3166 IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO.

8, AUGUST 2009

Magnetic Field Analysis of Inset and Surface-Mounted Permanent-Magnet

Synchronous Motors Using Schwarz–Christoffel Transformation
K. Boughrara1 , D. Zarko2 , R. Ibtiouen1 , O. Touhami1 , and A. Rezzoug3
Ecole Nationale Polytechnique (LRE-ENP), Algiers, BP182, 16200, Algeria
Faculty of Electrical Engineering and Computing, Department of Electrical Machines, Drives and Automation,
University of Zagreb, HR-10000 Zagreb, Croatia
Faculté des Sciences, Université Henri Poincaré, BP 239 54506 Vandoeuvre lès Nancy, France

In this paper, we apply an original numerical Schwarz–Christoffel (SC) transformation to analyze magnetic field originating from per-
manent magnets and the armature winding currents in a slotted air gap of an inset permanent-magnet synchronous motor. We obtained
the solution of the SC integral numerically using Matlab SC Toolbox. We used this field solution to calculate both cogging torque and
electromagnetic torque by integrating the Maxwell stress tensor inside the air gap. The case without inter-polar piece, which is equiva-
lent to a surface-mounted permanent-magnet motor, is also treated. The accuracy of the developed method is verified by comparing its
results with those obtained from the developed numerical finite-element models.
Index Terms—Finite-element method, inset permanent-magnet synchronous motor, magnetic field, Schwarz–Christoffel
transformation.

I. INTRODUCTION
HE technological developments in the manufacturing of
T permanent magnets with high energy product and power
semiconductors have led to an increasing interest in permanent-
magnet excited machines. Permanent-magnet synchronous mo-
tors (PMSMs) have been increasingly used in machine tools and
robotic applications which require motors with low inertia, high
torque to volume ratio, and high torque to stator current ratio [1],
[2]. These features have made brushless dc motors one of the
best choices to replace conventional brushed type dc motors in
robotic applications [3], [4]. The rare-earth permanent magnets
allow for different structures of synchronous motors [5], [6].
Nevertheless, their relatively high cost implies the minimiza-
tion of their size while preserving acceptable performances. The
possible minimization degree depends on the rotor design type
and the inverter type.
An accurate magnetic field analysis of the motor, which in-
cludes iron saturation, can be performed using the finite-element
method (FEM). However, it is time consuming [7] and can be
used only at the final stage to verify the proposed model. In this
paper, an advanced method is proposed, which solves the mag-
netic field in a rotary motor with slots. The method defines mag-
netic field strength as a function of a complex variable. In order
to determine the magnetic field and torque characteristics, first
the permanent magnets and the armature winding currents in
stator slots are substituted with their equivalent currents. Next,
a sequence of two conformal maps (CMs) is applied: the first
one converts a rotating configuration of the motor into a linear
one, whereas the second one opens the interior of a polygon
containing rotor and stator slots into a rectangle. Using the field
solutions of equivalent currents and evaluating numerically the
inverse mapping and the derivative of the SC map leads to the
field solution in the air gap of the motor. Thus, calculated ra-
dial and tangential components of the flux density allow for cal-
culation of cogging and electromagnetic torque characteristics
by integrating the Maxwell stress tensor inside the air gap. The
structure (one pole pitch) of the inset permanent-magnet syn-
chronous motor fed by trapezoidal currents in which arc-shaped
radially magnetized permanent magnets are inset into the rotor
iron surface so that the outer surface of the rotor is cylindrical
is shown in Fig. 1(a). From the stator viewpoint the magnet ap-
pears as a large air gap in the direct axis while the inter-polar
iron presents a small air gap in the quadrature axis. This struc-
ture can be interesting when we research a good price to perfor-
mance ratio [6] and a maximum torque per Ampere.
The numerical Schwarz–Christoffel analysis of magnetic
fields in electrical machines has already been used by O’Con-
nell and Krein [8] for the analysis of magnetic field and force
in a variable reluctance machine. The method has also been
used by Krop [9] for a linear permanent-magnet motor and
Gysen [10] for a tubular permanent-magnet actuator. In [11],
O’Connell and Krein confirm the efficiency of the method in
optimization of electric machine design.
The numerical Schwarz–Christoffel method is an alternative
method to the analytical one, which is limited to simple ge-
ometries like a single slot model [12]–[15]. The transformation
of a single slot can provide accurate field solutions in surface
mounted PM motors. However, it fails in the case of an inset
PM motor, because the presence of a slot in the rotor requires
an SC transformation of the air-gap region throughout the entire
pole pitch, which cannot be carried out analytically. The use of
numerical SC transformation presented in this paper can yield
an accurate field solution in such a structure.

II. NUMERICAL SCHWARZ–CHRISTOFFEL TRANSFORMATION

Manuscript received September 19, 2008; revised December 10, 2008.
Current version published July 22, 2009. Corresponding author: K. Boughrara The SC transformation maps the real axis of
(e-mail: boughrarakamel@yahoo.fr). coordinate system onto the boundary of the polygon in
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. the coordinate system, so that the upper half plane
Digital Object Identifier 10.1109/TMAG.2009.2016559 in is mapped into the interior of the polygon in .
0018-9464/$26.00 © 2009 IEEE

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BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS 3167

Fig. 2. Study model in direct position of rotor of inset permanent-magnet motor

in the Z plane (x; y ).

shaped domain by first solving the problem in a canonical do-

Fig. 1. Study model in the S plane (r; ): (a) with inter-polar piece topology
(IPM), (b) without inter-polar piece topology (SPM). (c) Direction of
magnetization.
main and then mapping the result to the desired domain. Unfor-
tunately, for problems with more than three vertices, in general,
the SC integral in (1) has no closed-form solution. In addition,
in problems of this size the locations of points , called prever-
tices, are unknown a priori. In other words, the target polygon
is known, but the points in the canonical domain corresponding
to its vertices are not. Thus, the SC method requires three nu-
merical steps: (a) finding the point , which is known as the
parameter problem, (b) calculating the SC integral in (1), and
(c) inverting the map. These steps have been difficult to imple-
ment numerically for meaningful problems. Recently, each of
(a)–(c) has been coded into Matlab SC Toolbox, in which the
user specifies the canonical and source domains, and the toolbox
calculates the SC map. The current version of SC Toolbox was
released in 2005. A key improvement in this version is the ad-
dition of the CRDT algorithm [17]. This algorithm facilitates
mapping to multiply elongated regions, which are normally very
difficult to map due to crowding. Most typical motor air-gap
polygons have multiple elongations due to the stator and rotor
slots, so this new functionality is the key in making the toolbox
useful for motor design. The toolbox provides a library of com-
mand line functions. The key functions used in the paper are
described in [18].

The SC mapping is given by the SC integral [16] A. Motor Model in Complex Planes
The original motor configuration is placed in the complex
coordinate system , with the origin in the motor center (Fig. 1).
(1) The first CM to be used is given by the complex function

where and are the unknown integration constants (to be (2)

found from the geometry of the polygon), is the number of
where . The link between the coordinates in the and
the polygon corners, are the points on the real axis
planes is
of the coordinate system corresponding to the polygon cor-
ners , and are the interior polygon angles. The for-
mula in (1) can be modified to allow maps from disks, bi-infinite (3)
strips, and rectangles (all referred to as canonical domains) to a
polygon. The theorem’s utility is in allowing the user to solve This complex logarithmic conformal transformation creates a
a difficult boundary value problem on an arbitrary polygon- linear configuration (given in the coordinate system) instead

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3168
Fig. 3. Canonical rectangle in the W plane.
Fig. 4. Study model of inset permanent-magnet motor in the
with rotation of rotor by one half slot pitch.
of the rotating one (given in the coordinate system), with re-
gard to the motor radius (curvature). After the transformation,
the stator and rotor surfaces become as shown in Fig. 2. At this
step of the study, the slots are considered as rectangular (in the
actual motor they are semi-closed). This structure is much sim-
pler than the original one, but the magnetic field is still impos-
sible to solve analytically.
The magnetic field is calculated in the middle of the air gap
in the plane, where is the radius of
the stator inner surface and is the radius of the rotor outer
surface. In the plane, the middle of the air gap is given by
where
The coordinates of the stator coils and permanent-magnet cur-
rent carrying conductors in the plane are given by
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO. 8, AUGUST 2009
B. Canonical Rectangle in the Domain
The air gap in Fig. 2 is a polygon with 32 vertices, numbered
in counterclockwise order. This numbering convention defines
an array of vertex coordinates. The coordinates are defined
in the complex domain where the real part of the coordinate
specifies the abscissa and the imaginary part the ordinate. The
SC Toolbox is then used to create the polygon object by calling
in Matlab Command Window
(7)
Next, an SC map from the interior of the closed rectangular
domain, shown in Fig. 3, to the interior of this polygon is calcu-
lated by calling
(8)
The array alpha specifies which of the original 32 vertices
should map the four corners of the rectangle. In the case of
Fig. 2, vertices 1, 6, 7, and 32 are indicated in alpha. Note that,
due to the previously mentioned parameter problem, the dimen-
sions of the rectangle are unknown a priori and are calculated
when is calculated. These dimensions depend on the specific
geometry of .
In the plane, the middle of the air gap is given by
(9)
and the coordinates of the coil and magnet currents are
Z plane (x;y) (10)
(11)
In Fig. 2, an example of representation of the permanent magnet
current sheet and slot currents using 18 conductors is given (for
the calculation of magnetic field higher number of conductors
is used to represent magnet current sheets and slot currents).
These conductors are shown in Fig. 3 after the transformation
into canonical rectangle. The number of conductors in the
plane is apparently 14. This difference occurs because of the
crowding phenomenon. The actual number of conductors in the
plane is also 18, but 4 out of 12 conductors of the coils are
mapped into almost identical coordinates. The number of per-
manent-magnet currents in the plane is 6, which means that
the coordinates of the mapped currents, unlike coil currents, are
all distinguishable. Since crowding affects the accuracy of the
solution [10], [17], it is best to avoid it. In [10], the authors prefer
(4) to model the currents in one slot with only one point (one cur-
rent), but a more detailed study is required to show if such ap-
proach has advantage in this particular case.
III. DETERMINATION OF MAGNETIC FIELD
After the mapping of the motor, the task of mapping the cur-
rents, which are the field excitation, remains. If a current is
(5) placed at a point , the same current should be
(6) placed at the point in the transformed configuration.
BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS 3169

of these currents is mapped from (Fig. 2) to coordinate

system (Fig. 3).
The matrix connection between slots and phase currents is

(12)

with

Fig. 5. Canonical rectangle in the W plane with rotation of rotor by one half
slot pitch.

being the vector of phase currents.

In the plane, the slot line currents are distributed in the
length , where is the radius of the slot
bottom and is the radius of the stator inner surface. In the
plane that length is .
The punctual currents in the slots are

(13)

where is the number of conductors in one slot. In the steady

state at , two phases are fed, i.e.,

Fig. 6. Study model of inset permanent-magnet motor in the Z plane (x;y) (14)
with rotor in the quadrature position.

where is the phase current.

B. Magnetic Field Due to Permanent Magnets

Fig. 7. Canonical rectangle in the
position.
W plane when rotor is in the quadrature
The PM equivalent currents can be determined using the
theory of electromagnetism. The magnetic field produced by
a body with the magnetization is the same as the magnetic
field produced by a system of two equivalent currents [19]:
• volume current with the density ;
• surface current with the density , where is a
unit vector normal to the surface of the body.
These equivalent currents “flow” in the air, which replaces the
magnetic material.
The magnetization is in direction, with a constant inten-
sity . Therefore, there are no equivalent volume
currents. The equivalent surface currents flow only on the PM
lateral sides, where and are mutually normal. It means that
the equivalent surface current density is . The total cur-
rent flowing on a lateral side is

A. Magnetic Field Due to the Current in Stator Slots

(15)
The total current per slot has to be divided into a dis-
crete number of punctual line currents. Let this number be , In the plane, and in the plane
and hence each of these punctual currents is . Then, each , where is the radius of the outer rotor

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3170 IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO. 8, AUGUST 2009

TABLE I
PARAMETERS OF THE INSET PERMANENT-MAGNET MOTOR

Fig. 8. Flux and potential lines for open slot model (direct position of rotor).

surface and is the radius of the internal rotor surface at the

magnet bottom.
The surface currents on both lateral sides have to be divided
into a discrete number of punctual currents (Fig. 2). Let this
number be , and each of these punctual currents . In
the plane that current is

(16)

Finally, each of the equivalent punctual currents is mapped

from to coordinate system.
For modern permanent-magnet materials, the - character-
istic is a straight line in the second quadrant, and is given by

(17)

Since by definition , it follows from (17) that

(18)

If the PM permeability is equal to the permeability of

air , the second right-hand-side term in (18) is zero,
and the magnetization is constant everywhere, regardless of the
field. In that case

(19)
Fig. 9. Radial (B ) and tangential (B ) flux density due to magnets alone at
In our study, we assume that . r = R calculated using SC transformation and FEM.

C. Magnetic Field in the Plane field is known. This simple configuration is usually a conductor
with current placed above an infinite iron plane, but sometimes
Every conformal transformation should lead to a simple con- it is a conductor placed between two infinite iron planes, which
figuration in which an exact analytical formula for the magnetic is the case in our study.

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BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS 3171

Fig. 10. Radial (B ) and tangential (B ) flux density due to slot currents Fig. 11. Total radial (B ) and tangential (B ) flux density on load
alone at r = R calculated using SC transformation and FEM. at r = R calculated using SC transformation and FEM.

In the configuration where conductors are placed in the air The complex potential due to slot currents is given by
gap of length between two infinite iron planes, the field orig-
inating from the magnet is given by [20]

(23)
(20)
The flux between two points and in the coordi-
The field of slot currents is given by nate system is given by

(24)
(25)
(21)
where is the stack length and is the number of pole pairs of
The complex potential due to magnets is the machine.
With it means that permeances and inductances are
invariant after a CM [20]. In that case, inductances (in direct
position of the rotor) and (in quadrature position of the rotor)
can be calculated easily for the inset PM motor as

(22) and (26)

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3172 IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO. 8, AUGUST 2009

Fig. 12. Radial (B ) flux density due to slot currents alone at r = R calcu-
lated using SC transformation and FEM. The SC transformation is carried out Fig. 13. Flux and potential lines for the rotor shifted by one half slot pitch in
with three different distributions of slot currents. regards to direct position.

D. Magnetic Field in the Plane integrating the magnetic stress on the closed surface around the
A complex analysis theorem gives a connection between the body. The surface which encloses the rotor of inset PM motor is
fields in the and coordinate systems [12], [13], [20]. The in the shape of a cylinder placed entirely inside the air gap. The
field due to magnet currents is given as cogging torque equation in the integral form can then be written
as

(27)
(33)
The field due to slot currents is given as

and the total electromagnetic torque as

(28)

where is determined using the SC Toolbox function as (34)

(29) The radius inside the air gap at which the integration surface
is positioned is arbitrary, but for calculation purposes it can be
Then, the radial and tangential flux density due to magnets alone done in the middle of the air gap.
are
A. Modeling the Movement in Inset Permanent-Magnet Motor
With Polar-Piece
(30)
The cogging and electromagnetic torque are calculated at
The radial and tangential flux density due to slot currents are each position of the rotor in regard to the fixed position of
the stator. For simulation of movement, the positions of the
equivalent currents of the magnets and the coordinates of the
(31) polar piece in the and domains are modified for each
position of the rotor. The shape of the polygon in the plane
The total radial and tangential flux density due to magnet and is modified, but with the same number of vertices, as shown
slots currents (on load) are in Fig. 4 for rotation of rotor by one half slot pitch. These
coordinates are then mapped to the domain (Fig. 5) which
is different from the domain given in Fig. 3 where the rotor
(32) is aligned in the direct position. To implement the movement
correctly, care is to be taken when the position of the current
sheets of the magnet and the polar piece changes so that they
IV. DETERMINATION OF COGGING AND ELECTROMAGNETIC translate beyond the domain (one pole, e.g., north pole).
TORQUE BASED ON MAXWELL STRESS THEORY Each current sheet and polar piece coordinate leaving through
According to Maxwell’s theory, it is possible to calculate the one edge of the domain has to enter through the opposite edge
total force on a rigid body placed in the electromagnetic field by (south pole where magnet remanence changes the sign).

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BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS
Fig. 14. Radial flux density due to magnets (B ) and slot currents (B ) for
different positions of the rotor at r = R calculated using SC transformation.
Fig. 15. Flux and potential lines in the quadrature position of the rotor.
In the quadrature position of the rotor, as shown in Fig. 6,
the polygon in the plane is modified with the same number
of vertices as in the direct position of the rotor (Fig. 2). The
canonical domain in the quadrature position (Fig. 7) is modified
as well. This position corresponds to the case when two halves
of poles pitches (north and south) are present in the model with
current sheets of two different magnets having the same negative
sign.
In the case of the inset permanent-magnet machine, the shape
of the polygon and the dimensions of the canonical domain in
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3173
Fig. 16. Radial flux density due to magnets (B ) and slot currents (B ) in the
quadrature position of the rotor at r = R calculated using SC transformation.
the plane change with the rotation due to the presence of the
polar piece in the rotor.
B. Modeling the Movement in Inset Permanent-Magnet Motor
Without Polar-Piece
In this case, the movement is easy to implement. Only po-
sitions of equivalent magnet current sheets are modified in the
and planes. The shape of the polygon in the plane and
the dimensions of the canonical domain as well are not modi-
fied. When the position of the magnet currents changes so that
they translate beyond the domain (one pole, e.g., north pole),
each current sheet leaving through one edge of the domain has
to enter through the opposite edge (south pole where magnet re-
manence changes the sign).
V. RESULTS AND DISCUSSION
A. Inset Permanent-Magnet Motor With Polar-Piece
The objective of this section is to verify the accuracy of the
model in predicting both the flux density waveform as well as
the torque characteristics. This is accomplished by comparing
the results of the model with results obtained from the finite-el-
ement model. The dimensions and parameters of the six-pole
machine are given in Table I. The flux and potential lines are
shown in Fig. 8. The flux lines run horizontally while the poten-
tial lines are vertical.
3174 IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO. 8, AUGUST 2009

Fig. 17. Cogging torque at r =R calculated using SC transformation and

FEM.
Fig. 20. Flux and potential lines for semi-closed slot model.

Fig. 18. Total electromagnetic static torque at r =R calculated using SC

=
Fig. 21. Cogging torque at r R for open slot and semi-closed slot models
transformation and FEM.
calculated using SC transformation.

( )
Fig. 19. B H curve of stator and rotor core laminations.

Fig. 22. Flux and potential lines for semi-closed slot model with notched teeth.
The field solution due to magnet and slot currents in the
middle of the air gap is shown in Figs. 9–11, where they
are compared to the finite-element solution obtained using difference between SC and FE results exists in the case of radial
first-order triangular elements. There is a very good agreement flux density due to slot currents alone, which is caused by the
between the SC results and the results of FE simulations. Since crowding effect in SC transformation. This difference can be
conformal mapping inherently assumes that iron is infinitely reduced (Fig. 12) if distribution of slot currents is considered
permeable, for better comparison of SC and numerical result not between and , but between and , where
the same assumption has been made in the FE simulation . If , which is the proposed current
as well. The mesh size has been adjusted to reduce errors in distribution in a slot (only one current) by [10], the peak mag-
the critical areas, namely the tooth tips. The most noticeable nitude of flux density due to slot currents is equal to the value

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BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS 3175

Fig. 23. Cogging torque at r =

R for semi-closed slot model with and
without notches calculated using SC transformation. Fig. 26. Flux and potential lines for inset magnet motor without inter-polar
piece.

Fig. 24. Study model of inset permanent-magnet motor without inter-polar

( )
piece in the Z plane x; y .

( ) ( )
Fig. 27. Radial B and tangential B flux density due to magnets alone at
r = R calculated using SC transformation and FEM.

Fig. 25. Canonical rectangle in the W plane.

given by FEM, but the waveform has a small deformation. In
Fig. 12 one can see that mm is a good tradeoff value
where the magnitude and the waveform are in good agreement
with those obtained by FEM.
Fig. 13 shows the flux lines and potential lines when the rotor
is shifted by one half slot pitch in regards to direct position.
The radial flux density due to magnets and slot currents for
different position of rotor is given in Fig. 14. For the rotor in
quadrature position, which corresponds to a rotation by in
regards to the direct position, the flux lines and potential lines
are shown in Fig. 15. For this position of the rotor the radial flux
density due to magnets and slot currents is given in Fig. 16.
The cogging torque and electromagnetic torque are evalu-
ated at consecutive rotor positions using Maxwell stress tensor
method. The SC and FEM solutions are compared in Figs. 17
and 18. The FEM solutions are given for both linear and non-
linear cases. The characteristic of the core laminations is
given in Fig. 19. Small differences exist between the SC map-
ping and the FEM results, but they are due to simplified perma-
nent-magnet and slot current models and crowding effect.

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3176 IEEE TRANSACTIONS ON MAGNETICS, VOL. 45, NO. 8, AUGUST 2009

Fig. 28. Radial (B ) and tangential (B ) flux density due to slot currents at Fig. 29. Total radial (B ) and tangential (B
r = R calculated using SC transformation and FEM. at r = R calculated using SC transformation and FEM.
) flux density on load

The results indicate that saturation in the motor does not sig-
nificantly affect the torque solutions, which is in favor of the SC
solution, since the assumption that the iron is infinitely perme-
able is essential for its implementation. However, in the case of
a buried PM motor where magnets are magnetized tangentially
and generate flux concentration in the rotor, the effect of satu-
ration cannot be neglected. That is the case where the SC trans-
formation cannot provide an accurate field solution. Therefore,
our solution is limited only to inset and surface PM motors with
radial magnetization.
It is apparent from comparison of the SC results with those
from the FE simulation that the SC solution is able to predict
correctly both radial and tangential components of flux density,
cogging torque, and electromagnetic torque in terms of both
magnitude and waveform. Therefore, one can use the SC model Fig. 30. Cogging torque at r = R calculated using SC transformation and
to analyze the effect of slot shape on cogging torque, as shown FEM.
in Figs. 20 and 21. The effect of teeth notches on the cogging
torque is also given in Figs. 22 and 23.
Fig. 26 shows flux and potential lines. The field solutions
B. Inset Permanent-Magnet Motor Without Polar-Piece due to magnet and slot currents in the middle of the air gap are
shown in Figs. 27–29, where they are compared to the finite-el-
In this section, the SC and FEM study is given for the inset ement solution obtained using first-order triangular elements.
permanent-magnet motor without polar-piece . After There is a very good agreement between the SC results and the
applying the logarithmic conformal mapping, the stator and results of FE simulations. The cogging torque and electromag-
rotor surfaces become as shown in Fig. 24. The polygon in the netic torque are evaluated at consecutive rotor positions using
plane has 28 vertices and the canonical rectangle in the Maxwell stress tensor method. The SC and FEM solutions are
domain is given in Fig. 25. compared in Figs. 30 and 31.

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BOUGHRARA et al.: MAGNETIC FIELD ANALYSIS OF INSET AND SURFACE-MOUNTED PERMANENT-MAGNET SYNCHRONOUS MOTORS
Fig. 31. Total electromagnetic static torque at r =R calculated using SC
transformation and FEM.
Fig. 32. Flux and potential lines for semi-closed slot model.
=
Fig. 33. Cogging torque at r R for open slot and semi-closed slot models
calculated using SC transformation and FEM.
The effect of slot shape on cogging torque is shown in Figs. 32
and 33. The effect of teeth notches on cogging torque is also
given in Figs. 34 and 35.
VI. CONCLUSION
The paper shows an implementation of SC mapping to deter-
mine the magnetic field and torque in inset permanent-magnet
motors. The method is completely based on the theory of the
complex functions. Due to the complex geometry of the air gap
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3177
Fig. 34. Flux and potential lines for semi-closed slot model with notched teeth.
Fig. 35. Cogging torque at r =
R for semi-closed slot model with and
without notches calculated using SC transformation and FEM.
with elongated regions, the numerical SC mapping is applied.
To solve the SC integral, the Matlab SC Toolbox functions have
been used. The CM method has drawbacks (e.g., the iron should
be ideal), but it offers several advantages compared to the FEM:
The Matlab programs are very compact, the simulations are very
fast, and the parameters can be easily modified (in order to per-
form a parametric analysis). The results are in accordance with
the FEM. In addition, the developed method provides accurate
results for cogging torque and electromagnetic torque both in
magnitude and waveform. This method is particularly helpful
for properly selecting the magnet, rotor teeth and stator teeth
dimensions in order to achieve optimum performance of inset
and surface mounted permanent-magnet synchronous motors.
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