107

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 1, JANUARYIFEBRUARY 1989

Torque Production in Permanent-Magnet

Synchronous Motors

Abstract-The investigation involves detailed analysis of the torque

production in a permanent-magnet synchronous motor drive with
rectangular current excitation. The analysis includes the prediction of
cogging as well as commutation torques. The effect of skewing is
considered in the study.

THUC-WMI
NU DRl@OC I W C R T C I

1. INTRODUCTION

ITH the recent increasing demand of small-size and

high-performance dc permanent-magnet (PM) brushless
motors, it has become important to evaluate and reduce torque
pulsations. These pulsations are responsible for irregularities
of speed, which can be compensated only to a certain extent by
means of speed control and are caused by both cogging and
commutation torques. The cogging torque is produced by the
interaction between the rotor poles and the stator structure and
is independent of the load current. The commutation torque is
produced by the interaction of the stator current and the rotor
poles. Both the cogging and commutation torques are directly
dependent of the flux density distribution and the shape of the
stator core.
Up to now accurate calculations of torque have been done
by using finite-element techniques. This method is very time
consuming, and unless a three-dimensional package is used the
effects of skewing could not be incorporated into the analysis.
The purpose of this research is to develop an analytical
model capable of accurately predicting both the cogging and
the commutation torques and to analyze and discuss the effect
of different physical parameters of the machine design on the
torque pulsations. The analysis is given for both the surfacemounted and the buried mounted magnet type rotor structures.

U
TIM1

Fig. I .

Basic rectangular current drive power circuit.

A . Cogging Torque Analysis

The cogging torque was estimated by calculating the rate of
change of total stored energy in the air gap with respect to the
rotor angular position, i.e.,

T = dW
- = - -D
. dW
dB 2 dy

11. MATHEMATICAL
MODEL

Both cogging and commutation torques depend on the shape

of the flux density distribution in the air gap. The analysis
presented here takes advantage of the explicit expressions for
the air-gap flux density distribution obtained from a twodimensional model presented in previous papers [ 11, [ 2 ] .
Paper IPCSD 88-20, approved by the Electric Machines Committee of the
IEEE Industry Applications Society for presentation at the 1987 Industry
Applications Society Annual Meeting, Atlanta, GA, October 19-23. Manuscript released for publication May 20, 1988.
J. De La Ree is with the Department of Electrical Engineering, College of
Engineering, Virginia Polytechnic Institute and State University, Blacksburg,
VA 24061.
N. Boules with the the Electrical Engineering Department, General Motors
Research Laboratories, Warren, MI 48090-9055.
IEEE Log Number 8823807.

(1)

This relation, of course, assumes that the energy stored in the

iron of the machine is negligible or varies little with the rotor
position:

W=

1dw

(2)

(3)
dv = gdldy.

(4)

For a buried PM machine, the flux density distribution in the

0093-9994/89/01OO-0107$01
.OO

1989 IEEE

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 1, JANUARYIFEBRUARY 1989

Fig. 2. Airgap layout and flux distribution.

air gap was obtained from [2] (see Fig. 2).

where

OD

~ ( y ) =

& ( i ) sin (jay).

(5)

i=1,3;..

Since this expression is derived from a model that assumes a

smooth stator surface, the approach described in [3] was used
to introduce the effect of the stator slotting into the analysis. In
this approach the flux density under the slot is assumed to be
zero while the entire flux over the slot pitch enters the stator
under the tooth; thus

w =j

L2
Ll

y2
YI

The integral in (10) yields

+ 8i2u21tan CP (cos (2iaY3)-cos

- (l+U,/b,)

2Po

@ay4)

where

a, = slot opening; b, = tooth width

j=i+Z,i+4;.

Y l = y o + a , / 2 + Z t a n CP
(-cos ( ( i - j ) a Y , ) + c o s ( ( i - j ) u Y 4 )

Y2=yo+u,/2+Ztan++b,

+ cos ((i - j ) u Y 5 )- cos ( ( i -j ) a Y 6 ) )

1
L1= -- LR
2

L2=- LR
2
CP = angle of skewing
and

(9.1)

1
(-cos ( ( i + j ) a Y , )
~ ( i + j )tan
~ CP

+ cos ( ( i + j ) a Y 4 )+ cos ( ( i + j ) a Y 5 )

>>

-cos ( ( i + j ) a Y 6 ) )

i
i= 1,3,5,
j=1+2,i+4,

B n ( i ) B , , ( j )sin (iay) sin (jay)

(12.0)

Y3= Y 0 + a , / 2 + b , + L 2 tan CP

(12.1)

Y4= Y o + a , / 2 + b , + L 1 tan CP

(12.2)

Y5= Yo+a,/2+L2 tan CP

(12.3)

Y,= Y o + a , / 2 + L Itan CP.

(12.4)

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DE LA REE AND BOULES: PERMANENT-MAGNET SYNCHRONOUS MOTORS

In case of no skewing (i.e., CP

0), (12) reduces to

i/

1
- _ (sin (2iaY3-sin (2iaY5))
4 iu

O /

j=i+Z,i+4;"

. (sin ((i-j)uY3) - sin ((i-j)aY5))

-~ 1
u(i+j)

-b

>>

-E

(sin ((i j )U Y3)- sin ((i +j ) a Y, ))

Using (l), one obtains

TL=DP

I",:

B ( x ) J ( x , I) dl dx.

(16)

J(x) is a current sheet representing the stator ampere turns,

as described in Fig. 3, and can be expressed as

(-sin (2iaY3) sin (2iuY4)

+ sin (2ia Y,) - sin (2iu Y6))

(sin ((i-j)aY3)-sin

J( x ) = J , [U ( x - XI) - U (x - X2)l

(17)

X , = X o + I t a n cP+a/3

(18)

X2=Xo+ltan++a

(19)

((i-j)uYd)

-sin ((i-j)aYS)+sin ((i-j)aY6))

-

a ( i + j ) tan

U=

(sin ((i+j)aY3)

pole arc
pole pitch

For a buried-magnet machine the flux density distribution is

given by ( 5 ) . Evaluating the integral of (16), we have

- sin ((i+j)uY4) - sin ((i+j)uY5)

>>

+sin ((i+j)uY6))

and with no skewing (a = 0) the torque equation is

- sin (iuX4)- sin (iaX,) + sin ( i d 6 ) )

-cos ((i -j)uY5) - cos ((i+j)aY3)

>

+cos ((i+j)uY5))

X3=Xo+L2 tan @ + + I 3

(23.1)

X4=Xo+Ll tan 9 + ~ / 3

(23.2)

X5=Xo+L2tan@+u

(23.3)

&=Xo+L, tan

(23.4)

@+U.

In case of no skewing (a = 0), (43) becomes

(15)

A similar analysis was performed for a surface-mounted PM

machine. The results are presented in Appendix I.
The total instantaneous commutating torque of the motor

T/=DPJ,LR

(2

i= 1,3;'.

(COS( i ~ X 3-)COS

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 1, JANUARYIFEBRUARY 1989

1

Lo

,"

.a
12

0
C

0
1

.6

i
i

U
Lo

3
D

CI
z

12.

c
0

'

J
0

3
x

O
U

IL

11.5

10

30

20

50

40

60
M e c h a n i c a l A n g l e in D e g r e e s

M e c h a n i c a l n i g l e in D e g r e e s

Fig. 4. Flex density distribution, buried PM machine.

Fig. 6. Commutating torque, buried PM machine.

3

Skewing

0 S l o t Pitch,

2.5

',Peak Cogging Torque

y1

L
D

'\,\

L
m

L
m

c " 0

z
al

m
C

\\

1.5

\\

-1

//

-\
\\

Commutating Tor&e
Torque P u l s a t i o n Vmax = 12.6451
12 6451 \

-2

\
0
0

-3
0

10

Skewing/Slot P i t c h
M e c h a n i c a l Angle In D e g r e e s

Fig. 7.

Peak cogging torque and commutating torque pulsation.

Fig. 5. Cogging torque, buried PM machine.

Results of a similar analysis for the commutating torque of a

surface-mounted magnet machine are presented in Appendix
II.

III. RESULTS
To evaluate the results of the analytical model, the equations
were programmed and different parameters of the machine
were varied. Given machine design parameters, the program
determines the flux density distribution and its harmonic
constituents, as well as the developed cogging and commutating torques.
Fig. 4 shows the flux density distribution at the stator
surface of the motor as calculated by the analytical model.
Verification of the accuracy of this model was presented
elsewhere [ 11, [2].
Fig. 5 shows the cogging torque, as calculated by the

analytical model, for a stator structure with no skewing, 1/2

slot skewing, and 1 slot skewing. As was expected, cogging
torque goes to zero for an stator skewing of 1 slot pitch.
Fig. 6 shows the commutating torque, as calculated by the
analytical model, for a stator with no skewing, 1/2 slot
skewing, and 1 slot skewing.
Fig. 7 shows cogging torque peak value and commutating
torque pulsation as functions of skewing. It is interesting to
notice that, even when the cogging torque goes to zero with the
skewing, the average torque decreases given a large commutating torque pulsation.
IV. CONCLUSION
An analytical method was developed to determine cogging
as well as commutating torque in a permanent-magnet machine
of both buried and surface-mounted magnet types. The method
takes advantage of the knowledge of the flux density distribu-

111

DE LA REE AND BOULES: PERMANENT-MAGNET SYNCHRONOUS MOTORS

tion in the air gap as a function of design parameters. The

equations can be programmed easily and are very useful for
parametric studies and optimization.

(sin ((i-j)uY3)-sin

((i-j)uY5))

1
-___(sin ((i+j)pO3)- sin ((i+.j)pe5)))
p(i+.i)

NOMENCLATURE

(A.2)

Slot opening.
B Flux density distribution.
bl Tooth width.
D Inside diameter of the stator.
g Air-gap length.
J Current sheet.
LR Rotor axial length.
P Pairs of poles.
Angle of skewing.
U
Pole pitch.
U,

and from energy the expression for torque used was

aw

T=-

ae

yielding

(sin (2ip03)- sin (2ip04)

APPENDIX
I

+ sin (2ip&)+ sin @@e6))

+ 1 6 ( Di ~tan) ~9 (- cos (2ipe3)+ cos (2ipf3,)
+ cos (2ipQ -cos

(sin ((i-j)p03)-sin

(2ipe6))

-sin ( ( i - j ) p & )+ sin ( ( i - j ) P & ) )

j = i + 2,i+ 4;

>>

+cos ((i-.j)pe5)-cOs ((i-j)pea))

+COS

D
(sin ((i+.j)@3)
2 p ( i + j ) tan 9

- sin ((i + j ) p e , ) - sin ((i + j ) p e 5 )

(-COS ((i-j)p&)+cos ( ( i - j ) p e 4 )

D
+ 2 p q i + . j p tan

((i-j)pO,)

+ sin ((i +j)p66)) .

('4.4)

With no skewing (+ = 0), the torque equation is

+ (-cos ((i+j)P03)

((i+j)$),)+cos ( ( i + j ) p & )

--os (G+.j)PY6))))

+ (us+ 2L2 tan + + 2b,)/D

e,= eo+ (us+ 2L1tan + 2b,)/D
e5 = eo + (U,+ 2L~ tan +)/D
0, = Bo + (U,+ 2L tan +)/D.
d3 =do

(A. 1 )
(A. 1 . 1 )
(A. 1 . 2 )

(A.1.3)
(A. 1.4)

In case of no skewing (9 = 0), (A.l) reduces to

APPENDIX
I1
/

1
(sin (2ipe3- sin (2ip0,))
4 ip

--

(B. 1.1)

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 1, JANUARYIFEBRUARY 1989

(B. 1.2)

(B. 1.3)

[2] N. Boules, Prediction of no-load flex density distribution in permanent magnet machines, IEEE Trans. Ind. Appl., vol. IA-21, no. 3,
pp. 633-643, MaylJune 1985.
[3] H. R. Bolton, Y. D. Liu, and N. M. Mallinson, Investigation into a
class of brushless dc motor with quasi-square voltage and currents,
IEE Proc., vol. 133, pt. B, no. 2, Mar. 1986.

(B. 1.4)
In case of no skewing (4

(2
/

TI=DPJ,LR

i = 1,3;..

Jaime De La Ree was born in Hermosillo Sonora,

Mexico, on December 17, 1957. He received the
B.S. degree with distinction in electrical engineering from the Instituto Tecnologico y de Estudios
Superiores de Monterrey in 1980 and the M.S. and
Ph.D. degrees from the University of Pittsburgh,
Pittsburgh, PA, in 1981 and 1984, respectively.
In 1984 he joined the faculty of Virginia Polytechnic Institute and State University, Blacksburg,
VA, where he is currently an Assistant Professor.
His research interest is in the area of rotating

0), (B.l) reduces to

B,(i)

A (sin

(iltlP3) - sin

1P

APPENDIX
III

machinery.
Dr. De La Ree is a member of Tau Beta Pi and Eta Kappa Nu Honorary
Societies.

Physical Data of Prototype Machine

Magnet height, h,,
Magnet radial depth, W,,
Pole pitch, U ,
Air-gap length, g,
Number of poles, 2 p
Magnet residual induction, B,,
Magnet recoil permeability, pm
Tooth width, bt,
Number of slots, Qs,

= 6.35 D.
=

25.4 mm.

= 49.7 mm.

0.66 mm.
6.
= 1.03 T.
= 1.38 x
= 5.95 mm.
= 36.
=
=

Nady Boules (M80-SM83) was born on August

20, 1948, in Alexandria, Egypt. He received the

H/m.

ACKNOWLEDGMENT
The authors wish to express their appreciation to Dr. T.
NeM and Dr. L. Jacovides, General Motors Research Laborstories, for their valuable discussions and comments.

REFERENCES
t11

N.Boules, Field analysis of PM machines with buried magnet rotor,

presented at Int. Conf. Electric Machines, Munich, West Germany,
Sept. 8-10, 1986.

B.S.E.E. degree and the M.S.E.E. degree from

Cairo University, Egypt, in 1968 and 1973, respectively. He received the Dr.-Ing. degree in 1978
from the Technical University of Braunschweig,
Braunschweig, West Germany.
From 1968 to 1974 he worked as an Instructor
and Assistant Lecturer at Cairo Institute of Technology in Helwan, Egypt. In 1974 he joined the
Technical University of Braunschweig, Braunschweig, West G e m y , as a fellowship holder of the Deutsch Akademsch
Austauschdienst. From 1978 to 1980 he worked as a Research Assistant at the
Institute of Electrical Machines. Technical Universitv of Braunschweig, West
Germany. From 1980 to 1982 he was a Senior Magnetics Engine& with
Simmonds Precision Corporation, Norwich, NY. Since 1982 he has been with
the General Motors Research Laboratories in Warren, MI, where he is now
Section Manager for electromechanics in the electrical and electronics
engineering department.