig.4. Reducing the airgap length of the machine the average magnetic field density will
increase and also the developed electromagnetic torque and the torque ripple content.

Fig. 4 Electromagnetic Torque [N]

The Space harmonic components of Nodal Forces are given in Fig. 5.

Fig. 5. Space harmonics spectrum of the radial forces No-Load regime

A richer harmonic content can be noticed for the 0.5 mm airgap length machine, with a higher value of the
amplitude and more harmonics, the 17 th and 29th is missing from the 1 mm airgap length, in conclusion with a
smaller airgap length, we have toque ripples and increased harmonics.
Another regime of this study, that we collect results is rated load. In this regime we can notice that the
Harmonic Amplitude is smaller, than no load regime, and on the 1 mm airgap length is present the 17 th and 29th
harmonic, which are missing from no-load regime.

Fig. 6. Space harmonics spectrum of the radial forces Rated-Load regime

The time depending waveform of the radial force for a virtual probe mounted on the stator tooth having the
coordinates (25.5e-3, 0) is given in Fig. 7, for both 0.5 and 1 mm airgap length.

Fig. 7. Time harmonic spectrum of the radial forces No-Load regime

In Table 2 is represented a comparative values of Amplitude and Frequency between the airgap length results.
We can notice that Time Harmonics results has no impact and no major different values between this part of
simulation work.

Time Harmonics
Airgap lenght 0,5 mm

Airgap lenght 1 mm

Frequency

Amplitude

Frequency

Amplitude

340.13

17,82

340.13

17,82

680.27

16,17

680.27

16,17

1020,44

11,88

1020,44

11,88

1360,54

8,4

1360,54

8,4

1700,68

4,95

1700,68

4,95

Table 2 Amplitude and Frequency results

Different to space harmonics, the Harmonic Amplitude has different values for both regimes of work. For 1
mm airgap length rated-load , the amplitude is smaller than the other regime but the same length and for 0.5 mm
airgap length rated-load , the amplitude is bigger than no-load regim.

Fig. 8. Time harmonic spectrum of the radial forces Rated-Load regime

Another part of our work, represents the magnet shape. In our simulation we change the edge of magnet to
study the influence of them on space and time harmonics. The simulation is made only for 0.5 airgap length noload regime. Fig. 9 represents the shape of the magnets that we used in our test simulation.

a)

b)
Fig. 9. Magnetic Shape a) rectangular b) Oval

The Space harmonic components of Nodal Forces are given in Fig. 10.

Fig. 10. Space harmonics spectrum of the radial forces No-Load regime with Oval Magnets

From the spectrum we can deduced that the harmonics have the same order like the other results,
with rectangular magnets but the amplitude on the 1st, 5th and 11th order is a little bit bigger comparative
with the others results.
The Time harmonic components of Nodal Forces are given in Fig. 11.

Fig. 11. Time harmonic spectrum of the radial forces No-Load regime with Oval Magnets

Similar with space harmonics, the amplitude from time harmonics is bigger than others
comparative results. An comparative data, amplitude and frequency is associate in Table 3

Time Harmonics
Airgap lenght 0,5 mm

Airgap lenght 1 mm

Frequency

Amplitude

Frequency

Amplitude

340.13

24.17

340.13

23,87

680.27

25.74

680.27

19,99

1020.40

18.52

1020.40

11,72

1360.54

9,81

1360.54

4,56

1700.68

1,23

8106.5

7,8

26473.92

7,08

28911.56

8,66

Table 3 Amplitude and Frequency results

The last part of our work, represents stator winding. All the simulation above, the stator winding is design after
a fractional step because the number of slots per pole and phase is 1.5, with a polar pith of 4.5, and step that we
choose for computing the windings is the short step. In this simulation we chose the large step, number 5, and we
analyzed the space and time harmonics. This simulation is made only for 0.5 airgap length.

Number of slots per pole and phase formula:

q

QR
27

1,5
2 m p 63

Polar pitch formula:

27
4.5
6

The Space harmonic components of Nodal Forces are given in Fig. 12

Fig. 12 Space harmonics spectrum of the radial forces No-Load regime, Polar pitch modified

The Space harmonic components of Nodal Forces are given in Fig. 13.

Fig. 11. Time harmonic spectrum of the radial forces No-Load regime, Polar pitch modified

Time Harmonics
Airgap lenght 0,5 mm
Frequency
Amplitude
340.13
24.17
680.27
25.74
1020.40
18.52
1360.54
9,81
1700.68
1,23
26473.92
7,08

IV. CONCLUSIONS
The paper presents the results of the nodal force influence analysis of one Permanent Magnetic Synchronous
Motor. The results are based both on modelling and simulation as well on experimentally obtained measurements.
The simulations have been carried out in order to determine the Time and Space Harmonics between all the
improvements that has been made on the PMSM.
The comparison between all the results we realized that an fractional step has a lot of under-harmonics, the
shape and the winding polar pitch as not an major influence on the comparative results.

REFERENCES
1.Permanent Magnet Synchronous Machine Model for Real- Time Simulation A. B. Dehkordi,
Student Member, IEEE, A. M. Gole, Senior Member, IEEE, T. L. Maguire, Senior Member, IEEE;
2. MODELING AND SIMULATION OF PERMANENT MAGNET SYNCHRONOUS MOTOR
DRIVE SYSTEM by Enrique L. Carrillo Arroyo;
3. Permanent Magnet Motor Technology ( Design and applications, second edition, Revised and
Expanded) by Jacek F. Gieras Mitchell Wing
4. Design of Rotating Electrical Machines by Juha Pyrho nen, Tapani Jokinen and Vale ria
Hrabovcova
5. Cogging torque, torque ripple and radial force analysis of Permanent
Magnet Synchronous Machines by Mohamed Raibul Islam