2-D Exact Analytical Model for Surface-Mounted

Permanent-Magnet Motors With Semi-Closed Slots.

Thierry Lubin, Smail Mezani, Abderrezak Rezzoug

To cite this version:

Thierry Lubin, Smail Mezani, Abderrezak Rezzoug. 2-D Exact Analytical Model for Surface-Mounted
Permanent-Magnet Motors With Semi-Closed Slots.. IEEE Transactions on Magnetics, Institute of
Electrical and Electronics Engineers, 2011, 47 (2), pp.479-492. �10.1109/TMAG.2010.2095874�. �hal-
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2D Exact Analytical Model for Surface-Mounted Permanent Magnet

Motors with Semi-Closed Slots
Thierry Lubin, Smail Mezani, and Abderrezak Rezzoug

Groupe de Recherche en Electrotechnique et Electronique de Nancy,

University Henri Poincaré, Nancy, FRANCE

This paper presents an analytical subdomain model to compute the magnetic field distribution in surface-mounted permanent-
magnet (PM) motors with semi-closed slots. The proposed model is sufficiently general to be used with any pole and slot combinations
including fractional slot machines with distributed or concentrated windings. The model accurately accounts for armature reaction
magnetic field and mutual influence between the slots. The analytical method is based on the resolution of two-dimensional Laplace’s
and Poisson’s equations in polar coordinates (by the separation of variables technique) for each subdomain, i.e. magnet, airgap, slot-
opening and slots. Magnetic field distributions, back-EMF and electromagnetic torque (including cogging torque) computed with the
proposed analytical method are compared with those issued from finite element analyses.

Index Terms— Analytical solution, Permanent Magnet Machine, Semi-Closed Slot, Cogging Torque, Armature Reaction Field.

I. INTRODUCTION

T HE stator slotting effect should be considered accurately to

predict the magnetic field distribution in the airgap region
of PM motors. Indeed, the presence of stator slots has a large
influence on the airgap magnetic field and therefore on the
motor performances such as radial force and cogging torque
which cause noise, speed ripple and vibrations. The airgap
magnetic field computation including slotting effects can be
evaluated either by numerical approaches like the finite
element method or by analytical methods. Analytical methods
are, in general, less computational time consuming than
numerical ones and can provide closed-form solutions giving
physical insight for designers. So, they are useful tools for first
evaluation of electrical motors performances and for design
optimization.
Different analytical approaches have been developed for the
determination of the airgap magnetic field considering slotting
effects. Recent comprehensive reviews on this subject can be
found in the literature [1], [2] and [3] and will not be
developed in detail here. Two analytical methods are mainly
used. The first one is based on conformal maping and provides
a 2-D relative permeance function to account for slotting
effect [4-8]. The second method consists in solving directly Fig. 1. Geometry of a 6-slot /4-pole three-phase PM motor with semi-closed
slots and alternate teeth wound (p = 2 and Q = 6).
the Maxwell’s equations in all subdomains (airgap, stator slots
and magnets) by the separation of variables technique [1-3]
However, for the determination of the motor performances
and [9-20]. The magnetic field distribution is obtained in each
under both no-load and load conditions, it is necessary to take
subdomain by using boundary and interface conditions. into account the more complicated problem of the semi-closed
Analytical solutions based on subdomains method which
slots geometry as shown in Fig. 1.
can be found in the literature deal only with open slots PM
In this paper, the authors propose an exact analytical
motors. However, the stator slots are usually semi-closed for
solution of the magnetic field distribution in the airgap of a
low and medium power PM motors. In fact, the modeling of
surface-mounted PM machine. The models given in [2], [3]
PM motor with open slots is sufficient and gives accurate
and [16] have been improved and extended to semi-closed slot
results when the objective is to study the influence of the slot-
machines. The proposed model can be used for PM machines
opening on the cogging torque [3], [16] under no-load
with any pole and slot number combinations including
conditions.
fractional-slot machines with distributed or concentrated
windings. Only radially magnetized magnets are considered
Manuscript received July 2, 2010. Corresponding author: Thierry Lubin.
(e-mail: [email protected]).
here. Models with parallel magnetization can be found in [2]
Digital Object Identifier inserted by IEEE and [3]. The developed model takes into account the armature
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reaction magnetic field and the mutual influence between the Ai = Ai (r ,θ ) ⋅ e z for the ith slot-opening subdomain
slots. The Laplace and Poisson’s equations are solved in each
A j = A j (r ,θ ) ⋅ e z for the jth slot subdomain
subdomain (airgap, magnets, slot-opening and slot regions)
and the solution is obtained using boundary and interface
conditions. III. ANALYTICAL SOLUTION OF MAGNETIC FIELD IN THE
The problem description and the assumptions of the model DIFFERENT SUBDOMAINS
are presented in section II. Section III describes the analytical By using the separation of variables technique, we now
method for magnetic field calculation in the airgap, permanent consider the solution of Poisson’s equations in the PMs and
magnets and in the slot regions. The back-EMF and torque slots subdomains (magnet or current carrying regions) and
expressions are developed in section IV. The developed Laplace’s equation in the slot-opening and airgap subdomains
analytical model is then used in section V for magnetic field, (air regions). For the sake of clarity of the general solutions in
back-EMF and electromagnetic torque calculation for both the different subdomains, we adopt the following notations
fractional and integer numbers of slots per pole and per phase throughout the paper
machines. The analytical results are verified thanks to finite- w w
u v
element computations. Ρ w (u , v ) =   +   (2)
v u
w w
II. MOTOR GEOMETRY AND ASSUMPTIONS u v
Ε w (u , v ) =   −   (3)
The geometric representation of a three-phase (6-slot/4- v u
pole) PM motor with concentrated windings and semi-closed
slots is shown in Fig. 1. The geometrical parameters are the A. Solution of Laplace’s Equation in the ith Slot-Opening
inner radius of the rotor yoke R1, the radius of the PM surface Subdomain (Region i)
R2, the inner and outer radii of the slot-opening R3 and R4 The ith slot-opening subdomain and the associated
respectively, and R5 is the radius of the slot bottom. The pole- boundary conditions are shown in Fig. 2. We have to solve the
arc to pole-pitch ratio of the PM rotor is α, the number of pole Laplace’s equation in a domain of inner radius R3 and outer
pairs is p. The stator presents Q semi-closed slots with current radius R4 delimited by the angles θi and θi+β
density Jj in each slot. The slot-opening angle is β and the slot- ∂ 2 Ai 1 ∂Ai 1 ∂ 2 Ai  R3 ≤ r ≤ R4
+ + 2 = 0 for  (4)
θ i ≤ θ ≤ θ i + β
pitch angle is δ. ∂r 2
r ∂r r ∂θ 2
The angular position of the ith stator slot-opening is defined
as The tangential component of the magnetic field at the sides
of the slot-opening is null (infinite permeability for the stator
β 2iπ
θi = − + with 1≤ i ≤ Q (1) iron core). In terms of magnetic vector potential, the boundary
2 Q conditions for the ith slot domain are
In order to simplify the problem, the following assumptions
are made: ∂Ai ∂Ai
• End effects are neglected. =0 and =0 (5)
∂θ θ =θ i ∂θ θ =θ i + β
• Stator and rotor iron cores are infinitely permeable.
• Radialy magnetized magnets with a relative recoil
permeability µ r = 1 .
• The stator slots have radial sides.
As it can be seen in Fig.1, the whole domain of the field
problem is divided into four types of subdomains: the rotor
PM subdomain (regions I), the air-gap subdomain (region II),
the Q stator slots-opening subdomains (regions i, i=1,2,….,Q)
and the Q stator slots subdomains (regions j, j=1,2,….,Q). The
subdomains I and II have annular shapes. The ith slot-opening
and the jth slot subdomain shapes are shown respectively in
Fig. 2 and Fig. 3.
Due to the presence of electrical current in the slots, a
magnetic vector potential formulation is used. The problem is
solved in 2D polar coordinates. According to the adopted
assumptions, the magnetic vector potential has only one
component along the z-direction and only depends on the r
and θ coordinates. The notations used in the paper are

AI = AI (r ,θ ) ⋅ e z for the rotor PM subdomain

AII = AII (r , θ ) ⋅ e z for the airgap subdomain Fig. 2. ith slot-opening subdomain with its boundary conditions.
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The continuity of the radial component of the flux density

leads to

Ai ( R3 ,θ ) = AII ( R3 ,θ ) (6)
Ai ( R4 , θ ) = A j ( R4 , θ ) (7)

where AII(r,θ) and Aj(r,θ) are respectively the magnetic vector

potentials in the airgap (24) and in the jth slot (17).
Considering the boundary conditions (5) and the continuity
conditions (6) and (7), the general solution of (4) can be
written as

Ai (r , θ ) = A0i + B0i ln r
∞
Ε kπ / β (r , R4 ) Ε kπ / β (r , R3 )  kπ 
+ ∑(A
k =1
i
k
Ε kπ / β ( R3 , R4 )
− Bki
Ε kπ / β ( R3 , R4 )
) ⋅ cos
 β
(θ − θ i ) 

(8)
Fig. 3. jth slot subdomain with its boundary conditions (with homogeneous
where k is a positive integer, Ε kπ / β ( r , R4 ) is defined by (3), current density distribution Jj in the slot)
A0i , B0i , Aki and Bki are arbitrary constants.
The tangential component of the magnetic field at the sides
The constants A0i , B0i , Aki and Bki are determined using a and at the bottom of the slot is null (infinite permeability for
Fourier series expansion of the airgap magnetic vector the stator iron core). The boundary conditions for the jth slot
potential AII (R3 , θ ) and the one of the slot magnetic vector domain are then given by
potential A j (R4 , θ ) over the slot-opening interval [θi, θi+β ].
∂A j ∂A j
=0 and =0 (14)
θi + β ∂θ θ =θ i +
1
(β −δ ) ∂θ θ =θ i +
1
(β + δ )
1
∫A
2 2
A0i + B0i ln R3 = II ( R3 , θ ) ⋅ dθ (9)
β ∂A j
θi =0 (15)
θi + β ∂r r = R5
1
A0i + B0i ln R4 =
β ∫ A ( R ,θ ) ⋅ dθ
θi
j 4 (10) As can be seen in Fig. 3, the boundary condition at r = R4 is
more complex than the one at r = R5 and must be divided in
θi + β two parts. A first part corresponds to the stator iron core
2  kπ 
Aki =
β ∫
θ
AII ( R3 , θ ) ⋅ cos
 β
(θ − θ i )  ⋅ dθ

(11) surface where the tangential component of the magnetic field
is null. A second part corresponds to the continuity of the
i
tangential component of the magnetic field between the jth
θi + β
2  kπ  slot subdomain and the ith slot-opening subdomain. Therefore,
Bki =
β ∫
θ
A j ( R4 , θ ) ⋅ cos
 β
(θ − θ i )  ⋅ dθ

(12) the boundary condition at r = R4 can be written as
i
 ∂Ai
The coefficients A0i , B0i , Aki and Bki are developed in the ∂A j  ∀ θ ∈ [θ i , θ i + β ]
=  ∂r r = R4 (16)
appendix. ∂r r = R 
0 elsewhere
4

B. Solution of Poisson’s Equation in the jth Slot Subdomain According to the superposition principle, the general
(Region j) solution of (13) is the sum of the general solution of the
The jth slot domain and its boundary conditions are shown corresponding Laplace’s equation and a particular solution
in Fig. 3. We have to solve the Poisson’s equation in a domain [24]. Taking into account the boundary conditions (14), (15)
of inner radius R4 and outer radius R5 delimited by the angles and (16), the solution can be written as
θi+1/2·(β-δ) and θi+1/2·(β+δ)
1  1 
A j (r , θ ) = A0j + µ0 J j  R52 ln r − r 2 
∂2 Aj 1 ∂A j 1 ∂ Aj
2
2  2 
+ + 2 = −µ0 J j (13)
∂r 2 r ∂r r ∂θ 2 ∞
δR4 Ρmπ / δ (r , R5 )  mπ  
∑A
1
+ ⋅ ⋅ ⋅ cos θ − θ i − ( β − δ )  
j
mπ Ε mπ / δ ( R4 , R5 ) δ
m
m =1   2 
where Jj is the current density in the slot j.
(17)
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where m is a positive integer. The constant Amj is determined

∂Ai
using a Fourier series expansion of over the slot
∂r R4
interval at r=R4

θi + β
2 ∂Ai  mπ  1 
Amj =
δ ∫
θ
∂r R4
⋅ cos
 δ 
θ − θ i − ( β − δ )   ⋅ dθ
2 
(18)
i

The interface condition (16) also provides a direct relation

between the coefficient B0i defined in (8) and the current
density Jj

B0i =
δ 1
⋅ µ 0 J j ⋅ R52 − R42
β 2
( ) with i=j (19)

The development of (18) is given in the appendix.

Fig. 4. Airgap subdomain (region II) with its boundary conditions.

C. Solution of Laplace’s Equation in the AirGap

Taking into account the boundary conditions (21) and (22),
Subdomain (Region II )
the general solution of the magnetic vector potential in the
The airgap subdomain and the associated boundary airgap can be written as
conditions are shown in Fig. 4. The problem to solve is
∞
R2 Ρn (r , R3 ) R Ρ ( r , R2 )
∂ AII 1 ∂AII
2
1 ∂ AII 2
 R 2 ≤ r ≤ R3 AII (r , θ ) = ∑ (A II
+ BnII 3 n ) cos(nθ )
n Ε n ( R2 , R3 ) n Ε n ( R3 , R2 )
n
+ + 2 =0 for  (20) n =1
∂r 2 r ∂r r ∂θ 2 0 ≤ θ ≤ 2π ∞
R2 Ρn (r , R3 ) R Ρ ( r , R2 )
+ ∑ (C II
+ DnII 3 n ) sin (nθ )
n Ε n ( R2 , R3 ) n Ε n ( R3 , R2 )
n
The continuity of the tangential component of the magnetic n =1
field at r = R2 leads to: (24)
where n is a positive integer, Ρn ( r , R3 ) and Ε n ( R2 , R3 ) are
∂AII ∂AI defined by (2) and (3). The coefficients AnII , BnII , C nII and DnII
= (21)
∂r r = R2 ∂r r = R2 are determined using Fourier series expansion

2π
The boundary condition at the radius r = R3 is more 2 ∂AI
complex because of the existence of the slots as shown in Fig.
AnII =
2π ∫ ∂r
0 R2
⋅ cos(nθ ) ⋅ dθ (25)
1. Considering the continuity of the tangential magnetic field
2π
at the interface between the slot-opening and the airgap and 2
considering that the tangential magnetic field is equal to zero BnII =
2π ∫ f (θ ) ⋅ cos(nθ ) ⋅ dθ
0
(26)
elsewhere (infinite permeability of the stator core), the
2π
boundary condition at r = R3 can be written as [20] 2 ∂AI
C nII =
2π ∫ ∂r
0 R2
⋅ sin(nθ ) ⋅ dθ (27)

∂AII
= f (θ ) (22) 2π
∂r 2
With
r = R3 DnII =
2π ∫ f (θ ) ⋅ sin(nθ ) ⋅ dθ
0
(28)

The expressions of the coefficients AnII , BnII , C nII and DnII

 ∂Ai
 ∀θ ∈ [θ i , θ i + β ] are given in the appendix
f (θ ) =  ∂r r = R3 (23) The radial and tangential flux density distribution in the
 airgap can be deduced from the magnetic vector potential by
0 elsewhere

1 ∂AII ∂AII
where Ai (r , θ ) is the magnetic vector potential in the ith slot- BIIr = BIIθ = − (29)
r ∂θ ∂r
opening given by (8).
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D. Solution of Poisson’s Equation in the PMs Subdomain where n is a positive integer, p is the number of pole-pairs of
(Region I) the PM rotor and Ρn (r , R1 ) is defined by (2). It is worth to
The rotor PMs subdomain and the associated boundary mention here that the magnetic vector potential solution (33)
conditions are shown in Fig. 5. The problem to solve is contains some harmonic terms which are not multiple of the
pole pairs number p. This is due to the presence of the slots.
∂ 2 AI 1 ∂AI 1 ∂ 2 AI µ 0 ∂M r  R ≤ r ≤ R2 The coefficients AnI and C nI are determined using a Fourier
+ + 2 = for  1 (30)
∂r r ∂r r ∂θ ∂θ 0 ≤ θ ≤ 2π
2 2
r series expansion of AII ( R2 ,θ ) over the interval [0, 2π]

where µ0 is the permeability of the vacuum and Mr is the 2π

2
radial magnetization of the magnets.
Knowing that the tangential component of the flux density
AnI =
2π ∫A
0
II ( R2 ,θ ) ⋅ cos(nθ ) ⋅ dθ (36)

at r = R1 is null (rotor core with infinite permeability) and 2π

2
considering the continuity of the radial component of the flux C nI =
2π ∫A II ( R2 ,θ ) ⋅ sin(nθ ) ⋅ dθ (37)
density at r = R2 , we have 0

∂AI The expressions of the coefficients AnI and CnI are given in
=0 (31)
∂r r = R1
the appendix.

AI ( R2 ,θ ) = AII ( R2 ,θ ) (32)

The magnetization distribution Mr is plotted in Fig. 6, where

Br is the remanence of the magnets and ∆ is the position of
the rotor. The radial magnetization can be expressed in
Fourier’s series and replaced in (30).
Taking into account the boundary conditions (31) and (32),
the general solution of the magnetic vector potential in the
PMs subdomain can be written as

∞
 Ρn (r , R1 ) 
AI ( r , θ ) = ∑  A I
+ X n (r ) cos(n∆ ) cos(nθ )
Ρn ( R2 , R1 )
n
n =1 
(33)
∞
 I Ρn (r , R1 ) 
+ ∑
 Cn + X n (r ) sin (n∆ ) sin (nθ )
n =1 
Ρn ( R ,
2 1R ) 

Where

Ρ (r , R1 )  R1  R1  ' 
n
X n (r ) = - n   f n ( R1 ) + f n ( R2 ) 
Ρn ( R2 , R1 )  n  R2   Fig. 5. PMs subdomain (region I) with its boundary conditions.
  (34)
 R  R n 
+  1  1  f n' ( R1 ) + f n (r ) 
 n  r  
 
And

 4 Br p  nπ 
 r ⋅ cos (1 − α )  if n = lp with l = 1, 3...
 π (1 − n )
2
 2p 
 2B π 
f n (r ) =  r r ln r ⋅ cos (1 − α )  if n = p = 1
 π  2 
0 otherwise


(35)

Fig. 6. Magnetization distribution along θ-direction (PM rotor).

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IV. BACK-EMF AND TORQUE CALCULATION The phase flux vector is given by
A. Electromagnetic torque Calculation
Ψ a 
 
( )
The electromagnetic torque is obtained using the Maxwell
stress tensor. A circle of radius Re in the airgap subdomain is Ψ b  = nturn ⋅ [C ] ⋅ ϕ1 ϕ 2 . . . ϕ Q −1 ϕ Q (44)
taken as the integration path so the electromagnetic torque is Ψ 
 c
expressed as follows
where nturn is the number of turns in series per phase and [C] is
2π
LRe2 a connecting matrix (of dimension 3×Q) that represents the
Te =
µ0 ∫B
0
IIr ( Re ,θ ) ⋅ B IIθ ( Re ,θ ) ⋅ dθ (38) stator windings distribution in the slots. The connecting matrix
(of the slots with respect to the phases) corresponding to the
three-phase PM motor shown in Fig.1 (with 6 stator slots,
where L is the axial length of the motor. Substituting (29) into concentrated windings and alternate teeth wound) is given by
the previous equation, the analytical expression for the
electromagnetic torque becomes [20]
1 − 1 0 0 0 0 
∞ [C ] = 0 0 0 0 1 − 1 (45)
πLRe2
Te =
µ0 ∑ (W X
n =1
n n + Yn Z n ) (39) 0 0 1 − 1 0 0 

The three-phase back-EMF vector is computed by

Where
R2 Ρn ( Re , R3 ) R Ρ (R , R )  Ea  Ψ a 
Wn = − AnII − BnII 3 n e 2  
Re Ε n ( R2 , R3 ) Re Ε n ( R3 , R2 ) d  
 Eb  = Ω ⋅ Ψ b  (46)
R2 Ε n ( Re , R3 ) R Ε (R , R ) E  d∆  
Xn = −C nII − DnII 3 n e 2  c Ψ c 
Re Ε n ( R2 , R3 ) Re Ε n ( R3 , R2 )
(40)
R2 Ρn ( Re , R3 ) R Ρ (R , R ) where Ω is the rotating speed of the rotor.
Yn = CnII + DnII 3 n e 2
Re Ε n ( R2 , R3 ) Re Ε n ( R3 , R2 )
R2 Ε n ( Re , R3 ) R Ε (R , R )
Z n = − AnII − BnII 3 n e 2 V. ANALYTICAL RESULTS AND COMPARISON WITH FINITE
Re Ε n ( R2 , R3 ) Re Ε n ( R3 , R2 )
ELEMENT CALCULATION

A. Example 1: Fractional slot/pole machine (q=0.5)

B. Back-EMF Calculation
As an example of PM machine, we investigate here the
In order to compute the back-EMF of a 3-phase motor, we performances of a three-phase fractional-slot PM motor shown
first determine at a given rotor position ∆, the flux over each in Fig.1. This machine presents 4-pole/6-slot corresponding to
slot j of cross section Sslot. We have supposed that the current a number of slot per pole and per phase equal to q = 0.5 and a
density is uniformly distributed over the slot area, so the concentrated stator windings with alternate teeth wound.
vector potential can be averaged over the slot area to represent Fractional-slot PM machines with concentrated windings
the coil present several advantages such as short end turns and hence a

(R )
low copper losses, high power density and low cogging torque
L 2
− R42 [21]. Recently, they have found many applications such as
ϕj =
S slot ∫∫ A (r ,θ )rdrdθ
S slot
j with S slot = δ ⋅ 5
2
(41)
domestic and automotive appliances. However, this type of
machine presents more important eddy-current losses in the
rotor magnets due to the presence of high-level space-
where L is the machine axial length. The vector potential harmonics in the armature reaction magnetic field [22]-[23].
Aj(r,θ) is given by (17). The development of (41) gives The geometrical parameters of the studied PM motor are
given in Table I. The analytical solutions in the airgap, in the
ϕ j = L ⋅ A0j + slots-opening and in the slot domains have been computed
with a finite number of harmonic terms N, K and M as
δµ 0 L   5 1  1  (42)
Jj  R54  ln( R5 ) −  + R52 R42  − ln( R4 )  + R44  indicated in Table I. In order to validate the proposed model,
2 S slot   8 2  8  the analytical results have been compared with 2D finite
element simulations obtained using FEMM software [25]. The
Under no-load condition (Jj = 0), the flux over each slot finite-element solutions were obtained by imposing the natural
becomes Neumann boundary condition at the surface of the stator and
ϕ j = L ⋅ A0j (43) rotor iron cores. The mesh in the different subdomains has
been refined until convergent results are obtained.
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1) Results for No-Load Condition (Br = 1.2T and Jrms=0

A/mm²) 1.5
Figure 7 shows the magnetic flux distribution in the
machine under no-load condition. The slot-opening to slot 1

Radial flux density (T)

pitch ratio is fixed to β/δ=0.4 (δ = 30° and β = 12°).
The radial and tangential component of the flux density 0.5
distribution in the middle of the air-gap (at r = 2.75cm ) are Finite element
shown in Fig. 8. The effect of the slots is very clear. One can 0 Analytical
see the distortion of the flux density waveforms at the location
of the slot-opening. An excellent agreement with the results -0.5
deduced from FEM is obtained. The effect of the slot-opening
on the radial component waveform of the flux density is seen -1
in Fig. 9. Indeed, a high value of β (at constant δ) leads to an
important variation of the flux density under the slot opening. -1.5
The back-EMF waveform as a function of the rotor position 0 60 120 180 240 300 360
for nturn=1 is presented in Fig. 10. The computation is done for Angle (mech. degrees)
(a)
a rotating speed Ω = 1500 rpm. The analytical and numerical
results are again in close agreement. 0,5
Finite element
0,4
Tangential flux density (T) Analytical
0,3
0,2
0,1
-0
-0,1
-0,2
-0,3
-0,4
-0.5
0 60 120 180 240 300 360
Angle (mech. degrees)
(b)

Fig. 8. Radial (a) and tangential (b) component of the flux density at no load
in the middle of the airgap for β/δ = 0.4

Fig. 7. Magnetic flux distribution for no-load condition (β/δ = 0.4).

1.5
β/δ =0.7
TABLE I
PARAMETERS OF THE FRACTIONAL SLOT/POLE MACHINE β/δ =0.2
1
Symbol Quantity value
Radial flux density (T)

R1 Inner radius of the rotor yoke 2 cm 0.5

R2 Radius of the PMs rotor surface 2.7 cm
R3 Stator bore radius 2.8 cm
R4 Outer radius of the slot-opening 3 cm 0
R5 Outer radius of the slot 4 cm
L Axial length 10 cm
δ Slot pitch angle π/Q = 30° -0.5
β Slot-opening angle variable
α PMs pole-arc to pole-pitch ratio 0.85
-1
Br Remanence of the permanent magnets 1.2 T
p Pole-pairs number 2
Q Number of stator slots 6
-1.5
Jrms RMS current density 4.6 A/mm² 0 60 120 180 240 300 360
N Number of harmonics used for magnetic field 100 Angle (mech. degrees)
calculation in the airgap and PMs domains
M Number of harmonics used for magnetic field 100
calculation in the slot domain Fig. 9. Radial component of the flux density at no load in the middle of the
K Number of harmonics used for magnetic field 100 airgap for β/δ = 0.2 and β/δ = 0.7, analytical results.
calculation in the slot-opening domain
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An important characteristic of PM motors is the cogging

1
torque. For a ratio β/δ =0.4, the obtained cogging torque as a
function of the mechanical angle is given in Fig. 11. The 0.8 Finite element
angular period of the cogging torque corresponds to the Least Analytical
0.6
Common Multiple of 2p and Q giving 360°/LCM(4,6)=30°. 0.4
The influence of the slot-opening on the cogging torque for

EMF (Volts)
0.2
several values of β/δ is shown in Fig. 12. As expected, the
cogging torque decreases for lower values of the slot-opening. 0
It can be seen that the proposed analytical model can predict -0.2
the cogging torque with an excellent precision whatever the -0.4
slot-opening value.
-0.6
2) Armature Reaction Field (Br = 0T and Jrms=4.6A/mm²) -0.8
Figure 13 shows the flux distribution in the machine caused -1
by the armature reaction acting alone. The magnets are 0 30 60 90 120 150 180
Angle (mech. degrees)
considered to be unmagnetized and have no effect on the field
distribution. The three-phase stator windings are fed with Fig. 10. Per turn phase back-EMF waveform for β/δ = 0.4 (β = 12°)
electrical current such as Ia= I and Ib = Ic =-I/2 corresponding
to AC operation. The radial and tangential components of the
armature reaction field in the middle of the air-gap for β/δ = 2
Finite element
0.4 are plotted in Fig. 14. Very good agreement could be 1.5 Analytical
observed between the analytical and the finite-element results.
Using (8) and (17), the radial and tangential components of 1
the flux density distribution in the middle of the slot-opening
Torque (Nm)

0.5
(at r = 2.9cm ) and in the middle of the slot domain (at
r = 3.5cm ) are calculated and plotted respectively in Fig. 15 0
and Fig. 16. It is apparent from these results that the proposed
-0.5
analytical model can predict with an excellent precision the
magnetic field distribution in the slot regions and can be used -1
to compute the slot leakage inductance of the machine.
-1.5

-2
0 5 10 15 20 25 30
Angle (mech. degrees)

Fig. 11. Cogging torque waveform for β/δ = 0.4 (β = 12°)

4
Finite element
3 β/δ = 1
Analytical
2 β/δ = 0.4
Torque (Nm)

1
β/δ = 0.2
0

-1

-2

-3

-4
Fig. 13. Armature reaction magnetic flux distribution for Jrms=4.6A/mm² and 0 5 10 15 20 25 30
β/δ = 0.4 Angle (mech. degrees)

Fig. 12. Cogging torque waveforms for several slot-opening values (β/δ =1
corresponds to open slot)
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0.4 0.2
Finite element Finite element
0.3 Analytical
Analytical

Tangential flux density (T)

Radial flux density (T)

0.2 0.15

0.1

0 0.1

-0.1

-0.2 0.05

-0.3

-0.4 0
0 60 120 180 240 300 360 0 2 4 6 8 10 12
Angle (mech. degrees) Angle (mech. degrees)
(a) (b)

0.3 Fig. 15. Flux density distribution for radial (a) and tangential (b) component
Finite element of armature reaction in the middle of the slot-opening domain for β/δ = 0.4.

0.2 Analytical
Tangential flux density (T)

0.012
0.1 Finite element
0.008 Analytical
0
Radial flux density (T)

0.004
-0.1
0
-0.2
-0.004
-0.3
0 60 120 180 240 300 360
Angle (mech. degrees) -0.008
(b)
-0.012
Fig. 14. Flux density distribution for radial (a) and tangential (b) component 0 6 12 18 24 30
of armature reaction field in the middle of the airgap domain: Jrms=4.6A/mm², Angle (mech. degrees)
Ia= I and Ib = Ic =-I/2, and β/δ = 0.4. (a)

0.035

0.016 0.03
Tangential flux density (T)

0.025
Radial flux density (T)

0.012
0.02

0.015
0.008
0.01

0.005 Finite element

0.004 Analytical
Finite element 0
Analytical 0 6 12 18 24 30
Angle (mech. degrees)
0
0 2 4 6 8 10 12 (b)
Angle (mech. degrees)
(a) Fig. 16. Flux density distribution for radial (a) and tangential (b) component
of armature reaction in the middle of the slot domain for β/δ = 0.4.
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3) Results for Load Condition (Br =1.2T,Jrms=4.6A/mm²)

Figure 17 shows the flux distribution in the machine under 1.5
load condition. The radial and tangential flux density
distribution along a circle in the middle of the airgap under 1

Radial flux density (T)

load condition (Ia=I and Ib=Ic=-I/2) is shown in Fig. 18. The
influence of the armature reaction on both the radial and the 0.5
tangential flux densities is noticeable in comparison with the Finite element
no-load results of Fig. 8. 0 Analytical
The static torque versus mechanical rotor position is
presented in Fig. 19 for β/δ=0.4. Compared to the FE -0.5
simulations, one can see that the analytical calculation well
tracks the electromagnetic torque. -1
Figure 20 shows the electromagnetic torque waveforms
versus rotor position for different values of the slot-opening. -1.5
At each rotor position, the current values in the different slots 0 60 120 180 240 300 360
are updated to have a sinusoidal current waveform. It can be Angle (mech. degrees)
(a)
seen that the studied machine produce an average torque of
about 9 Nm. The average torque decreases slightly with the 0.8
slot-opening. We can also observe the effect of the slot-
opening on the torque ripple. If we compare Fig. 12 and Fig. Tangential flux density (T) 0.6
20, it is evident that the torque ripples are mainly due to the 0.4
cogging torque. Once again, it can be seen that the analytical
results closely agree with the FEM results. It is worth noting 0.2
that the proposed analytical model is able to predict the
0
electromagnetic torque whatever the value of the slot-opening.
This result was not possible with the previous analytical -0.2
models proposed in the literature.
-0.4

-0.6 Finite element

Analytical
-0.8
0 60 120 180 240 300 360
Angle (mech. degrees)
(b)

Fig. 18. Radial (a) and tangential (b) flux density distribution in the middle of
the airgap under load conditions (β/δ=0.4)

12
Finite element
Analytical
10

8
Torque (Nm)

Fig. 17. Magnetic flux distribution for load condition (β/δ = 0.4).
0
0 10 20 30 40 50 60 70 80 90
Angle (mech. degrees)

Fig. 19. Static torque versus rotor position for β/δ=0.4 and Jrms=4.6A/mm².
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14
β/δ = 1 β/δ = 0.4
12

10
Torque (Nm)

8
β/δ = 0.2
6

4
Finite element
2
Analytical
0
0 10 20 30 40 50 60 70 80 90
Angle (mech. degrees)

Fig. 20. Electromagnetic torque versus rotor position for different values of
β/δ (Jrms=4.6A/mm²)

B. Example 2: Integer slot/pole machine (q= 2) Fig. 21. Magnetic flux distribution for no-load condition (β/δ = 0.6).
Another example is considered in this section for an integer
slot/pole machine. This machine presents 2-pole/12-slot
1
corresponding to a number of slot per pole and per phase equal Finite element
to q = 2 with a single-layer winding. Notice that for this Analytical
machine with p=1, the particular solution in the PMs region
Radial flux density (T)

0.5
uses line 2 in (35).
The connecting matrix in this case is

0
1 1 0 0 0 0 − 1 − 1 0 0 0 0 
[C ] = 0 0 0 0 1 1 0 0 0 0 − 1 − 1
0 0 − 1 − 1 0 0 0 0 1 1 0 0  -0.5
(47)

The geometrical parameters of the motor are given in Table II. -1

0 60 120 180 240 300 360
TABLE II
Angle (mech. degrees)
PARAMETERS OF THE INTEGER SLOT/POLE MACHINE (a)

Symbol Quantity value 0.4

Finite element
R1 Inner radius of the rotor yoke 10 cm 0.3 Analytical
R2 Radius of the PMs rotor surface 11.2 cm
Tangential flux density (T)

R3 Stator bore radius 11.6 cm 0.2

R4 Outer radius of the slot-opening 12 cm
R5 Outer radius of the slot 14.5 cm 0.1
L Axial length 40 cm
δ Slot pitch angle 12° 0
β Slot-opening angle variable
α PMs pole-arc to pole-pitch ratio 0.9 -0.1
Br Remanence of the permanent magnets 1.2 T
p Pole-pairs number 1
-0.2
Q Number of stator slots 12
Jrms RMS current density 4.6 A/mm²
-0.3

-0.4
0 60 120 180 240 300 360
1) Results for no-load condition Angle (mech. degrees)
Figure 21 shows the magnetic flux distribution in the (b)
machine under no-load condition. The slot-opening to slot
pitch ratio is fixed to β/δ=0.6 (δ = 12° and β = 7.2°). Fig. 22. Radial (a) and tangential (b) components of the flux density at no load
in the middle of the airgap for β/δ = 0.6
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Figure 22 shows the flux density distribution in the middle Figure 26 shows the electromagnetic torque waveforms
of the airgap. Clearly, the presence of the 12 slots results in a versus rotor position for β/δ = 0.6. The machine is supplied
distortion of the flux densities at the vicinity of the slot with a 3-phase sinusoidal current. It can be seen that the
opening. studied machine produces an average torque of 865 Nm. The
The cogging torque waveforms for several values of the slot torque ripples are due to the cogging torque but also to the
opening β are given in Fig. 23. The cogging torque decreases space harmonics created by the stator winding distribution as
with the slot opening. Once again, the analytical and the FE well as the magnetization of the PMs. These ripples represent
results are in good accordance. almost 30% of the average torque.
In order to have a good precision in the analytical torque
2) Results for load condition evaluation, the number of harmonic terms used in the
Figure 24 shows the flux lines in the machine under load computations is equal to N=25 (airgap and PM subdomains)
conditions. The radial and tangential components of the airgap and M=K=15 (slots and slot-opening subdomains). For a given
flux density with Ia=I and Ib=Ic=-I/2 are shown in Fig. 25. rotor position, the computation time is about 40 ms with the
Compared to Fig. 22, one can observe that the armature analytical model whereas the linear FEM takes about 2 s for a
reaction have a great influence on the airgap flux density mesh of 23500 elements. The analytical computations being
distribution. much faster, the presented model can advantageously be used
in a preliminary design of PMs motors.

80 1.5
Finite element
60 Analytical
β/δ = 0.6 1
Radial flux density (T)

40
β/δ = 0.4 0.5
Torque (Nm)

20
β/δ = 0.2
0 0

-20
-0.5
-40
Finite element -1
-60
Analytical
-80 -1.5
0 5 10 15 20 25 30 0 60 120 180 240 300 360
Angle (mech. degrees) Angle (mech. degrees)

Fig. 23. Cogging torque waveforms for several values of β/δ. (a)

0.8
Finite element
0.6 Analytical
Tangential flux density (T)

0.4

0.2

-0.2

-0.4

-0.6

-0.8
0 60 120 180 240 300 360
Angle (mech. degrees)
(b)

Fig. 25. Radial (a) and tangential (b) components of the airgap flux density
under load conditions (β/δ = 0.6)

Fig. 24. Magnetic flux lines under load condition (β/δ = 0.6)
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θi + β

∫ sin(nθ ) ⋅ dθ
1000
s ( n, i ) = (A.4)
θi
800
θi + β
 mπ 1   kπ 
F (m, k ) = ∫ cos (θ − θ i − ( β − δ ))  cos (θ − θ i ) dθ
Torque (Nm)

600
θ
 δ 2   β 
i
(A.5)
400
Finite element
The development of (A.1) and (A.2) gives the following
Analytical
200 functions that will be used in the expressions of the Fourier
coefficients

0
0 30 60 90 120 150 180
- for kπ ≠ nβ
Angle (mech. degrees)
f ( k , n, i ) =
(
− nβ 2 (−1) k sin n( β + θ i ) − sin(nθ i ) ) (A.6)
Fig.26. Electromagnetic torque versus rotor position for β/δ=0.6 k 2π 2 − n 2 β 2
(Jrms=4.6A/mm²)
g ( k , n, i ) =
(
nβ 2 (−1) k cos n( β + θ i ) − cos(nθ i ) ) (A.7)
VI. CONCLUSION k 2π 2 − n 2 β 2
In this paper, an exact analytical method for computing the
airgap field distribution in PM motors with semi-closed slots - for kπ = nβ
has been presented. The Laplace’s and Poisson’s equations in β
polar coordinates have been solved by the technique of  cos(nθ i ) +
f (k , n, i ) =
1
(sin n(θ i + 2β ) − sin(nθi )) 
2 2 kπ 
separation of variables in the different subdomains. The
proposed model is sufficiently general to be used for any pole (A.8)
β 
and slot combinations including fractional slot winding g (k , n, i) =  sin(nθ i ) −
1
(cos n(θ i + 2β ) − cos(nθi )) 
machines. The analytical model accounts for armature reaction 2 2kπ 
field and mutual influence between slots. Flux density (A.9)
distribution, back-EMF and electromagnetic torque
computations for no-load and load conditions are in close The development of (A.3) and (A.4) gives the following
agreement with those issued from finite element predictions. functions
The analytical model developed in this paper can be used to
r (n, i) = (sin(nθ i + nβ ) − sin(nθ i ) )
1
investigate the influence of the design parameters such as slot (A.10)
n
dimensions, magnet dimensions, slot and pole number
s( n, i) = (− cos(nθ i + nβ ) + cos(nθ i ) )
1
combinations or winding topologies for the calculation of PM (A.11)
n
machines performances. It presents a new tool for design and
optimization of surface-mounted PM motors. The development of (A.5) gives the following functions

mπ kπ
APPENDIX - for ≠
δ β
For the determination of the integration coefficients, we
mπ
have to calculate integrals of the form
F (m, k ) = δ ×
2
 mπ   kπ 
2
θi + β
 kπ    −   (A.12)
f ( k , n, i ) = ∫
θ
cos(nθ ) ⋅ cos
 β
(θ − θ i )  ⋅ dθ

(A.1)  δ   β 
i   mπ   mπ 
θi + β (−1) sin 
k
( β + δ  + sin  ( β − δ 
 kπ    2δ   2δ 
g ( k , n, i ) = ∫
θ
sin(nθ ) ⋅ cos
 β
(θ − θ i )  ⋅ dθ

(A.2)
i
mπ kπ
θi + β - for =
δ β
r (n, i ) = ∫θ cos(nθ ) ⋅ dθ (A.3)
β  kπ 
i F ( m, k ) = cos ( β − δ )  (A.13)
2  2β 
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• Expressions of the coefficients AnII , BnII , C nII and DnII for R2 Ρn ( R2 , R3 ) R 2

C nI = CnII + DnII 3 (A.21)
the airgap subdomain n Ε n ( R2 , R3 ) n Ε n ( R3 , R2 )
The development of (25) and (27) gives • Expression of the coefficients A0i , B0i , Aki and Bki for the
ith slot-opening subdomain
n Ε n ( R2 , R1 )
AnII = AnI + X n' ( R2 ) cos(n∆ ) (A.14) The treatment of (11) and (12) yields to the following linear
R2 Ρn ( R2 , R1 ) relations

n Ε n ( R2 , R1 ) ∞
CnII = CnI + X n' ( R2 ) sin(n∆ ) 2 R3 Ρn ( R3 , R2 )
∑( A
(A.15) 2 R2 2
R2 Ρn ( R2 , R1 ) Aki = II
+ BnII ) ⋅ f ( k , n, i )
nβ Ε n ( R2 , R3 ) nβ Ε n ( R3 , R2 )
n
n=1
∞
2 R3 Ρn ( R3 , R2 )
∑ (C
2 R2 2
dX n (r ) + II
+ DnII ) ⋅g (k , n, i )
where ∆ is the PM rotor position and X n' ( R2 ) = n
nβ Ε n ( R2 , R3 ) nβ Ε n ( R3 , R2 )
dr n=1
r = R2
(A.22)
Xn(r) is given by (34).
The coefficient BnII and C nII defined in (26) and (28) can ∞
2δR4 Ρmπ / β ( R4 , R5 )
be written as Bki = ∑(A
m =1
j
m
mπβ Ε mπ / β ( R4 , R5 )
⋅F (m, k ) (A.23)

Q θi + β
∂Ai
∑∫
2
BnII = ⋅ cos(nθ ) ⋅ dθ (A.16) The treatment of (9) and (10) yields to the following linear
2π i =1
∂r r = R3 relations
θ i

Q θi + β
∂Ai ∞
∑∫
2 R Ρ (R , R )
DnII = ⋅ sin(nθ ) ⋅ dθ
∑( A
(A.17) R2 2
2π ∂r A0i + B0i ln R3 = II
+ BnII 3 n 3 2 ) ⋅r (n, i )
nβ Ε n ( R2 , R3 ) nβ Ε n ( R3 , R2 )
n
i =1
θ r = R3
i n=1
∞
R Ρ (R , R )
∑ (C
R2 2
where Q is the number of stator slots. The development of + II
+ DnII 3 n 3 2 ) ⋅s (n, i )
nβ Ε n ( R2 , R3 ) nβ Ε n ( R3 , R2 )
n
(A.16) and (A.17) gives n=1
(A.24)
Q
B0i
BnII = ∑ πR
i =1 3
⋅ r ( n, i )
A0i + B0i ln R4 = A0j +
1  R2 
µ 0 J j  R52 ln R4 − 4  +
2  2 
∞
k Ρkπ / β ( R3 , R4 )
Q (A.25)
+ ∑∑ A
i =1 k =1
i
k
βR3 Ε kπ / β ( R3 , R4 )
⋅ f ( k , n, i ) (A.18)
∑
∞
Amj
2 R4  δ  Ρmπ / β ( R4 , R5 )  mπβ   mπ 
 
2
sin   cos 
m =1
β  mπ  Ε mπ / β ( R4 , R5 )  2δ   2 
Q ∞

∑∑
k 2
− Bki ⋅ f ( k , n, i )
i =1 k =1
βR3 Ε kπ / β ( R3 , R4 ) • Expression of the coefficient Amj for the jth slot subdomain
(18)
Q
B0i
DnII = ∑
i =1
πR3
⋅ s ( n, i )
Amj = B0i ⋅
4  mπβ
sin 
  mπ
 cos

+
∞
mπR4  2δ   2 
k Ρkπ / β ( R3 , R4 )
Q
+ ∑∑ A
i =1 k =1
i
k
βR3 Ε kπ / β ( R3 , R4 )
⋅ g ( k , n, i ) (A.19)
+
∞

∑  A
 i 2
− Bki
Ρkπ / β ( R4 , R3 )  2kπ
⋅ ⋅ F ( m, k )
Ε kπ / β ( R3 , R4 ) Ε kπ / β ( R3 , R4 )  δβ R4
k
Q ∞ k =1

∑∑
k 2
− Bki ⋅ g ( k , n, i ) (A.26)
i =1 k =1
βR3 Ε kπ / β ( R3 , R4 )
We have to solve a system of linear equations with the same
It is worth noting that the mutual interaction between slots number of unknowns. By rewriting the above equations in
is related by the sum operation on Q in (A.18) and (A.19). matrix and vectors format, a numerical solution can be found
• Expressions of the coefficients AnI and CnI , for the PMs by using mathematical software (Matlab).
subdomain (36) and (37)

R2 Ρn ( R2 , R3 ) R 2
AnI = AnII + BnII 3 (A.20)
n Ε n ( R2 , R3 ) n Ε n ( R3 , R2 )
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magnets of permanent-magnet brushless machines having a fractional
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magnet motors taking into account the effect of pole transition over 2469, Sep. 2005.
slots,” IEEE Trans. Magn., vol. 43, no. 10, pp. 3872-3882, Oct. 2007. [23] N. Bianchi, and E. Fornasiero “Impact of MMF space harmonic on rotor
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permanent-magnet motors taking into account slotting effect: no-load Energy Convers., vol. 24, no. 2, pp. 323–328, June. 2009
vector potential and flux density calculation,” IEEE Trans. Magn., vol. [24] S. J. Farlow, Partial Differential Equations for Scientists and Engineers.
45, no. 5, pp. 2097-21092, May 2009. Dover publications, New York, 414 pp, 1993.
[3] Z. Q. Zhu, L. J. Wu, and Z.P. Xia, “An accurate subdomain model for [25] D. C. Meeker, “Finite Element Method Magnetics”, Version 4.2 (1 April
magnetic field computation in slotted surface-mounted permanent 2009 Build), http://www.femm.info
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[4] F. M. Sargos and A. Rezzoug, “Analytical calculation of airgap Thierry Lubin was born in Sedan, France, in 1970. He received the M.S.
magnetic field produced by inset permanent magnet rotor machine,” J. degree from the University of Paris 6, France in 1994 and the Ph.D. degree
Physics III (in French), vol. 1, pp 103-110, 1990. from the University Henri Poincaré, Nancy, France, in 2003.
[5] Z. Q. Zhu and D. Howe, “Instantaneous magnetic-field distribution in He is currently a lecturer of Electrical Engineering at the University of
brushless permanent-magnet dc motor, part III: Effect of slotting,” IEEE Nancy at the Groupe de Recherche en Electrotechnique et Electronique de
Trans. Magn., vol. 29, no. 1, pp. 143-151, Jan. 1993. Nancy. His interests include modeling and control of electrical machines and
[6] D. Zarko, D. Ban, and T. A. Lipo, “Analytical calculation of magnetic applied superconductivity in electrical devices.
field distribution in the slotted air gap of a surface permanent-magnet
motor using complex relative air-gap permeance,” IEEE Trans. Magn.,
vol. 42, no. 7, pp. 1828-1837, Jul. 2006. Smail Mezani was born in Algiers, Algeria, in 1974. He received the engineer
[7] M. Markovic, M. Jufer, and Y. Perriard, “Reducing the cogging torque diploma and the magister degree from the University of Sciences and
in brushless dc motors by using conformal mappings,” IEEE Trans. Technology Houari Boumediene, Algiers, Algeria in 1996 and 1999
Magn., vol. 40, no. 2, pp. 451-455, Mar. 2004. respectively. He obtained the Ph.D. degree from the Institut National
[8] K. Boughrara, D. Zarko, R. Ibtiouen, O. Touhami, and A. Rezzoug, Polytechnique de Lorraine, France, in 2004.
“Magnetic field analysis of inset and surface-mounted permanent- He is currently a lecturer at the University Henri Poincaré of Nancy, France,
magnet synchronous motor using Schwarz-Christoffel transformation,” at the Groupe de Recherche en Electrotechnique et Electronique de Nancy
IEEE Trans. Magn., vol. 45, no. 8, pp. 3166-3168, Aug. 2009. where his research interests include the applications of superconductors in
[9] Q. Gu and H. Gao, “Effect of slotting in PM electrical machines,” Elect. electromechanical devices.
Mach. Power Syst., vol. 10, pp. 273-284, 1985.
[10] N. Boules, “Prediction of no-load flux density distribution in permanent
magnet machines,” IEEE Trans. Ind. Appl., vol. IA-21, no. 3, pp. 633- Abderrezak Rezzoug received the electrical engineer degree from ENSEM
643, Jul./Aug. 1985. INPL, Nancy, France in 1972, and the Dr. Ing. diploma and the Ph.D. degree
[11] B. Ackermann and R. Sottek, “Analytical modeling of the cogging from INPL, in 1979 and 1987 respectively.
torque in permanent magnet motors,” Elect. Eng., vol. 78, no. 2, pp. After working at the INPL as an assistant Professor until 1991, he is
117-125, Mar. 1994. currently a Professor of Electrical Engineering at the University Henri
[12] Z. Q. Zhu, and D. Howe, “Analytical prediction of the cogging torque in Poincaré, Nancy, France. As a member of the Groupe de Recherche en
radial-field permanent magnet brushless motors,” IEEE Trans. Magn., Electrotechnique et Electronique de Nancy, his main subjects of research
vol. 28, no. 2, pp. 1371-1374, Mar. 1992. concern superconducting applications to electrical devices, and the control and
[13] K. F. Rasmussen, H. D. John, T. J. E. Miller, M. I. McGilp, and O. diagnosis of electrical machines.
Mircea, “Analytical and numerical computation of air-gap magnetic
field in brushless motors with surface permanent magnet,” IEEE Trans.
Magn., vol. 36, no. 6, pp. 1547-1554, Nov./ Dec. 2000.
[14] X. Wang, Q. Li, S. Wang, and Q. Li, “Analytical calculation of air-gap
magnetic field distribution and instantaneous characteristics of brushless
dc motors,” IEEE Trans. Energy. Convers., vol. 18, no. 3, pp. 424432,
Sep. 2003.
[15] P. Kumar, and P. Bauer, “Improved analytical model of a permanent-
magnet brushless DC motor,” IEEE Trans. Magn., vol. 44, no. 10, pp.
2299-2309, Oct. 2008.
[16] Z. J. liu, and J. T. Li, “Accurate prediction of magnetic field and
magnetic forces in permanent magnet motor using an analytical
solution,” IEEE Trans. Energy. Convers., vol. 23, no. 3, pp. 717-726,
Sept. 2008.
[17] B. N. Cassimere, S. D. Sudhoff, and D. H. Sudhoff “Analytical design
model for surface mounted permanent-magnet synchronous machines,”
IEEE Trans. Energy Convers., vol. 24, no. 2, pp. 347–357, June. 2009
[18] A. Bellara, Y. Amara, G. Barakat, and B. Dakyo, “Two-dimensional
exact analytical solution of armature reaction field in slotted surface
mounted PM radial flux synchronous machines,” IEEE Trans. Magn.,
vol. 45, no. 10, pp. 4534-4538, Oct. 2009.
[19] B. L. J. Gysen, K. J. Meessen, J. J. H. Paulides, and E. A. Lomonova,
“General formulation of the electromagnetic field distribution in
machines and devices using Fourier analysis,” IEEE Trans. Magn., vol.
46, no. 1, pp. 39-52, Jan. 2010.
[20] T. Lubin, S. Mezani, and A. Rezzoug, “Exact analytical method for
magnetic field computation in the air-gap of cylindrical electrical
machines considering slotting effects,” IEEE Trans. Magn., vol. 46, no.
4, pp. 1092-1099, Apr. 2010.
[21] A. M. El-Refaie, “Fractional-slot concentrated-windings synchronous
permanent magnet machines: opportunities and challenges,” IEEE
Trans. Ind. Electron, vol. 57, no. 1, pp. 107-121, Jan. 2010.