IEEE TRANSACTIONS ON MAGNETICS, VOL. 54, NO.

4, APRIL 2018 8202209

End-Effect Magnetic Field Analysis of the Halbach

Array Permanent Magnet Spherical Motor
Hongfeng Li and Tianmeng Li
School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China

The Halbach array permanent magnet (PM) spherical motor (PMSM) consists of a spherical rotor and a spherical-shell stator. The
magnetic field distribution surrounding the rotor PMs is closely related to the spherical structure of the Halbach array PMSM. The
Halbach array PM configuration characteristics lead to the end leakage magnetic field in the latitudinal direction of the spherical
structure, which is end effect. Establishment of an accurate 3-D magnetic field analytical model containing the end leakage magnetic
field of the Halbach array PMSM is the foundation of magnetic field distortion research with its influence on eddy-current loss.
The magnetic field distribution of the Halbach array PMs in the air gap is calculated using the scalar magnetic potential. Laplace
and Poisson equations of the scalar magnetic potential in the spherical coordinate system are derived. To analyze the end leakage
magnetic field of the Halbach array PMSM in the latitudinal direction, concept of mechanical pseudo-cycle in the motor latitudinal
direction is proposed, and the cycle of Fourier series is redefined. A completed 3-D analytical expression of the Halbach array PMSM
magnetic field distribution is derived by the new Fourier series and spatial integral technology, in which the end leakage magnetic
field is contained. The results obtained by the proposed analytical method are compared with the numerical results, i.e., the results
obtained by the finite-element method, which verify the effectiveness of the analytical method. Magnetic field distribution containing
the end leakage magnetic field in different magnetization methods is compared and analyzed, which shows that the Halbach array
magnetization has a larger main air-gap magnetic field and a smaller end leakage magnetic field. The effect of motor structure
parameters on the end leakage magnetic field is analyzed, and the effect of end leakage magnetic field on eddy-current loss is
preliminarily discussed, which shows that eddy-current loss caused by end effect almost accounts for half of the total eddy-current
loss. The research on end effect and the effect of motor parameters on end effect are of great significance. In the end, the leakage
magnetic field results obtained by the proposed analytical method are verified by the experimental results.
Index Terms— End effect, Halbach array permanent magnet (PM) spherical motor (PMSM), mechanical pseudo-cycle, spatial
integral technology.

I. I NTRODUCTION is analytically solved in [14] and [15]. The spherical structure

T HE end leakage magnetic field of motor causes the

interference on the main air-gap magnetic field, which
significantly affects the static and dynamic performances of
the motor, and reduces the motor efficiency. Eddy-current
loss caused by end leakage magnetic field will result in the
temperature rise of the magnets, which reduces the motor
reliability. Therefore, the analysis of the motor end-effect
magnetic field is of great significance.
The axial length of cylindrical rotor pole of permanent
magnet (PM) motor is finite, which leads to the end leakage
magnetic field in the axial direction. The effects of rotor
PMs axial end effect on torque and eddy-current loss of PM
motor are analyzed in [1]–[6]. The longitudinal length and
transverse length of moving magnet pole of PM linear motor
are finite, which leads to the end leakage magnetic field in
the two directions. The effect of moving PM longitudinal
end effect on magnetic field distribution, thrust, and detent
force of PM linear motor is analyzed in [7]–[13]. The length,
width, and height of the moving magnet pole of PM planar
motor are finite, which leads to the end leakage magnetic
field in the three directions. The end leakage magnetic field of
PM planar motor in the length direction and width direction
Manuscript received June 14, 2017; revised October 30, 2017; accepted
November 23, 2017. Date of publication January 8, 2018; date of current
version March 16, 2018. Corresponding author: H. Li (e-mail: lihongfeng@
tju.edu.cn).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TMAG.2017.2778159
0018-9464 © 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
of PM spherical motor (PMSM) leads to the finite length of
rotor PMs in the latitudinal and longitudinal directions, which
causes the end leakage magnetic field in the two directions.
Research on the end effect of PMSM is still at the beginning
stage. Main air-gap magnetic field distribution of PMSM is
analyzed by analytical method in [16]–[19]. Main air-gap
magnetic field optimization of PMSM is achieved by adopting
the novel motor structure in [20] and [21]. A 3-D analytical
expression of the main air-gap magnetic field of the Halbach
array PMSM is obtained by adopting the scalar magnetic
potential in [22]–[24]. Analytical expression of main air-gap
magnetic field of the PMSM is obtained by adopting spherical
harmonic series, and the spherical rotor PMs are designed
and optimized in [25].Analysis of the end leakage magnetic
field of spherical motor PMs is not involved in the above
references. The concept of end-effect coefficient is proposed
in [26], and 3-D finite-element method (FEM) of PMSM
is simplified as 2-D FEM. End-effect coefficient is used to
revise the back electromotive force waveform obtained by the
2-D FEM to save computation time. This method belongs
to numerical solution method. The effects of different motor
structure parameters, PM magnetizing methods, and speeds
on eddy-current loss for PMSM under the no-load condition
are analyzed using FEM in [27]. A 3-D equivalent thermal
network model of PMSM is established, and the effects of
PM eddy-current loss, PM hysteresis loss, copper loss, and
aluminum loss on motor temperature rise are analyzed in [28].
The effect of end effect of spherical rotor PMs on eddy-current

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8202209 IEEE TRANSACTIONS ON MAGNETICS, VOL. 54, NO. 4, APRIL 2018

Fig. 1. Structure and magnetization of the Halbach array PMSM. (a) Structure
and (b) magnetization of the Halbach array PMSM.

loss and temperature rise is not involved in the above refer-

ences. In this paper, in view of the structure characteristics of
the Halbach array PMSM, the concept of mechanical pseudo-
cycle in the latitudinal direction of the motor is proposed Fig. 2. Flux density vector distribution of the Halbach array PMSM.
and the cycle of Fourier series is redefined. The completed
3-D analytical expression of magnetic field distribution of the inner surface. It forms the closed path and develops end
Halbach array PMSM is solved by the new Fourier series and leakage magnetic field of the Halbach array PMSM in the
spatial integral technology, and the effects of motor parameters latitudinal direction.
and magnetization methods on the end effect of the Halbach
A. Basic Equations of Magnetic Field
array PMSM and the effects of end effect on eddy-current loss
are analyzed. The magnetic field produced by the Halbach array PMs can
be divided into three parts, the air-gap magnetic field as the
main magnetic field. The stator coil current in the space is
II. BASIC S TRUCTURE AND M AGNETIZATION OF
negligible, and therefore, the magnetic field under study is the
THE H ALBACH A RRAY P ERMANENT
non-rotational field. Scalar magnetic potential is adopted in the
M AGNET S PHERICAL M OTOR
non-rotational field analysis to simplify solution procedure.
The basic structure of the Halbach array PMSM is shown 1) Magnetic field in the air gap, denoted as Region one,
in Fig. 1(a). This motor consists of a spherical rotor and a the magnetization characteristic is expressed as
spherical-shell stator. The Halbach array NdFeB PM poles are
fixed along the rotor equator, and rotor iron core is made B 1 = μ0 H 1 (1)
of low carbon steel materials. Layers of air-core coils are where μ0 is permeability of the free space.
assembled on the stator. Flange is mounted on the output shaft 2) Magnetic field of the Halbach array PMs, denoted
to output motor electromagnetic torque. By varying current in as Region two, the magnetization characteristic is
coils, the rotor of the Halbach array PMSM can be driven expressed as
by the Lorentz force and three degrees-of-freedom rotational
B 2 = μ0 μr H 2 + μ0 M r (2)
motion of the rotor can be achieved.
The Halbach array PM magnetization on central plane is where μr is the relative permeability of PMs, for rare-
shown in Fig. 1(b). The PMs are distributed by the Halbach earth PM(NdFeB), μr = 1.02. M r = B r /μ0 is the
array pattern along the rotor equator, and each piece of PMs remanence vector. Br is the remanence.
adopts parallel magnetization. The shape of a single rotor PM 3) Magnetic field of the rotor core, denoted as Region three,
pole can be specified by four parameters, that is, longitudinal the magnetization characteristic is expressed as
angle α, latitudinal angle β, inner radius of PM R2 , and outer B 3 = μ0 μm H 3 (3)
radius of PM R1 . Where α = π/( pl), and p is the number
of Halbach array PM pole pairs, and l is the number of PM where μm is the relative permeability of rotor core material,
block for each pole. μm = 1.
In the non-rotational fields
III. A IR -G AP M AGNETIC F IELD S OLUTION OF THE ∇ × H k = 0, k = 1, 2, and 3 (4)
H ALBACH A RRAY P ERMANENT M AGNET ON ∇ · B k = 0, k = 1, 2, and 3. (5)
S CALAR M AGNETIC P OTENTIAL
Magnetic field intensity H k can be expressed as the gradient
To show the end leakage magnetic field phenomenon of of a scalar magnetic potential k
the Halbach array PMSM in the latitude direction intuitively,
Ansoft Maxwell 3-D is used for modeling and simulation. H k = −∇k . (6)
Fig. 2 shows the spatial distribution of magnetic flux density Based on (1)–(6)
vector produced by the Halbach array PMSM.
∇ 2 1 = 0 (7)
Fig. 2 indicates that, at the end of the Halbach array
1
PMs in the latitudinal direction, a part of the magnetic flux ∇ 2 2 = ∇ · Mr (8)
density vector goes toward the lateral. It passes through the μr
outer surface of the Halbach array PMs and returns to its ∇ 2 3 = 0. (9)

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LI AND LI: END-EFFECT MAGNETIC FIELD ANALYSIS 8202209

the Halbach array PMs are close to each other and almost
form a circle around the rotor equator, so the end effect in the
longitudinal direction can be ignored. That is ϕ  = ϕ.
After the redefinition, the spatial wavenumber of the
nth harmonic in the latitudinal direction is kn = 2πn/θ 
and the spatial wavenumber of the mth harmonic in the
longitudinal direction is km = 2πm/ϕ  .
As a result, we consider the mechanical pseudo-cycle
Fourier series and spatial integral technology to solve the
magnetic field distribution, which rearranges the magnetic field
distribution of the Halbach array PMs, and obtains end leakage
magnetic field distribution in the latitudinal direction.
Fig. 3. Schematic of mechanical pseudo-cycle in the direction of θ .

C. Magnetic Field Solution Based on

B. Mechanical Pseudo-Cycle Mechanical Pseudo-Cycle
The air-gap magnetic field distribution of the Halbach array In spherical coordinate system, according to the magnetiza-
PMSM may be divided into two areas, i.e., the sinusoidal-like tion method shown in Fig. 1(b), the remanence vector M r of
area and the end distortion area. In the former area, the mag- the j th Halbach array PM may be expressed as
netic flux density is constituted of the sinusoidal fundamental ⎡   ⎤
⎡ ⎤ cos ϕ − (1− p)(plj −1)π sin θ
harmonic and higher order harmonics. The magnetic field in Mr ⎢   ⎥
⎢ ⎥
this area is periodic in the latitudinal direction (θ direction) and M r = ⎣ Mrθ ⎦ = |M r | ⎢ cos ϕ − (1− p)(plj −1)π cos θ ⎥ (12)
longitudinal direction (ϕ direction) and is generally calculated Mrϕ ⎣   ⎦
based on the Fourier series. In the latter area, the magnetic flux − sin ϕ − (1− p)(plj −1)π
density appears distortion and strong nonlinear characteristics, where
which is not sinusoidal-like and increases the complexity of
π π ( j − 1) π π( j − 1)
solving the end distortion magnetic field distribution. To obtain − + <ϕ< +
the completed 3-D analytical model of the Halbach array 2 pl pl 2 pl pl
PMSM magnetic field distribution containing end leakage π β π β
− < θ < + , j = 1, 2 . . . 2 pl
magnetic field, the mechanical pseudo-cycle is defined as the 2 2 2 2
angle between zero magnetic field characteristic boundaries where j is the j th Halbach array PM in the clockwise
in the latitudinal direction and longitudinal direction, respec- direction, p is the number of Halbach array PM pole pairs,
tively. Cycle of Fourier series is redefined, and the magnetic and l is the number of magnet block for each pole.
field in this cycle is spatially integrated by spatial integral 1) Redefined Magnetic Field Distribution Based on
technology for detail calculation. Mechanical Pseudo-Cycle: In spherical coordinate system,
Then, we denote the Fourier series mechanical pseudo-cycle the remanence vector M r of Halbach array PMs corresponds
of the Halbach array PMs in the latitudinal direction as θ  , and to the superposition of the harmonics in the directions of r ,
in the longitudinal direction as ϕ  . θ , and ϕ
The Fourier series mechanical pseudo-cycle in the latitudi-
M r = Mrr er + Mrθ eθ + Mrϕ eϕ
nal direction is expressed as ∞ ∞

θ  = θ + 2 × τθ (10) = ( M̃rr e− j kn θ e− j km ϕ er )
n=−∞ m=−∞
where θ denotes the angle of sinusoidal-like area in the ∞

∞

latitudinal direction, and τθ represents the angle between the + ( M̃rθ e− j kn θ e− j km ϕ eθ )

Halbach array PMs edge and the position of the magnetic field
decayed to zero in the latitudinal direction, which is assumed
∞
∞
as one pole pitch in the latitudinal direction. Fig. 3 shows
schematic of mechanical pseudo-cycle in the latitudinal
direction.
The Fourier series mechanical pseudo-cycle in the longitu-
dinal direction is expressed as
ϕ  = ϕ + 2 × τϕ
where ϕ denotes the angle of sinusoidal-like area in the
longitudinal direction, and τϕ represents the angle between the
Halbach array PMs edge and the position of the magnetic field
decayed to zero in the longitudinal direction, which is assumed
as one pole pitch in the longitudinal direction. In this paper,
n=−∞ m=−∞
+ ( M̃rϕ e− j kn θ e− j km ϕ eϕ ) (13)
n=−∞ m=−∞
where Mrr , Mrθ , and Mrϕ are, respectively, magnetization
components in the directions of r , θ , and ϕ, and M̃rr , M̃rθ ,
and M̃rϕ are, respectively, corresponding Fourier coefficients.
The latitude angle of each Halbach array PM reads θ2 − θ1 .
(11)
θ2 is the latitude angle of the Halbach array PM lower bound-
ary, and θ1 is the latitude angle of the Halbach array PM upper
boundary. The longitude angle of each Halbach array PM
corresponds to π/( pl). The Fourier series mechanical pseudo-
cycle in the latitude and longitude directions are denoted
by θ  and ϕ  , respectively. Based on (12) and (13) and the

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8202209 IEEE TRANSACTIONS ON MAGNETICS, VOL. 54, NO. 4, APRIL 2018

Fourier series decomposition expression, we express the 3) Tangential components of magnetic field intensity are
mechanical pseudo-cycle Fourier coefficients of the remanence continuous on the interface
vector M r of the Halbach array PMs in (13) as
H 1θ |r=R1 = H 2θ |r=R1 , H 2θ |r=R2 = H 3θ |r=R2
 θ2  π
1 H 1ϕ |r=R1 = H 2ϕ |r=R1 , H 1ϕ |r=R2 = H 2ϕ |r=R2 .
M̃rr =   Mrr e j km ϕ e j kn θ dϕdθ (14)
θ · ϕ θ1 0 4) Radial components of the magnetic flux density are
 θ2  π
1 continuous on the interface
M̃rθ =   Mrθ e j km ϕ e j kn θ dϕdθ (15)
θ · ϕ θ1 0
 θ2  π B 1r |r→R1 = B 2r |r→R1 , B 2r |r→R2 = B 3r |r→R2 .
1
M̃rϕ =   Mrϕ e j km ϕ e j kn θ dϕdθ. (16) According to the above boundary conditions, air-gap radical
θ · ϕ θ1 0 magnetic flux density expression B 1r is obtained as follows:
Inserting remanence vector M r of the Halbach array PMs B 1r
expressed by the mechanical pseudo-cycle Fourier series ∂ϕ1
into (8) provides = −μ0
∂r ⎡  ⎤

∞
a 2a+1 (a−|b|)! 1
∇ · Mr η1 (−(a + 1)) r a+2 1
 (a+|b|)!
 = −μ0 ⎣ 2ϕ 2 a a! ⎦
∂ ∂ ∂ 2 θ ) b2 d a+b (cos2 θ − 1)a e j ϕ  bϕ
2π
= er + eθ + eϕ ·(Mrr er + Mrθ eθ + Mrϕ eϕ ) a=0 b=−a ×(1 − cos d a+b
∂r r ∂θ r sin θ ∂ϕ ⎧  ⎫
∞ ∞ − j km ϕ e − j kn θ ⎪
⎪ R a+2 k0
+ μ R 2a+1
aκ ⎪
⎪
m=−∞ (2 M̃rr − j k n M̃rθ )e ⎪
⎪ 1 (2−a(a+1)) r 1 2 ⎪
⎪
= n=−∞
∞


a ⎪
⎨ −μr η2 (a + 1) − X R 1 a+2 ⎪
⎬
∞ ∞ r = −μ0 
2a+1 (a−|b|)! 1
( cos θ − j km M̃rϕ )e− j km ϕ e− j kn θ ⎪ × r a+2
1 ⎪
a=0 b=−a ⎪ ⎪
M̃ 2ϕ  (a+|b|)! 2a a!
+ n=−∞ m=−∞
rθ
. ⎪
⎪ ⎪
⎪
r sin θ ⎪
⎩ ×(1−cos2 θ ) 2b d a+b (cos2 θ −1)a e j 2π bϕ ⎪
⎭
ϕ
a+b
(17) d
(20)
According to (7)–(9), it is known that solution of the where
Halbach array PMs magnetic field distribution corresponds to ⎧ ⎫
the solution of Laplace and Poisson equations under certain ⎪
⎪ μ (a + 1 + μ ) k0
− μ X ⎪
⎪
⎪
⎪
0 r μr (2−a(a+1)) 0 ⎪
⎪
boundary conditions. ⎪
⎨ μ0 (μr −1)η2 (a+1) a+2 1 ⎪
⎬
R1
Then, solving the Laplace equation in the spherical coordi- −
⎪
⎪ μ0 (μr (a+1)+μm a)η2 a+2 1
⎪
⎪
nate system, for the given mechanical pseudo-cycle, we may ⎪
⎪  R2
 ⎪
⎪
⎪
⎩ × μ0 μr k0 ⎪
⎭
express the general solution as μr (2−a(a+1)) − μ 0 X
⎡  ⎤ κ2 = ⎡ ⎤ (21)

∞
a 2a+1 (a−|b|)! 1 −μ0 (μr a + (a + 1))R1a
κk r a + ηk r a+1
1
2ϕ  (a+|b|)! 2a a!
ϕk = ⎣ ⎦ ⎢ μ0 (μr −1)η2 (a+1) a+2 1
⎥
2π ⎢− R ⎥
b d a+b
a=0 b=−a ×(1 − cos θ ) 2 d a+b (cos θ − 1) e ϕ
2 2 a j  bϕ ⎢ μ (μ (a+1)+μ a)η 1 1 ⎥
⎣ 0 r m 2 a+2 ⎦
R 2
(18)
×μ0 (μm − μr )a R2a−1
 
where the value of k is 1 or 3. ∞ ∞ θ j km M̃rϕ
2M̃rr −j kn M̃rθ + M̃rθsincos
θ − sin θ
Solving the Poisson equation in the spherical coordinate n=−∞ m=−∞
×e− j km ϕ e− j kn θ
system, for the given mechanical pseudo-cycle, we find the k0 = ⎡ ⎤
general solution as 2a+1 (a−|b|)! 1
 ⎣ 2ϕ  (a+|b|)! 2a a! ⎦
∞

 (n−|m|)! 1 m b a+b j 2π
ϕ
bϕ

n
R(r ) 2n+1  (n+|m|)! 2n n! (1−cos θ ) 2
2 ×(1 − cos2 θ ) 2 dd a+b (cos2 θ − 1)a e
ϕ2 = 2ϕ . (22)
d n+m n j km ϕ
n=0 m=−n × d cos θ n+m (cos θ − 1) e
2 ⎧ ⎫
⎪ k0 ⎪
(19) ⎪ μ0 (a + 1 + μr ) μr (2−a(a+1)) − μ0 X ⎪
⎪
⎨ ⎪
⎬
−μ (μ a+(a+1))R1a
− 0 r
⎪ ⎪
a−1
2) Parameters Solution Based on Boundary Conditions: ⎪
⎪ μ0 (μm −μr )a R2  ⎪
⎪
The boundary conditions of the Halbach array PMSM are as ⎩ × μ0 μr k0
− μ 0 X ⎭
μr (2−a(a+1))
follows. η2 = ⎡ ⎤ (23)
1) The three components of the magnetic flux density tend μ0 (μr − 1)(a + 1) a+2 1
⎢ −μ (μ a+(a+1))R a 1 R ⎥
to zero when the radial distance tends to infinity ⎢− 0 r ⎥
⎢ μ (μ −μ )a R a−11 ⎥
⎣ 0 m r 2 ⎦
B 1r |r→∞ = 0, B 1θ |r→∞ = 0, B 1ϕ |r→∞ = 0. ×μ0 (μr (a + 1) + μm a) a+2 1
R2
⎡  ⎤
2) The three components of the magnetic flux density are ∞


X 2a+1
a (a−|b|)! 1
 (a+|b|)! 2a a!
limited value at the origin Mrr = ⎣ 2ϕ
2π
⎦.
×(1 − cos 2 θ ) b2 d a+b (cos2 θ −1)a e j ϕ  bϕ
a=0 b=−a d a+b
B 3r |r→0 = ∞, B 3θ |r→0 = ∞, B 3ϕ |r→0 = ∞. (24)

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LI AND LI: END-EFFECT MAGNETIC FIELD ANALYSIS
TABLE I
S TRUCTURE AND M ATERIAL PARAMETERS
Fig. 4. 3-D air-gap radical magnetic field distribution of B1r .
This expression is the result of the whole spatial integration,
and therefore, it contains the solution of the end leakage
magnetic field of the Halbach array PMSM in the latitudinal
direction.
Multilayer Halbach array PMs are formed by multilayer
Halbach array PMs, which are fixed along different rotor
latitudes and longitudes. The end leakage magnetic field
calculation of multilayer Halbach array PMs can also be drawn
according to the solving thought of this paper.
IV. R ADIAL M AGNETIC F LUX D ENSITY
A NALYSIS OF R EGION O NE
As an example, we consider the Halbach array PMSM with
p = 2 and l = 3 to analyze the distribution of the air-gap
radical magnetic field B 1r . Table I lists the corresponding
motor parameters.
A. Air-Gap Radical Magnetic Field Distribution
Based on Mechanical Pseudo-Cycle
Fig. 4 shows the spatial distribution of B 1r in the directions
of ϕ and θ with r = 50 mm.
Fig. 4 reveals that the amplitude of B 1r produced by the
Halbach array PMs reaches to its maximum near the equator.
The spherical structure of the Halbach array PMSM leads
to finite length of rotor PMs in the latitudinal direction and
longitudinal direction. The amplitude of B 1r decreases rapidly
and appears end effect from the equator to the two ends in the
latitudinal direction.
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8202209
Fig. 5. 3-D FEM of the Halbach array PMSM and its mesh subdivision
result.
Fig. 6. Distribution of B1r with r = 50 mm, ϕ = 0°, and different methods.
Ansoft Maxwell 3-D is used for modeling and simulation
of the Halbach array PMSM. Fig. 5 shows 3-D FEM of the
Halbach array PMSM and its mesh subdivision result. The
boundaries between the PM, air gap, winding, and iron core
meet the natural boundary condition, and the boundary of the
outermost border area meets the first kind of homogeneous
boundary condition. The PMs are distributed by the Halbach
array pattern along the rotor equator, and each piece of
PMs adopts parallel magnetization. The corresponding motor
parameters follow, as listed in Table I.
Fig. 6 shows B 1r in the direction of θ with r = 50 mm and
ϕ = 0° based on analytical method in this paper, analytical
method with no end effect and FEM.
Fig. 6 shows that, on the outside of the distribution range of
the Halbach array PMs, B 1r varies sinusoidally with no end
effect. The results of B 1r achieved using the analytical method
in this paper and FEM show sharp attenuation and distortion
in the direction of θ on the outside of the distribution range
of the Halbach array PMs.
B. Effect of Magnetization Method on Air-Gap
Radical Magnetic Flux Density
Fig. 7 shows the B 1r in the direction of θ with r = 50 mm
and ϕ = 0° based on the Halbach array magnetization and
parallel magnetization.
8202209
Fig. 7. Distribution of B1r with r = 50 mm, ϕ = 0°, and different
magnetization methods.
Fig. 8. Distribution of B1r with r = 50 mm, ϕ = 0°, and different values of l.
Fig. 7 shows that, inside the distribution range of the
Halbach array PMs, the amplitude of B 1r of the Halbach array
magnetization is larger than that of the parallel magnetization.
However, outside the distribution range of the Halbach array
PMs, the amplitude of B 1r of the Halbach array magnetization
is smaller than that of the parallel magnetization, while the
Halbach array magnetization presents larger than attenuation
amplitude does. The results show that the Halbach array
magnetization has a larger main air-gap magnetic field and
a smaller end leakage magnetic field compared with parallel
magnetization.
Based on (12) and (20), l is the number of the magnet block
for each pole, in the expression of B 1r , that is directly related
to the magnetization of the Halbach array PMSM. Fig. 8 shows
B 1r in the direction of θ with r = 50 mm, ϕ = 0°, and l = 3,
4, and 5, respectively.
Fig. 8 shows that B 1r corresponds to l, which represents
the number of the magnet block for each pole. Inside the
distribution range of the Halbach array PMs, larger l leads
to larger amplitude of B 1r . Outside the distribution range of
the Halbach array PMs, the effect of l on the end effect is
negligible.
C. Effect of Parameters on Air-Gap Radical Flux Density
Equation (20) indicates that B 1r is related to the harmonic
orders m and n, and the order of the spherical harmonic
functions a. The greater the value of m, n, and a is, the higher
the harmonic components contains. Fig. 9 shows B 1r in the
direction of θ with r = 50 mm, ϕ = 0°, and different values
of m, n, and a.
Fig. 9 shows that, inside the distribution range of the
Halbach array PMs, increasing m, n, and a result in the
increase of the amplitude of B 1r . Outside of the distribution
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 54, NO. 4, APRIL 2018
Fig. 9. Distribution of B1r with r = 50 mm, ϕ = 0°, and different values
of m, n, and a.
Fig. 10. Distribution of B1r with r = 50 mm, ϕ = 0°, and different values
of mechanical pseudo-cycle.
range of the Halbach array PMs, increasing m, n, and a
presents stronger attenuation amplitude of B 1r and weaker end
leakage magnetic field. However, further increasing of these
parameters yields little change in the end leakage magnetic
field.
Based on (14)–(16), Fourier series decomposition of the
air-gap radical magnetic field of the Halbach array PMs is
related to the mechanical pseudo-cycle, and Fourier series
decomposition directly affects the air-gap radical magnetic
flux density. Fig. 10 shows B 1r in the direction of θ with
r = 50 mm, ϕ = 0°, and different values of mechanical
pseudo-cycle.
Fig. 10 shows that B 1r is affected by the change of the
mechanical pseudo-cycle. Inside the distribution range of the
Halbach array PMs, the increasing of the mechanical pseudo-
cycle leads to the decrease of the amplitude of B 1r . Outside
the distribution range of the Halbach array PMs, the increasing
of the mechanical pseudo-cycle provides smaller attenuation
amplitude of B 1r . The trend is consistent with the definition
of the mechanical pseudo-cycle. An appropriate mechanical
pseudo-cycle accurately reflects the end effect of the motor.
Based on (20), the expression of B 1r is related to outer
radius of the magnet R1 . Fig. 11 shows B 1r in the direction
of θ with r = 50 mm, ϕ = 0°, and different values of R1 .
Fig. 11 shows that B 1r is affected by R1 . Inside the
distribution range of the Halbach array PMs, B 1r is greatly
influenced by R1 . Proper increase of R1 can significantly
increase amplitude of B 1r . Outside the distribution range of
the Halbach array PMs, the increasing R1 provides larger
attenuation amplitude of B 1r . The farther the distance away
from the Halbach array PMs is, the smaller the effect of R1
on end effect is, in the direction of θ .
Based on (20), the expression of B 1r is related to the inner
radius of the magnet R2 and the outer radius of the magnet R1 ,
LI AND LI: END-EFFECT MAGNETIC FIELD ANALYSIS
Fig. 11. Distribution of B1r with r = 50 mm, ϕ = 0° and different
values of R1 .
Fig. 12. Distribution of B1r with ϕ = 0° and different values of h.
Fig. 13. Distribution of B1r with ϕ = 0° and different values of δ.
which represents the thickness of the Halbach array PMs h.
Fig. 12 shows B 1r in the direction of θ with ϕ = 0° and
different values of h.
Fig. 12 shows that B 1r is affected by h. Inside the distribu-
tion range of the Halbach array PMs, an appropriate increase
of the h may increase the amplitude of B 1r . Outside the
distribution range of the Halbach array PMs, larger h presents
larger attenuation amplitude of B 1r . The farther the distance
away from the Halbach array PMs is, the smaller the effect of
h on end effect is, in the direction of θ .
Based on (20), the expression of B 1r is related to r and the
outer radius of the magnet R1 , which represents the air-gap
length δ. Fig. 13 shows B 1r in the direction of θ with ϕ = 0°
and different values of δ.
Fig. 13 shows that B 1r is affected by δ. Inside the distribu-
tion range of the Halbach array PMs, B 1r is greatly influenced
by δ. Proper decrease of δ can significantly increase amplitude
of B 1r . Outside the distribution range of the Halbach array
PMs, the increasing δ provides smaller attenuation amplitude
of B 1r . The farther the distance away from the Halbach array
PMs is, the smaller the effect of δ on end effect is, in the
direction of θ .
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8202209
Fig. 14. Eddy-current loss of the Halbach array PMSM with end effect and
no end effect under the no-load condition.
Fig. 15. Rotor model of the Halbach array PMSM prototype.
D. Effect of End Effect on Eddy-Current Loss
Fig. 14 shows the eddy-current loss of the Halbach array
PMSM with end effect and no end effect under the no-load
condition, p = 2 and l = 3. The corresponding motor
parameters follow, as listed in Table I. The conductivity of
NdFeB PM is 625 000 s/m, and the motor speed is 300 r/min.
Fig. 14 shows that eddy-current loss is affected by end
effect, and end effect increases the eddy-current loss. During
the time of 0–400 ms, the total eddy-current loss with
end effect is 4.6537 mW and the average eddy-current loss
is 41.76 W/h. The total eddy-current loss with no end effect
is 2.4569 mW and the average eddy-current loss is 21.96 W/h.
The result shows that eddy-current loss caused by end effect
almost accounts for half of the total eddy-current loss, and
therefore, the research on end effect and the effect of motor
parameters on end effect is of great significance.
V. E XPERIMENTAL R ESULTS
The experiment was done to verify the accuracy of the ana-
lytical method. Fig. 15 shows the rotor model of the Halbach
array PMSM, and the corresponding motor parameters are
listed in Table I.
Fig. 16 shows the measurement system of rotor magnetic
field distribution. Figs. 17–19 make a comparison between
analytical results and experimental results of leakage magnetic
field in the direction of θ .
Fig. 17 shows comparison between analytical results and
experimental results of B 1r in the direction of θ with
r = 50 mm and ϕ = 0°.
Fig. 18 shows comparison between analytical results and
experimental results of B 1r in the direction of θ with
r = 50 mm and ϕ = 30°.
8202209
Fig. 16. Measurement system of rotor magnetic field distribution.
Fig. 17. Comparison between analytical results and experimental results
of B1r in the direction of θ with r = 50 mm and ϕ = 0.
Fig. 18. Comparison between analytical results and experimental results
of B1r in the direction of θ with r = 50 mm and ϕ = 30.
Fig. 19. Comparison between analytical results and experimental results of
B1r in the direction of θ with r = 50 mm and ϕ = 60.
Fig. 19 shows comparison between analytical results and
experimental results of B 1r in the direction of θ with
r = 50 mm and ϕ = 60°.
From Figs. 17–19, it can be seen that the leakage magnetic
field results obtained by the analytical method in this paper
are almost consistent with the experimental results.
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 54, NO. 4, APRIL 2018
VI. C ONCLUSION
The leakage magnetic field analytical results of Halbach
array PMSM are verified by FEM and experiment. The results
about the end effect can set up a theoretical basis on the
optimization design of the Halbach array PMSM.
ACKNOWLEDGMENT
This work was supported by the National Natural Science
Foundation of China under Grant 51677130.
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Hongfeng Li was born in Tianjin, China, in 1979. She received the M.S. and
Ph.D. degrees from Tianjin University, Tianjin, in 2005 and 2008, respectively.
She is currently a Prelector with the School of Electrical and Informa-
tion Engineering, Tianjin University. Her current research interests include
electrical machines, motor drive, and magnetic field analysis.
Tianmeng Li was born in Shijiazhuang, China, in 1993. She received the B.E.
degree from Shijiazhuang Tiedao University, Shijiazhuang, China, in 2015.
She is currently pursuing the master’s degree with the School of Electrical
and Information Engineering, Tianjin University, Tianjin, China.
Her current research interests include electrical machines, motor drive, and
magnetic field analysis.