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Cogging torque mitigation for permanent magnet synchronous motor using

stator slots design

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 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING
ICECCPCE19, 13-14 February, 2019 | Mosul, Iraq

Cogging torque Mitigation for PMSM using stator

2019 2nd International Conference on Electrical, Communication, Computer, Power and Control Engineering (ICECCPCE) 978-1-7281-0781-3/20/$31.00 ©2020 IEEE 10.1109/ICECCPCE46549.2019.203781

slots design and Magnets skewing

Ahmed. J. Ali Ahmed. H. Ahmed Basil M. Saied
Electrical Engineering Department Electrical Engineering Department Independent Scholar
University of Northern Technical University of Mosul Mosul , Iraq
Mosul, Iraq Mosul, Iraq
Ahmedjad2012@yahoo.com ahmad.201154@yahoo.com Basilms2005@yahoo.com

Abstract— A high power permanent magnet synchronous
motor has been investigated and numerically simulated using
finite element method (FEM) with the aid of ANSYS software
(RMXPRT and Maxwell 2D/3D). Concerning the design
factors of the slot opening and the skew of the permanent
magnets to as main effective role for main minimizing the
phenomena of cogging torque. In this paper, the effect of the
two factors are considered to improve the dynamic
performance of IPMSM. For presenting and simulation the
skewing of rotor magnets, it is more convenient to use 3-D
FEM model than. The RMxprt software has been used for
modeling and simulating the synchronous motor and
calculating the values of cogging torque and the working
torque at steady state condition. Then the model, based on
RMxprt software, has been transferred to Maxwell 3-D
software for computing the distribution of magnetic field and
explaining the performance under steady-state operation. The
obtained results show important reduction of cogging torque
due to the effect of applying the slot opening and the skew of
the permanent magnets approaches.
Keywords: IPMSM, FEM, cogging torque, slot opening, skewing
rotor magnets.
I. INTRODUCTION
Nowadays, permanent magnets synchronous motors
have a common industrial applications due to their
properties compared with induction motors. It has a higher
efficiency where they do not have field electric losses which
is consider an important issue required conservation energy.
There are two types of permanent magnet synchronous
motors (PMSMs), the magnet (IPMSM) and the surface
magnet (SPMSMs). The IPMSMs have widely and
increasingly applications in power system field. Due to high
for power compactness, efficiency, power factor and mall
size, it becomes a good choice instead of other normal
motors. But due to the presence of cogging torque (CT)
during operation which is generated normally in this type of
permanent magnet motors, effect on dynamic performance
and limit it is applications [1]. This drawback make the
design of this motors require additional considerations.
Cogging torque has a negative effect on the dynamic
performance of this type of motors because it is considered
the main contributors whole torque for the applications that
required a high accuracy. Therefore, reduction of CT is very
important issue in design strategy of PMSMs. CT is
consider a type of ripple torque arise. From the structure of
electrical machine that produces unaccepted acoustic noise
and vibration during rotation. On the dynamic behavior of
small power motors. CT is a feature of a PMSM that
depends on machine geometry. It occurs at the line up
instance between rotor magnets and stator teeth. Cogging
torque has an adverse effect on the performance of starting
torque, as well as produce noise and vibration. Finite
element method is numerical approach used for
computation fields, although it is ingest a very long time
during solution but a very accurate results can be obtained
for a complex and real representation of electric machines
geometries [1-2].
Cogging torque is generated due to mutual effect of both
permanent magnet (PM) and the flux stator teeth. Because
of the low reluctance of stator teeth, permanent magnet flux
path tends to pass through it. This will produce an attraction
between PM and stator teeth which produce a cogging
torque affect inversely on the developed torque and as a
result it is value reduced. CT produces a ripple in torque
and speed, noise and vibration in addition to drive systems
problems for low speed motors [3]. Different methods had
been used to reduce component of torque ripple, some of
them are focus on the design of machine structure, like the
arc and offset of magnet pole, skew the stator slots or rotor
magnets or stator slots [4, 5]. These approaches reduces the
value of ripple torque amplitude but it increase production
costs, increase the stator winding losses and fill factor in
case of skewing it is slots, reduce the output torque[6].
Skew of the rotor magnets is consider the most efficient
method used reduce the value of cogging torque, but it
increases manufacturing cost [7] .The ripple of the
developed torque may be increased by skewing due to
saturation of magnets and electric loading [8].
CT of IPMSM as explained earlier is generated due to the
interaction between rotor magnet group and stator teeth,
therefore, by controlling size of slot-opening and its
location may be suitable for CT reduction [9]. Another
approaches that had been used to reduce the cogging torque
like using an magnet with V-shape, use the optimization
method to select the number of motor poles and stator slots,
Also there are different approaches to mitigate both the
ripple and cogging torques, such as irregular V-type rotor
plan optimization of the slots and pole number, with
unequal teeth widths and barriers geometric stator data

978-1-7281-0781-3/19/$31.00 ©2019 IEEE 240

 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING ICECCPCE19, 13-14
February, 2019 | Mosul, Iraq
about machines structure, but it provides an accurate
information for the operation motor [11]. Numerical
techniques have been widely used to solve composite
domain structure, FEM which is one of these techniques
Give a very precise computation for 2D/3D problems of
electric machines with complex geometries. This solution
is used to calculate machine performance a very high
accuracy. Unfortunately, solving of FEM problems need a
complete information about the geometry, materials, type
of application to be used by electric machine in addition
boundary conditions that will be solved. It must be noted
that there are three types of FE analysis can be found, the
steady-state and transient analysis. The first type is called a
magneto static FEM while the other type is called time-
stepping FEM. Current work focus on reduction the
cogging torque and improve the efficiency and torque of the
motor based on change the design parameters of stator slots.
By using the properties of ANSYS Maxwell, RMxprt
software, the dimensions of slots are changed and the
performance of the motor are computed. Several factors
effect on the cogging torque like the magnetic field
distribution, number of rotor magnets, stator slots, width of
slot open, filling factor, and magnetic flux density and pole
pitch. In this paper the influence of stator slot skew angle
and slot opening have been investigated.
II. MODELLING OF IPMSM USING FEM AND
SIMULATION RESULTS.
FEM had been successfully used to obtain the necessary
accurate parameters and modeling of the PMSM and used
in power generation plants applications and faults diagnosis
systems. This modeling had been widely used in the field of
electric machine design and analysis. The Maxwell’s
equations has been solved to study the behavior of the
magnetic field in time and frequency domain. In this
research, modeling and simulation of PMSM by using FEM
coming from through three steps: pre, during and post -
processing, In the first step, pre-processing step, the
geometry of the PMSM is defined such as inner, out
diameters of stator and rotor cores, pole shoe, length core,
number of slots and real distribution of stator and field
winding. The materials properties of stator, rotor, cores and
PMSM shaft are defined. Anyway, this step can be given by
using dissociation of the PMSM in the laboratory [9].
Details of the machine dimensions, windings and materials
are given in Table1. The boundary conditions are applied
on the outer border of the stator and inner border of the
rotor. As obtained the results to confirm of the model. In
this stage, the size of mesh elements has been also defined.
At the The model of IPMSM has been simulated to show
the effect of varying the width of open slot (Bs0) in range
(0-3)mm with skewing permanent angle equal zero. Fig.2
and fig.3 indicate the variation of cogging torque and
efficiency with respect to Bs0. Fig. 4 shows the variation of
cogging torque for Bs0=0.,0.1,0.2,3 mm respectively. The
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stator slots in range from (0 -1) degree/slot. The effect of
skewing (Sw) on cogging torque model of the motor has
been analyzed for a skew angle of and efficiency are
explained in fig. 5 and fig. 6 respectively. It is obvious from
results that a great reduction occurs in the cogging torque
by increasing the Sw as explained in Fig.7.end of this stage,
the electrical and mechanical loads are applied on the
model. In the processing step, a set of Maxwell’s equations
are solved using numerical method and then the magnetic
field distribution over the model will be obtained. In the
post-processing step, all nodal and elemental results will be
computed. Speed and electromagnetic torque have been
calculated. Stator and rotor currents and flux density and all
other electromagnetic variables have been obtained and
formulated as equilibrium equations. The equations for the
complete structure are obtained, with ensuring continuity
for each element, and merging the equilibrium equation of
each element. The required variables are obtained by
applying the boundary conditions and solving the
equilibrium equations. The Ruling equation on a PMSM is
[9-10].
A 1
 ( ) 2 A    (  A)    (  M )..(1)
t 0
Where: σ: represents material conductivity (Ω. m). 0 :
represents magnetic material permeability (H/m)  : the
material velocity with respect to reference frame. M: is the
magnetization vector, A: the potential of the magnetic
vector,  : presents the scalar of electrical potential. The
above equations can be written in terms of magnetic vector
potential (MVP) A, where. B    A .. (2)
A .. (3)
E  
t
For equation (4) is the basic ruling-eq, for the difficult that
should be solved by FEM
A 1
 ( ) 2 A      M ..( 4)
t 0
For the FEM modeling PMSM using torque equation below
[12]:
ls
Te  P  rBr Bt .ds .. (5)
g o sg
Where: Te : present the electromagnetic torque (N. m)
g: present the air-gap length (m), P: present the number of
pole pairs. r is the mean air-gap radius (m). Br is the circular
constituent of the flux density (wb/m2). Bt is the peripheral
constituent of the flux density (wb/m2) [10]. A 3D finite
element method (FEM) is considered a necessary tool to
simulate paramete With and compute the magnetic flux
distribution.
 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING ICECCPCE19, 13-14
February, 2019 | Mosul, Iraq

A 3-phase IPMSM which has the parameters given in

Table I has been modeled and simulated using ANSYS
(RMxprt and Maxwell 2D/3D) software. First an analytical
analysis has been implemented using RMxprt software that
help to determine, the operating and cogging torque, rate
current and back EMFs of stator, the generated MMFs,
efficiency and other motor’s parameters. This software
provides ability to change the value of open slot width
(within specified range) or any other parameters that may
gave an effect on the operation of motor. The variation of
cogging torque depend on the width of open slot, where it Fig. 2 Relation of Cogging torque with Bs0.
is directly proportion with it. Fig. 1 shows the IPMSM with
the geometric shape of stator slot used in current work.

TABLE I. DATA OF A PMSM USED IN THE SIMULATION

No. of Pair Poles 4 Reference 3600 rpm

speed
Frequency 50 Rotor Inner
Hz position
Outer diameter 270 Hs0 1mm
mm
Inner diameter 162 Hs1 0 mm Fig. 3 Relation of efficiency with Bs0.
mm
Stack length 86 Hs2 29.5 mm
mm
Stack factor 0.95 Bs0 1.93 mm
No. of stator slot 48 Bs1 5 mm
Rated output 50 Bs2 8 mm
power kW
Rated voltage 200
V

(a)
a

Fig.1 (a) 8-pole PMSM, (b) geometric shape of stator slot.

(c)

Fig. 4. Computed cogging torque at different values of slotopen width (a)

Bs0=0.5 mm b) Bs0=1mm c) Bs0=3 mm

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 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING ICECCPCE19, 13-14
February, 2019 | Mosul, Iraq

Fig. 5 Relation of Cogging torque with skewing angle.

(a)

`
)b)
Fig. 6 Relation of efficiency with skewing angle.

)c)
)a)
Fig. 8 Computed cogging torque at different values of skewing angle (a)
Bs0=0.1mm; Sw=0, (b) Bs0=0.5cmm; Sw=0.4, (c) Bs0=2 mm; Sw=0.6 .

Which the skewing effect can be simulated easily as given

in Fig.10. A distribution of magnetic flux over the model
structure is computed using FEM.Then the dynamic
performance parameters which include stator currents, back
emfs, developed torque, and so on have been accurately.
The same design parameters in the suggested three cases
that have been analyzed in steady state analysis are used to
(b) compute the transient operation of the motor. Fig. 11 and
fig.12 and 13 gives the operating torque, stator current and
emfs.

(c)

Fig. 7 Computed cogging torque at different values of skewing angle (a)

Bs0=0.1mm; Sw=0, (b) Bs0=0.5cmm; Sw=0.4, (c) Bs0=2 mm; Sw=0.6 . (a)

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 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING ICECCPCE19, 13-14
February, 2019 | Mosul, Iraq

compute their effects on CT. The two factors are varied

The together to study their effect on all motor parameters.
cogging torque of the motor is significantly minimized
when slot opening widths is reduced. A small magnetic
reluctance will produce due to small width of slot opening
and this offers lower cogging torque.

(b)

(c)
Fig.9 Back emf ( line and phase voltages ) of IPMSM at different values
of skewing angle (a) Bs0=0.1mm; Sw=0, (b) Bs0=0.5cmm; Sw=0.4, (c)
Bs0=2 mm; Sw=0.6. Fig. 10 3-D model of IPMSM

Then the two suggested approaches have been applied

together to compute the dynamic performance operation of
the IPMSM. Using Rmxpert, the skewing angle has been
assumed to be varied in a range (0-1) degree/slot while the
Bs0 is changed in the range of (0.1-3) mm. It is possible to
calculate the values of all motor parameters at each step
change of Bs0 and Sw. Fig.8 describe the effect of Bs0 and
Sw on the CT according to the two factors together. Three
cases have considered at different values of Bs0 and Sw to
compute the steady state operation of the motor. In case one,
it has been found that the peak value of CT is equal to 0.02 Fig. 11 Dynamic torque of IPMSM under Bs0=0.1mm; Sw=0
N.m with efficiency is 97.9 % at Bs0=0.1 mm and Sw=0 degree/slot.
degree/slot, while in case two the CT is equal to 0.06 N.m
with efficiency is 94.9223 % at Bs0=0.5 mm and Sw=0.4
degree/slot and CT is equal to 0.6 N.m with efficiency is
93.137 % at Bs0=2 mm and Sw=0.6 degree/slot at case
three. In addition, the back emfs are became more
sinusoidal when the Sw is increased. Fig.9 show value of
CT, per phase and line induced back emf in the stator
winding at selected steps of Bs0 and Sw.

III. SIMULATION RESULTS OF IPMSM USING 3-D FEM

For investigatation the time stepping operation of
IPMSM, a model has been transposed into Maxwell 3-D in
A 3-D transient analysis based on FEM is Fig. 12 Dynamic torque of IPMSM under Bs0=0.5; Sw=0.4 degree/slot
implemented to compute the effect of changing the
stator slots parameters on the performance of IPMSM
dynamic model analyzed to show how it reduces a
cogging torque. First, the effect of skewing angle and
opening slot has been analyzed simultaneously to

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 2nd INTERNATIONAL CONFERENCE ON ELECTRICAL, COMMUNICATION, COMPUTER, POWER AND CONTROL ENGINEERING ICECCPCE19, 13-14
February, 2019 | Mosul, Iraq

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[1]. Seda Küla, Osman Bilgin, Mümtaz Mutluer “Application of Finite

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analysis using finite element based equivalent circuit model“ 2009
IEEE Vehicle Power and Propulsion Conference, Dearborn, MI,
Fig. 13 Dynamic torque of IPMSM under Bs0=2 mm; Sw=0.6
2009, pp. 291-294.
degree/slot. [3]. Hanselman, Duane C, Brushless Permanent Magnet Motor Design,
Magna Physics Publishing, 2nd edition,2006.
Figure 4 clears that when the width of slot opening is [4]. Hwang K. Y., JO J. H., Kwon B. I.: “A Study on Optimal Pole Design
3mm the produced cogging torque is 4 N.m, however of Spoke-Type IPMSM with Concentrated Winding for Reducing the
Torque Ripple by Experiment Design Method”, IEEE Transactions
cogging is minimized to 0.2 N.m when the slot width is on Magnetic, Vol. 45, No. 10, October, 2010.
reduced to 0.5 mm. Another method to minimized cogging [5]. R. Islam, I. Husain, A. Fardoun, and K. McLaughlin, “Permanent
torque by using skewing the stator stack. For maximum magnet synchronous motor magnet designs with skewing for torque
reduction in the cogging torque is achieved, the total skew ripple and cogging torque reduction”, IEEE Transactions on Industry
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been found that the maximum value of cogging torque is the Cogging Torque and Torque Ripples of PMSM” September
reduced from 2 N.m to 0.5 N.m when the skew angle is 2013, World Electric Vehicle Journal 6(3):712-718.
changed from 0.1to 0.6 degree/slot. [7]. N. Bianchi and S. Bolognani, "Design techniques for reducing the
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Bs0=0.1 mm 132.71 0.02 97.7 [11]. Miguel García-Gracia 1, Ángel Jiménez Romero , Jorge Herrero
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Bs0=2 mm 131.642 0.4 93.187
Sw=0.6 degree/slot

Study the behavior of permanent magnet motors

parameters under different operation conditions involves a
deep knowledge about construction and where PMSM will
be used. Finite element method is a perfect tool for
calculation of magnetic fields density and intensity of the
model under design. The aim of this work is to reduce the
cogging torque and improve the performance of IPMSM.
A static and dynamic model for the motor has been modeled
and analyzed using 3-D Finite element method. This
method provides an accurate representation of the
geometry, such as , materials, non-linear behavior of
magnetic field distribution and also have the ability to. The
influence of two parameters are considered and represent
any proposed or modified geometry of stator and rotor of
the motor. The model has been used to simulate the PM
motor under different fault conditions using ANSYS
Maxwell 2D/3D and Rmxpert programs.

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