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Keywords = permanent magnetic ferrite magnet rotors

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21 pages, 19193 KiB  
Article
Design of a Novel Nine-Phase Ferrite-Assisted Synchronous Reluctance Machine with Skewed Stator Slots
by Hongliang Guo, Tianci Wang, Hongwu Chen, Zaixin Song and Chunhua Liu
Energies 2025, 18(9), 2323; https://doi.org/10.3390/en18092323 - 2 May 2025
Viewed by 517
Abstract
This paper proposes a novel nine-phase ferrite-assisted synchronous reluctance machine (FA-SynRM) featuring skewed stator slots to address challenges related to harmonic distortion, torque ripple, and material sustainability which are prevalent in conventional permanent magnet-assisted synchronous reluctance motors (PMa-SynRMs). Existing PMa-SynRMs often suffer from [...] Read more.
This paper proposes a novel nine-phase ferrite-assisted synchronous reluctance machine (FA-SynRM) featuring skewed stator slots to address challenges related to harmonic distortion, torque ripple, and material sustainability which are prevalent in conventional permanent magnet-assisted synchronous reluctance motors (PMa-SynRMs). Existing PMa-SynRMs often suffer from increased torque ripples and harmonic distortion, while reliance on rare-earth materials raises cost and sustainability concerns. To address these issues, the proposed design incorporates low-cost ferrite magnets embedded within the rotor flux barriers to achieve a flux-concentrated effect and enhanced torque production. The nine-phase winding configuration is utilized to improve fault tolerance, reduce harmonic distortion, and enable smoother torque output compared with conventional three-phase counterparts. In addition, the skewed stator slot design further minimizes harmonic components, reducing overall distortion. The proposed machine is validated through finite element analysis (FEA), and experimental verification is obtained by measuring the inductance characteristics and back-EMF of the nine-phase winding, confirming the feasibility of the electromagnetic design. The results demonstrate significant reductions in harmonic distortion and torque ripples, verifying the potential of this design. Full article
(This article belongs to the Special Issue Advanced Technologies for Electrified Transportation and Robotics)
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29 pages, 10065 KiB  
Article
Experimental Determination of a Spoke-Type Axial-Flux Permanent Magnet Motor’s Lumped Parameters
by Andre Mrad, Jean-François Llibre, Yvan Lefèvre and Mohamad Arnaout
Electricity 2025, 6(2), 24; https://doi.org/10.3390/electricity6020024 - 1 May 2025
Viewed by 1122
Abstract
This study focuses on the experimental determination of the lumped parameters of a Spoke-Type Axial-Flux Permanent Magnet (STAFPM) motor. This type of motor offers high specific torque and is well-suited for transportation applications. The studied STAFPM motor uses Ferrite magnets, which are more [...] Read more.
This study focuses on the experimental determination of the lumped parameters of a Spoke-Type Axial-Flux Permanent Magnet (STAFPM) motor. This type of motor offers high specific torque and is well-suited for transportation applications. The studied STAFPM motor uses Ferrite magnets, which are more environmentally friendly and economical than rare earth magnets. The identification of the lumped electromechanical model parameters is carried out using static torque measurements on a dedicated test bench. The torque measurements are performed in two stages: with and without magnets mounted in the rotor. The no-load flux is determined separately by no-load tests. Together, these tests identify the key parameters of the lumped parameter model, such as self- and mutual inductances, cogging torque, and no-load flux. These parameters are then used to complement the DQ model, commonly used in electric motor analysis. While the DQ model predicts average torque well, it cannot reproduce torque ripples. The lumped parameter model, validated by three-phase DC testing, provides an accurate representation of the motor’s behavior, including torque ripples. This study also applies Maximum Torque Per Ampere (MTPA) control strategies and offers a practical alternative to 3D Finite Element Analysis (FEA), thus aiding the design of STAFPM motors. Full article
(This article belongs to the Special Issue Feature Papers to Celebrate the ESCI Coverage)
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18 pages, 13398 KiB  
Article
An Investigation of Parameter Dimension Reduction Optimization of PMA-Synrm
by Zhongqi Liu, Guiyuan Zhang and Guanghui Du
Appl. Sci. 2025, 15(3), 1529; https://doi.org/10.3390/app15031529 - 3 Feb 2025
Cited by 1 | Viewed by 1037
Abstract
The rotor of a permanent magnet-assisted synchronous reluctance (PMA-Synrm) motor mostly adopts the structure of a multi-layer magnetic barrier and multi-layer ferrite, which leads to the design parameters of this kind of motor increase with the increase in the number of magnetic barrier [...] Read more.
The rotor of a permanent magnet-assisted synchronous reluctance (PMA-Synrm) motor mostly adopts the structure of a multi-layer magnetic barrier and multi-layer ferrite, which leads to the design parameters of this kind of motor increase with the increase in the number of magnetic barrier layers. A large number of design parameters are coupled with each other, which makes the optimization design of a permanent magnet-assisted synchronous reluctance motor particularly difficult. In this paper, a 7.5 kW, 1500 rpm permanent magnet-assisted synchronous reluctance motor is taken as the research object, and the optimization design of parameter dimension reduction is studied. The rotor structure of the motor is a combination of five layers of magnetic barrier and five layers of ferrite. By using the parameter dimension reduction method proposed in this paper, the number of parameters involved in the optimization is reduced from 26 to 7, which greatly improves the optimization efficiency of this kind of motor and realizes the comprehensive global optimization design of a permanent magnet-assisted synchronous reluctance motor. This paper provides a reference for the optimization of a permanent magnet-assisted synchronous reluctance motor. Full article
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13 pages, 5435 KiB  
Article
Design, Analysis, and Comparison of Electric Vehicle Electric Oil Pump Motor Rotors Using Ferrite Magnet
by Huai-Cong Liu
World Electr. Veh. J. 2025, 16(1), 50; https://doi.org/10.3390/wevj16010050 - 20 Jan 2025
Viewed by 1414
Abstract
With the recent proliferation of electric vehicles, there is increasing attention on drive motors that are powerful and efficient, with a higher power density. To meet such high power density requirements, the cooling technology used for drive motors is particularly important. To further [...] Read more.
With the recent proliferation of electric vehicles, there is increasing attention on drive motors that are powerful and efficient, with a higher power density. To meet such high power density requirements, the cooling technology used for drive motors is particularly important. To further optimize the cooling effects, the use of direct oil-cooling technology for drive motors is gaining more attention, especially regarding the requirements for electric vehicle electric oil pumps (EOPs) in motor cooling. In such high-temperature environments, it is also necessary for the EOP to maintain its performance under high temperatures. This research explores the feasibility of using high-temperature-resistant ferrite magnets in the rotors of EOPs. For a 150 W EOP motor with the same stator size, three different rotor configurations are proposed: a surface permanent magnet (SPM) rotor, an interior permanent magnet (IPM) rotor, and a spoke-type IPM rotor. While the rotor sizes are the same, to maximize the power density while meeting the rotor’s mechanical strength requirements, the different rotor configurations make the most use of ferrite magnets (weighing 58 g, 51.8 g, and 46.3 g, respectively). Finite element analysis (FEA) was used to compare the performance of these models with that of the basic rotor design, considering factors such as the no-load back electromotive force, no-load voltage harmonics (<10%), cogging torque (<0.1 Nm), load torque, motor loss, and efficiency (>80%). Additionally, a comprehensive analysis of the system efficiency and energy loss was conducted based on hypothetical electric vehicle traction motor parameters. Finally, by manufacturing a prototype motor and conducting experiments, the effectiveness and superiority of the finite element method (FEM) design results were confirmed. Full article
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19 pages, 14272 KiB  
Article
Optimal Design of an Interior Permanent Magnet Synchronous Motor for Electric Vehicle Applications Using a Machine Learning-Based Surrogate Model
by Song Guo, Xiangdong Su and Hang Zhao
Energies 2024, 17(16), 3864; https://doi.org/10.3390/en17163864 - 6 Aug 2024
Cited by 3 | Viewed by 2986
Abstract
This paper presents an innovative design for an interior permanent magnet synchronous motor (IPMSM), targeting enhanced performance for electric vehicle (EV) applications. The proposed motor features a double V-shaped rotor structure with irregular ferrite magnets embedded in the slots between the permanent magnets. [...] Read more.
This paper presents an innovative design for an interior permanent magnet synchronous motor (IPMSM), targeting enhanced performance for electric vehicle (EV) applications. The proposed motor features a double V-shaped rotor structure with irregular ferrite magnets embedded in the slots between the permanent magnets. This design significantly enhances torque performance. Furthermore, a machine learning-based surrogate model is developed by integrating fine and coarse mesh data. Optimized using the Non-dominated Sorting Genetic Algorithm II (NSGA-II), this surrogate model effectively reduces computational time compared to traditional finite element analysis (FEA). Full article
(This article belongs to the Section F: Electrical Engineering)
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17 pages, 6072 KiB  
Article
SAB-YOLOv5: An Improved YOLOv5 Model for Permanent Magnetic Ferrite Magnet Rotor Detection
by Bo Yu, Qi Li, Wenhua Jiao, Shiyang Zhang and Yongjun Zhu
Mathematics 2024, 12(7), 957; https://doi.org/10.3390/math12070957 - 23 Mar 2024
Cited by 2 | Viewed by 1628
Abstract
Surface defects on the permanent magnetic ferrite magnet rotor are the primary cause for the decline in performance and safety hazards in permanent magnet motors. Machine-vision methods offer the possibility to identify defects automatically. In response to the challenges in the permanent magnetic [...] Read more.
Surface defects on the permanent magnetic ferrite magnet rotor are the primary cause for the decline in performance and safety hazards in permanent magnet motors. Machine-vision methods offer the possibility to identify defects automatically. In response to the challenges in the permanent magnetic ferrite magnet rotor, this study proposes an improved You Only Look Once (YOLO) algorithm named SAB-YOLOv5. Utilizing a line-scan camera, images capturing the complete surface of a general object are obtained, and a dataset containing surface defects is constructed. Simultaneously, an improved YOLOv5-based surface defect algorithm is introduced. Firstly, the algorithm enhances the capability to extract features at different scales by incorporating the Atrous Spatial Pyramid Pooling (ASPP) structure. Then, the fusion of features is improved by combining the tensor concatenation operation of the feature-melting network with the Bidirectional Feature Pyramid Network (BiFPN) structure. Finally, the introduction of the spatial pyramid dilated (SPD) convolutional structure into the backbone network and output end enhances the detection performance for minute defects on the target surface. In the study, the SAB-YOlOv5 algorithm shows an obvious increase from 84.2% to 98.3% in the mean average precision (mAP) compared to that of the original YOLOv5 algorithm. The results demonstrate that the data acquisition method and detection algorithm designed in this paper effectively enhance the efficiency of defect detection permanent magnetic ferrite magnet rotors. Full article
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18 pages, 5195 KiB  
Article
Performance Comparison and Optimization of a PMSM Based on Hybrid-Type Permanent Magnet with Two Kinds of Rotor Topology
by Kai Yang, Lu Zhang, Mengyao Wang and Chunyu Du
Energies 2024, 17(3), 557; https://doi.org/10.3390/en17030557 - 23 Jan 2024
Cited by 2 | Viewed by 3110
Abstract
This study focuses on designing and optimizing Permanent Magnet Synchronous Motors (PMSMs) using hybrid rare earth and ferrite materials. Two distinctive rotor topologies of the Hybrid-Type Permanent Magnet Motor (HTPMM) are proposed: series and parallel magnetic circuits. Initially, the rotor topology and magnetic [...] Read more.
This study focuses on designing and optimizing Permanent Magnet Synchronous Motors (PMSMs) using hybrid rare earth and ferrite materials. Two distinctive rotor topologies of the Hybrid-Type Permanent Magnet Motor (HTPMM) are proposed: series and parallel magnetic circuits. Initially, the rotor topology and magnetic circuit principles of both the prototype and the designed HTPMM are introduced. Subsequently, a multi-objective genetic algorithm is employed to optimize the two HTPMMs, determining the final optimized parameters. Thise study further analyzes the cost advantage of HTPMMs from the perspective of permanent magnet materials, and detailed finite element analysis is conducted to evaluate the electromagnetic performance, including the air-gap flux density, no-load back electromotive force, cogging torque, load torque characteristics, and demagnetization properties. A comparative analysis of the prototype and two designed motors reveals that the HTPMM exhibits similar performance to the prototype, effectively reducing the usage of rare earth materials and significantly lowering the manufacturing costs. This research validates the feasibility of reducing rare earth material usage while maintaining a similar performance and provides a new perspective for the design of permanent magnet motors. Full article
(This article belongs to the Special Issue Linear/Planar Motors and Other Special Motors)
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27 pages, 5448 KiB  
Article
Analytical Approach for Estimating the Average Torque of Synchronous Motors by Using the Flux Density in the Air Gap
by Zheng-Feng Li, Lin-Wei Huang, Shih-Gang Chen, Yu-Tse Hsu, Jun-Ming Hsu and Ming-Shi Huang
Energies 2023, 16(23), 7832; https://doi.org/10.3390/en16237832 - 28 Nov 2023
Cited by 1 | Viewed by 2560
Abstract
In this study, a generalized torque estimation method is proposed for synchronous motors, including surface permanent magnet synchronous motors (SPMSMs), synchronous reluctance motors (SynRMs), and interior permanent magnet synchronous motors (IPMSMs) for building the analytical motor model. The average motor torque is estimated [...] Read more.
In this study, a generalized torque estimation method is proposed for synchronous motors, including surface permanent magnet synchronous motors (SPMSMs), synchronous reluctance motors (SynRMs), and interior permanent magnet synchronous motors (IPMSMs) for building the analytical motor model. The average motor torque is estimated using the Lorentz force by the generated flux density in the air gap to determine the relationships among torque, flux density, and injected current. In the proposed method, the generated flux density is derived step by step by considering the effects of magnetic flux saturation, the stator slot, the rotor barrier, and permanent magnets (PMs) to ensure that the generated average torque complies with the operating condition of the motor. To verify the proposed method, the output torque of finite element analysis (FEA), Maxwell 2D, is compared to the proposed method in a SPMSM. Moreover, a phasor diagram is plotted to determine the mechanism through which torque is generated in SynRMs and IPMSMs. A SynRM and an IPMSM with ferrites PMs are analyzed using the proposed method, FEA, and the experimental results of this study indicate the effectiveness. Full article
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22 pages, 7419 KiB  
Article
Material Tradeoff of Rotor Architecture for Lightweight Low-Loss Cost-Effective Sustainable Electric Drivetrains
by Ahmed Selema
Sustainability 2023, 15(19), 14413; https://doi.org/10.3390/su151914413 - 1 Oct 2023
Cited by 4 | Viewed by 2308 | Correction
Abstract
The art of the successful design of high-speed electrical machines comes with many challenges in the mass, size, reliability, and energy efficiency. Material engineering of electrical machines has been identified as a key solution for higher power dense electric drivetrains. One of the [...] Read more.
The art of the successful design of high-speed electrical machines comes with many challenges in the mass, size, reliability, and energy efficiency. Material engineering of electrical machines has been identified as a key solution for higher power dense electric drivetrains. One of the main challenges at high speed is the eddy-current losses in the active electromagnetic parts, especially magnetic materials and permanent magnets (PMs). This study is devoted to the selection of PM rotor materials using multidisciplinary design optimization for a high-speed electric drivetrain. Beside AC loss minimization, more disciplines are considered, such as the minimization of weight, and cost. Different laminations are investigated with different magnetic properties as well as cost. Additionally, different PMs are optimized considering low-cost ferrite and high-coercivity permanent magnets (HCPMs). Moreover, the optimal materials are identified which have the best balance between loss, weight, cost, ripples. Finally, different rotor designs are prototyped, assembled, and tested using the same stator configuration. Also, the best rotor design is selected, and the electromagnetic performance is measured and compared with conventional designs. The optimal design results in 8% extra torque with at least 20% weight reduction. Full article
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21 pages, 8071 KiB  
Article
A Study on Magnetization Yoke Design for Post-Assembly Magnetization Performance Improvement of a Spoke-Type Permanent Magnet Synchronous Motor
by Min-Jae Jeong, Kang-Been Lee, Si-Woo Song, Seung-Heon Lee and Won-Ho Kim
Machines 2023, 11(9), 850; https://doi.org/10.3390/machines11090850 - 22 Aug 2023
Cited by 2 | Viewed by 4266
Abstract
Permanent magnet synchronous motors (PMSMs) are highly affected by magnetization, which determines the magnetization level in the permanent magnet (PM). There are three main magnetization methods: single-unit, stator coil, and post-assembly magnetization. Post-assembly magnetization is widely used in PMSM mass production due to [...] Read more.
Permanent magnet synchronous motors (PMSMs) are highly affected by magnetization, which determines the magnetization level in the permanent magnet (PM). There are three main magnetization methods: single-unit, stator coil, and post-assembly magnetization. Post-assembly magnetization is widely used in PMSM mass production due to its ability to achieve high magnetization performance using a separate magnetizing yoke. However, spoke-type PMSMs with ferrite PMs face challenges when using the post-assembly method. The structural configuration of two magnets located radially hampers effective magnetized field transmission to the rotor’s interior due to the narrow space between the magnets. Maximizing the magnetization rate becomes crucial, but the limited space in the spoke-type structure complicates this. This paper addresses the issue and analyzes factors influencing post-assembly magnetization characteristics. A novel yoke structure is proposed, reducing the distance between the coil and magnet, leading to more efficient magnetization. The parametric and performance comparative analysis shows an impressive 17.1%p increase in magnetization rate with the proposed yoke structure compared to the existing yoke. This outcome contributed to a solution for enhancing the magnetization performance of spoke-type ferrite PMSMs. Full article
(This article belongs to the Special Issue Advances and Trends in PM-Free or Rare-Earth-Free PM Motors)
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18 pages, 10929 KiB  
Article
Comprehensive Comparative Study on Permanent-Magnet-Assisted Synchronous Reluctance Motors and Other Types of Motor
by Guanghui Du, Guiyuan Zhang, Hui Li and Chengshuai Hu
Appl. Sci. 2023, 13(14), 8557; https://doi.org/10.3390/app13148557 - 24 Jul 2023
Cited by 14 | Viewed by 6179
Abstract
At present, the induction motor (IM), synchronous reluctance motor (SynRM), ferrite-assisted synchronous reluctance motor (ferrite-assisted SynRM) and interior permanent magnet motor (IPM) are research hotspots, but comprehensive comparative research on the four motors is still rare. This paper mainly compares the four motors [...] Read more.
At present, the induction motor (IM), synchronous reluctance motor (SynRM), ferrite-assisted synchronous reluctance motor (ferrite-assisted SynRM) and interior permanent magnet motor (IPM) are research hotspots, but comprehensive comparative research on the four motors is still rare. This paper mainly compares the four motors from the aspects of electromagnetic performance, material cost and temperature distribution. Firstly, the volume of the four motors is ensured to be the same. The influence of the rotor design parameters of the SynRM, ferrite-assisted SynRM and IPM on the electromagnetic properties of the machine is analyzed. Secondly, based on the effects of each parameter, the overall design parameters of the four motors are determined. The electromagnetic performance, material cost and temperature of the four motors are compared and discussed. Finally, the comparison results are summarized, and the advantages of the four motors are analyzed. In different applications, the electromagnetic performance, heat dissipation and cost requirements of the four motors are different. Therefore, this paper makes a comprehensive comparison of the four motors to provide a reference for the selection of motors for different applications. Full article
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17 pages, 3985 KiB  
Article
Design Optimization of a Synchronous Homopolar Motor with Ferrite Magnets for Subway Train
by Vladimir Dmitrievskii, Vladimir Prakht and Vadim Kazakbaev
Mathematics 2023, 11(3), 589; https://doi.org/10.3390/math11030589 - 22 Jan 2023
Cited by 6 | Viewed by 2995
Abstract
Brushless synchronous homopolar machines (SHM) have long been used as highly reliable motors and generators with an excitation winding on the stator. However, a significant disadvantage that limits their use in traction applications is the reduced specific torque due to the incomplete use [...] Read more.
Brushless synchronous homopolar machines (SHM) have long been used as highly reliable motors and generators with an excitation winding on the stator. However, a significant disadvantage that limits their use in traction applications is the reduced specific torque due to the incomplete use of the rotor surface. One possible way to improve the torque density of SHMs is to add inexpensive ferrite magnets in the rotor slots. This paper presents the results of optimizing the performances of an SHM with ferrite magnets for a subway train, considering the timing diagram of train movement. A comparison of its characteristics with an SHM without permanent magnets is also presented. When using the SHM with ferrite magnets, a significant reduction in the dimensions and weight of the motor, as well as power loss, is shown. Full article
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14 pages, 4711 KiB  
Article
Permanent Magnet Selections for AFPM Disc Generators
by Natalia Radwan-Pragłowska and Tomasz Węgiel
Energies 2022, 15(20), 7601; https://doi.org/10.3390/en15207601 - 14 Oct 2022
Cited by 3 | Viewed by 2761
Abstract
In this article, the field (FEM) and analytical analyses were used for the optimal selection of magnets material for the Axial Flux Permanent Magnet Generator (AFPMG), without building the prototype before. The tested generator is an axial flux machine which consists of a [...] Read more.
In this article, the field (FEM) and analytical analyses were used for the optimal selection of magnets material for the Axial Flux Permanent Magnet Generator (AFPMG), without building the prototype before. The tested generator is an axial flux machine which consists of a single stator and two rotor discs with Permanent Magnets (PM). Three-dimensional (3D) ANSYS Maxwell package was used for magnetostatic and transient field (FEM) simulations. Two types of PM were selected for the analysis: Ceramic (also known as “Ferrite”) magnets made from Strontium Ferrite powder and Neodymium Iron Boron magnets (NdFeB). The authors compared obtained electromotive forces (EMF) and generator powers for selected magnets materials, performed FFT analyses of voltages and currents and indicated the optimal solutions. In addition to the operational properties of the AFPMG, the magnet and manufacturing costs were compared. Full article
(This article belongs to the Special Issue New Challenges and Development of Electric Machines)
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15 pages, 5379 KiB  
Article
Comparative Thermal and Demagnetization Analysis of the PM Machines with Neodymium and Ferrite Magnets
by Oleksandr Dobzhanskyi, Viktor Grebenikov, Rupert Gouws, Rostyslav Gamaliia and Eklas Hossain
Energies 2022, 15(12), 4484; https://doi.org/10.3390/en15124484 - 20 Jun 2022
Cited by 10 | Viewed by 2820
Abstract
This paper provides computer analysis and experiential investigation of the permanent magnet machines with neodymium and ferrite permanent magnets to discuss the feasibility of utilizing induction machines-oriented equipment for PM machine production. For this purpose, the machines are obtained by replacing the squirrel-cage [...] Read more.
This paper provides computer analysis and experiential investigation of the permanent magnet machines with neodymium and ferrite permanent magnets to discuss the feasibility of utilizing induction machines-oriented equipment for PM machine production. For this purpose, the machines are obtained by replacing the squirrel-cage rotor of the induction motor with the flux-focusing (tangential) and surface-mounted (radial) permanent magnet rotors. Electromechanical parameters of the machines as electromagnetic torque and output power are discussed and compared. The temperatures of the neodymium and ferrite magnets are also calculated at rated current, and short circuit scenarios and the performance of two different cooling systems in minimizing the temperature effect on the machines are investigated. Furthermore, the demagnetization of permanent magnets at various load conditions is also studied. Finally, the results of the computer modeling are validated by the physical prototypes of the machines. The characteristics of the electrical machines under study were calculated using the Simcenter MagNet and Simcenter MotorSolve software packages. Full article
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13 pages, 10791 KiB  
Article
Comparison of the Design of 3-Pole BLDC Actuators/Motors with a Rotor Based on a Single Permanent Magnet
by Krzysztof Smółka, Anna Firych-Nowacka and Sławomir Wiak
Sensors 2022, 22(10), 3759; https://doi.org/10.3390/s22103759 - 15 May 2022
Cited by 6 | Viewed by 3019
Abstract
Permanent Magnet (PM) Brushless Direct Current (BLDC) actuators/motors have many advantages over conventional machines, including high efficiency, easy controllability over a wide range of operating speeds, etc. There are many prototypes for such motors; some of them have a very complicated construction, and [...] Read more.
Permanent Magnet (PM) Brushless Direct Current (BLDC) actuators/motors have many advantages over conventional machines, including high efficiency, easy controllability over a wide range of operating speeds, etc. There are many prototypes for such motors; some of them have a very complicated construction, and this ensures their high efficiency. However, in the case of household appliances, the most important thing is simplicity, and, thus, the lowest price of the design and production. This article presents a comparison of computer models of different design solutions for a small PM BLDC motor that uses a rotor in the form of a single ferrite magnet. The analyses were performed by using the finite element method. This paper presents unique self-defined parts of basic PM BLDC actuators. With their help, various design solutions were compared with the PM BLDC motor used in household appliances. The authors proved that the reference device is the lightest one and has a lower cogging torque compared to other actuators, but also has a slightly lower driving torque. Full article
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