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4, JULY 2001
TABLE I
DESIGN PARAMETERS OF THE SPM MOTORS
The radial distance between the stator and rotor axes is defined III. RESULTS AND DISCUSSION
as the eccentricity of the rotor and is denoted by (4). In order to understand the operating characteristics of an IPM
motors, it is important to appreciate that burying the permanent
(4)
magnet inside the rotor introduces iron saturation into the rotor
where is the eccentricity ratio and is the nominal airgap magnetic circuit which is not present in SPM motors. Figs. 3
length. For the analysis, a full model is required to analyze the and 4 show the radial flux density distribution for IPM and SPM
motor with rotor eccentricity. The total number of nodes and motors without and with the eccentricity ratio of 0.5. With the
elements are 60 402 and 49 080 respectively. rotor eccentricity, it can be seen that the radial flux density is
A rotor-bearing system to be analyzed consists of a rotor with stronger in the narrow airgap region for IPM and SPM motors.
7 finite segments and 2 roller bearings, shown in Fig. 2. Dy- Variation of radial flux density can be explained by variation
namic behavior of the rotor system is influenced by mass un- of airgap permeance function. For the SPM motor, variation of
balance forces, reaction forces of roller bearings, and magnetic airgap permeance function is introduced by rotor eccentricity
unbalanced forces. The assembled element system equation of only. For the IPM motor, however, variation of the airgap per-
motion for the element with nodes and can be expressed meance function is also introduced by the difference of magnetic
in the coordinates as; saturation at the edges of iron pole pieces, as well as the rotor
eccentricity. Fig. 5 shows the radial force density distribution
(5) for IPM and SPM motors without and with rotor eccentricity at
the instant when the rotor eccentricity angle is 0 . For IPM mo-
where , , are the mass, damping and stiffness ma- tors, the iron edges at pole transitions are particularly vulnerable
trices of the element , and is the to magnetic saturation as the rotor eccentricity is increased. For
generalized force vector acting on nodes and . Superscripts a given rotor eccentricity, the saturation of these iron segments
and represent right- and left-side elements, respectively, of has a bigger influence on the difference of radial force density
the th node. between narrow and wide airgap region, resulting in increased
2820 IEEE TRANSACTIONS ON MAGNETICS, VOL. 37, NO. 4, JULY 2001
motors. Fig. 8 shows orbit plot along the rotor axis for the two
cases. It can be seen that the whirl magnitude for IPM motor is
increased by 52 percent compared to that for SPM motor, due
Fig. 6. Unbalanced magnetic forces. to magnetic saturation.
IV. CONCLUSION
unbalanced magnetic force. Fig. 6 shows the maximum magni-
tude of magnetic unbalanced forces with respect to the eccen- An IPM motor is sometimes a design alternative for high
tricity ratio. For the SPM motor, they increase approximately speed applications to prevent separation of permanent magnets.
linearly due to the relatively small airgap in the motor. For the However, it introduces uneven magnetic field distribution due to
IPM motor, however, they significantly and nonlinearly increase magnetic saturation especially when the rotor eccentricity ex-
due to severe magnetic saturation as the eccentricity increases. ists. When rotor eccentricity exists, magnitude of unbalanced
For analysis of dynamic responses, magnetic forces can be ex- forces for IPM motor is significantly increased compared to that
pressed as the function of rotor eccentricity and rotating speed of SPM motors due to magnetic saturation. Magnetic unbal-
and they can be obtained using MATLAB program. anced forces for the IPM motor are also nonlinearly increased as
the eccentricity increased. An IPM motor shows a worse effect
(6) on dynamic responses compared with SPM motor, resulting in
severe motor vibration.
(7)
REFERENCES
For SPM motors, it should be noted that and vanish due
[1] K. Reichert, H. Freundl, and W. Vogt, The calculation of forces and
to linear nature of magnetic circuit. torques within numerical field calculation, in Proc. COMPUMAG,
Dynamic response or whirl response of the coupled system 1978, pp. 6468.
can be determined by considering the unbalanced magnetic [2] G. H. Jang, Analysis of magnetic force and torque in BLDC motor,
Ph.D. dissertation, University of California, Berkeley, 1993.
forces as function of time and position in a rotor-motor system. [3] U. Kim and D. K. Lieu, Magnetic field calculation in permanent magnet
The FE-TM was applied to illustrate magnetically coupled motors with rotor eccentricity: With slotting effect considered, IEEE
effects in rotor dynamics. The data for rotor motor system Trans. Magn., vol. 34, no. 4, pp. 22532266, July 1998.
[4] T. J. Kim, K. T. Kim, S. M. Hwang, N. G. Park, and S. B. Lee, Effects of
is given in [4]. Fig. 7 shows comparison of transient whirl rotor misalignment in airgap on dynamic response of an eccentric rotor,
responses of converging characteristic for IPM and SPM IEEE Trans. Magn., May 2001, to be published.