JPH10304606A - Permanent magnet-type motor - Google Patents
Permanent magnet-type motorInfo
- Publication number
- JPH10304606A JPH10304606A JP12177397A JP12177397A JPH10304606A JP H10304606 A JPH10304606 A JP H10304606A JP 12177397 A JP12177397 A JP 12177397A JP 12177397 A JP12177397 A JP 12177397A JP H10304606 A JPH10304606 A JP H10304606A
- Authority
- JP
- Japan
- Prior art keywords
- iron core
- permanent magnet
- core teeth
- space
- core
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、界磁として永久磁
石を使用した電動機に関し、とくにトルクリップルを低
減するための電機子コアに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric motor using a permanent magnet as a magnetic field, and more particularly to an armature core for reducing torque ripple.
【0002】[0002]
【従来の技術】従来、界磁として永久磁石を使用した電
動機は、コギングトルクによって生じるトルクリップル
を低減するために、電機子コイルを挿入するために電機
子コアに設けたスロットを1スロット分だけスキューす
るものがあるが、電機子コアをスキューする工程が複雑
になったり、電機子コイルを挿入する作業に手間がかか
るという問題がある。そのため、簡単にトルクリップル
を低減する方法として、疑似的に多スロットとし、コギ
ングトルクの周波数を高くして、実質的にトルクに影響
のないようにしたものがある(例えば、特開昭63−1
40635号公報)。例えば、磁極が6極、電機子コイ
ルを挿入するスロット数が9個の場合、図6に示すよう
に、リング状の電機子コア1の内側に9個の鉄心歯2を
突出させて、隣り合う鉄心歯2の間に9個のスロット3
を形成している。スロット3には電機子コイル4を装着
してある。各鉄心歯2の先端には凹部21を設けてあ
る。鉄心歯2の内側には空隙を介して対向するロータ5
を設けてあり、ロータ5の表面には、6極の磁極を形成
する永久磁石6を装着してある。このような構成によ
り、疑似的スロットは2倍になり、コギングトルクの周
期は2倍となるため、実際に生じるトルクリップルの振
幅が小さくなる。2. Description of the Related Art Conventionally, an electric motor using a permanent magnet as a field has only one slot provided in an armature core for inserting an armature coil in order to reduce torque ripple caused by cogging torque. Although there is skew, there are problems that the process of skewing the armature core is complicated and that the work of inserting the armature coil is troublesome. Therefore, as a method of easily reducing the torque ripple, there is a method in which the number of slots is artificially increased and the frequency of the cogging torque is increased so that the torque is not substantially affected. 1
No. 40635). For example, when the number of magnetic poles is six and the number of slots for inserting an armature coil is nine, nine core teeth 2 are protruded inside a ring-shaped armature core 1 as shown in FIG. 9 slots 3 between matching core teeth 2
Is formed. An armature coil 4 is mounted in the slot 3. A recess 21 is provided at the tip of each iron core tooth 2. Inside the iron core teeth 2, a rotor 5 facing through a gap is provided.
, And a permanent magnet 6 forming six magnetic poles is mounted on the surface of the rotor 5. With such a configuration, the pseudo slot is doubled and the period of the cogging torque is doubled, so that the amplitude of the actually generated torque ripple is reduced.
【0003】[0003]
【発明が解決しようとする課題】ところが、上記従来技
術では、鉄心歯2の先端に設けた凹部21は、ロータ4
と電機子コア1との間の空隙と繋がっているため、凹部
21における永久磁石6の動作点は低くなり、起磁力が
低下して磁束が減少する。これにより、全体的に空隙長
さが長くなったことと同じ結果となり、誘起電圧が低下
し、凹部21がないときに比べてモータ特性が悪くなる
という問題があった。本発明は、コギングトルクによる
トルクリップルが小さく、空隙磁束の低下を防止でき
る、高トルク高精度の永久磁石形電動機を提供すること
を目的とするものである。However, in the above prior art, the recess 21 provided at the tip of the iron core teeth 2 is
And the armature core 1, the operating point of the permanent magnet 6 in the recess 21 is lowered, the magnetomotive force is reduced, and the magnetic flux is reduced. As a result, the same result as an increase in the gap length is obtained as a whole, and the induced voltage is reduced, and there is a problem that the motor characteristics are deteriorated as compared with the case where the concave portion 21 is not provided. SUMMARY OF THE INVENTION An object of the present invention is to provide a high-torque, high-accuracy permanent magnet type electric motor in which torque ripple due to cogging torque is small and a decrease in air gap magnetic flux can be prevented.
【0004】[0004]
【課題を解決するための手段】上記課題を解決するた
め、本発明は、内側に突出する複数の鉄心歯を備えたリ
ング状の電機子コアと、隣り合う前記鉄心歯の間に形成
されたスロットに装着された電機子コイルと、前記鉄心
歯の内側に空隙を介して対向し、界磁を形成する永久磁
石を設けたロータとを備えた永久磁石形電動機におい
て、前記複数の鉄心歯の内側表面から内部に入った位置
で、かつ前記スロットのスロットピッチ角を複数分割し
た位置に空間部を設けてあるものである。また、前記空
間部は、前記スロットピッチ角を複数分割した位置にそ
れぞれ設けてあるものである。また、前記空間部は、前
記スロットピッチ角を複数分割したずれ角だけ、前記各
鉄心歯毎に互いに円周方向にずれた位置にそれぞれ1個
設けてあるものである。また、前記電機子コアは、隣り
合う前記鉄心歯の内側どうしが繋がっている内コアと、
前記内コアの外側に嵌めたリング状の外コアとからなる
ものである。また、前記空間部のうち、前記鉄心歯の側
面に近い位置に設定された空間部は、他の位置にある空
間部の形状より変形した形状にしてあるものである。ま
た、前記空間部は、外周方向が細くなるように紡錘形に
形成され、かつ前記鉄心歯の内側表面の近傍から放射状
に配置してあるものである。In order to solve the above-mentioned problems, the present invention provides a ring-shaped armature core having a plurality of inwardly protruding iron core teeth formed between adjacent iron core teeth. In a permanent magnet type electric motor including an armature coil mounted in a slot and a rotor provided with a permanent magnet that forms a magnetic field, facing the inside of the iron core teeth via a gap, A space is provided at a position that enters the inside from the inner surface and at a position obtained by dividing the slot pitch angle of the slot into a plurality. The space portions are provided at positions obtained by dividing the slot pitch angle into a plurality. Further, one space portion is provided at a position shifted in the circumferential direction from each other for each of the iron core teeth by a shift angle obtained by dividing the slot pitch angle into a plurality. Further, the armature core includes an inner core in which the inner sides of the adjacent iron core teeth are connected,
A ring-shaped outer core fitted on the outer side of the inner core. Further, of the space, a space set at a position close to the side surface of the iron core tooth has a shape that is more deformed than the shape of the space at another position. Further, the space portion is formed in a spindle shape so that an outer peripheral direction becomes thinner, and is arranged radially from a vicinity of an inner surface of the iron core tooth.
【0005】[0005]
【発明の実施の形態】以下、本発明を図に示す実施例に
ついて説明する。図1は本発明の第1の実施例を示す正
断面図で、例として磁極が6極、電機子コイルを挿入す
るスロット数が9の場合について示してある。図におい
て、1はリング状の電機子コア、2は電機子コア1の内
側に突出させた鉄心歯である。3は隣り合う鉄心歯2の
間に形成されたスロット、4はスロット3に装着した電
機子コイルである。鉄心歯3の内側には空隙を介して対
向するロータ5を設けてあり、ロータ5の外周表面に
は、6極の磁極を形成する永久磁石6を装着してある。
鉄心歯2には円周方向のスロットピッチ角Θを3等分し
た位置で、空隙と繋がらないように、それぞれ鉄心歯2
の表面から内部に入った位置に2個の楕円形の空間部7
を設けてある。したがって空間部7は鉄心歯2の表面に
は開口せず、空間部7と鉄心歯2の表面との間に厚さの
薄いつなぎ部71が形成されて閉じられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to an embodiment shown in the drawings. FIG. 1 is a front sectional view showing a first embodiment of the present invention, and shows a case where the number of magnetic poles is six and the number of slots for inserting an armature coil is nine as an example. In the figure, 1 is a ring-shaped armature core, and 2 is an iron core tooth protruding inside the armature core 1. Reference numeral 3 denotes a slot formed between adjacent iron core teeth 2, and 4 denotes an armature coil mounted in the slot 3. A rotor 5 is provided inside the iron core teeth 3 with a gap therebetween, and a permanent magnet 6 forming six magnetic poles is mounted on the outer peripheral surface of the rotor 5.
Each of the core teeth 2 is positioned at a position obtained by equally dividing the circumferential slot pitch angle Θ by three so as not to be connected to a gap.
Two elliptical spaces 7 at the position inside the surface
Is provided. Therefore, the space portion 7 does not open on the surface of the iron core teeth 2, and a thin connecting portion 71 is formed and closed between the space portion 7 and the surface of the iron core teeth 2.
【0006】このような構成により、永久磁石6からで
た磁束は空間部7の両側を通るので、スロット数が3倍
の27個に増加したことと同じになる。したがって、コ
ギングの周期はスロット数と磁極数の最小公倍数である
18山の3倍、すなわち54山になる。このことから、
コギングトルクの周波数は高くなり、ロータ5の回転に
よる磁極とスロットの相対位置による磁力の変化が小さ
く抑えられ、トルクリップルを低減することができる。
また、鉄心歯2の表面には凹部がなく、平滑であるた
め、空隙における磁束の変化が少なく、誘起電圧の低下
を防ぐことができる。なお、スロットピッチ角Θを分割
する数は3等分に限るものではない。[0006] With this configuration, the magnetic flux from the permanent magnet 6 passes through both sides of the space 7, which is the same as increasing the number of slots to 27 times. Therefore, the cycle of cogging is three times the 18 peaks, which is the least common multiple of the number of slots and the number of magnetic poles, ie, 54 peaks. From this,
The frequency of the cogging torque increases, and the change in the magnetic force due to the relative position between the magnetic pole and the slot due to the rotation of the rotor 5 is suppressed to a small value, thereby reducing the torque ripple.
In addition, since the surface of the iron core teeth 2 has no concave portions and is smooth, the change in magnetic flux in the air gap is small, and a decrease in induced voltage can be prevented. The number of divisions of the slot pitch angle Θ is not limited to three.
【0007】図2は本発明の第2の実施例を示す正断面
図で、例として磁極が6極、電機子コイルを挿入するス
ロット数が9の場合について示してある。この場合、鉄
心歯2に設ける空間部7は各鉄心歯2の表面から内部に
入った位置に1個だけ設け、スロット数をnとすると、
スロットピッチ角Θを(n+1)等分したずれ角θだ
け、互いに円周方向にずれた位置に設けてある。例え
ば、9スロットの場合、Θ=360/9=40° θ=40°/(9+1)=4° となる。9個の鉄心歯
2に反時計回りに2a,2b〜2iまで番号を付けるて
空間部7の位置を決める。鉄心歯2aの空間部7aは中
心線A上に設け、鉄心歯2bの空間部7bは中心線Bか
ら反時計回りに4°ずれた位置に設ける。鉄心歯2c、
2d、2eには中心線C、D、Eからそれぞれ8°、1
2°、16°ずれた位置に空間部7c,7d,7eを設
ける。鉄心歯2fのずれ角は20°で、スロット3に相
当するので、あえて設ける必要がない。鉄心歯2gには
中心線Gから時計回りに12°、鉄心歯2h,2iには
それぞれ中心線H,Iから時計回りに8°、4°ずれた
位置に設けてある。FIG. 2 is a front sectional view showing a second embodiment of the present invention, in which the number of magnetic poles is six and the number of slots for inserting an armature coil is nine as an example. In this case, only one space portion 7 provided in the iron core teeth 2 is provided at a position entering from the surface of each iron core tooth 2 and the number of slots is n.
The slot pitch angle Θ is provided at positions shifted from each other in the circumferential direction by a shift angle θ obtained by equally dividing the slot pitch angle Θ by (n + 1). For example, in the case of 9 slots, Θ = 360/9 = 40 ° θ = 40 ° / (9 + 1) = 4 °. The nine core teeth 2 are numbered counterclockwise from 2a, 2b to 2i to determine the position of the space 7. The space 7a of the iron core teeth 2a is provided on the center line A, and the space 7b of the iron core teeth 2b is provided at a position deviated by 4 ° counterclockwise from the center line B. Iron core teeth 2c,
2d and 2e are 8 ° from the center lines C, D and E, respectively, 1
Spaces 7c, 7d, 7e are provided at positions shifted by 2 ° and 16 °. Since the angle of deviation of the iron core teeth 2f is 20 ° and corresponds to the slot 3, there is no need to provide them. The iron core teeth 2g are provided at positions 12 ° clockwise from the center line G, and the iron core teeth 2h and 2i are provided at positions 8 ° and 4 ° clockwise shifted from the center lines H and I, respectively.
【0008】このような構成により、鉄心歯全体とし
て、スロット3が1スロットスキューした状態と同じ空
隙磁気分布となり、コギングトルクの周波数は高くな
り、トルクリップルが低減される。なお、上記実施例で
は鉄心歯2の円周方向配列の順序にずれ角θが大きくな
るようにしたが、順序よくずれ角θを決める必要がな
く、各鉄心歯2の中心線からにランダムにずれ角θだけ
ずらしてもよい。図3は本発明の第3の実施例を示す正
断面図である。一定の直径の円形の空間部7を各鉄心歯
2に設ける場合、空間部7が鉄心歯2の側面に近い位置
に設定されて、側面を突き破る恐れがある。この場合、
直径の小さい円形の空間部7xを設けて、側面を突き破
らないようにしてある。図4は本発明の第4の実施例を
示す正断面図である。この場合、鉄心歯2の側面を突き
破らないように、変形させた空間部7yを設けてある。With such a configuration, the magnetic core has the same air gap magnetic distribution as in the state where the slots 3 are skewed by one slot, the frequency of the cogging torque is increased, and the torque ripple is reduced. In the above embodiment, the shift angle θ is increased in the order of the circumferential arrangement of the core teeth 2. However, it is not necessary to determine the shift angle θ in order, and the shift angle θ is randomly shifted from the center line of each core tooth 2. It may be shifted by the angle θ. FIG. 3 is a front sectional view showing a third embodiment of the present invention. When a circular space 7 having a constant diameter is provided in each core tooth 2, the space 7 may be set at a position close to the side surface of the iron core tooth 2 and break through the side surface. in this case,
A circular space 7x having a small diameter is provided so as not to break through the side surface. FIG. 4 is a front sectional view showing a fourth embodiment of the present invention. In this case, a deformed space portion 7y is provided so as not to break through the side surface of the iron core teeth 2.
【0009】図5は本発明の第5の実施例を示す正断面
図である。この場合、電機子コア1を、隣り合う鉄心歯
2の内側どうしが繋がっている内コア11と、隣り合う
鉄心歯2の間の外側が開口して電機子コイルを挿入する
ようにして、その外側に嵌めたリング状の外コア12と
によって構成してある。空間部7zは、永久磁石6から
生じる磁束の流れの抵抗を少なくするために、外周方向
が細くなるように紡錘形に形成されており、鉄心歯2の
内側表面の近傍から放射状に配置してある。したがっ
て、鉄心歯2の内側にはスロットが開口していないの
で、空隙磁束密度を高く維持することができるともに、
コギングトルクは小さく、空間部7zを設けることによ
り、更にトルクリップルを低減することができる。空間
部7zの位置は上記第1および第2の実施例で示した方
法によって決めることができる。なお、上記実施例で
は、スロット数が9個で、磁極が6極の電動機について
説明したが、例えばスロット数が6個、で磁極数が4極
の場合や、スロット数が12個で磁極数が8極など、こ
れ以外の組み合わせでコギングトルクが大きい場合に同
様の効果がある。FIG. 5 is a front sectional view showing a fifth embodiment of the present invention. In this case, the armature core 1 is formed such that the inner core 11 where the inner sides of the adjacent iron core teeth 2 are connected to each other and the outer side between the adjacent iron core teeth 2 are opened to insert the armature coil. It comprises a ring-shaped outer core 12 fitted to the outside. The space portion 7z is formed in a spindle shape so that the outer peripheral direction becomes thin in order to reduce the resistance of the flow of the magnetic flux generated from the permanent magnet 6, and is arranged radially from the vicinity of the inner surface of the iron core teeth 2. . Therefore, since no slot is opened inside the iron core teeth 2, the air gap magnetic flux density can be maintained high,
The cogging torque is small, and the provision of the space 7z can further reduce the torque ripple. The position of the space 7z can be determined by the method shown in the first and second embodiments. In the above embodiment, a motor having nine slots and six magnetic poles has been described. However, for example, a motor having six slots and four magnetic poles, or a motor having twelve slots and magnetic poles having twelve slots. The same effect is obtained when the cogging torque is large in other combinations, such as when the number of poles is eight.
【0010】[0010]
【発明の効果】以上述べたように、本発明によれば、電
機子コアの鉄心歯の内側表面を平滑にし、鉄心歯の内側
表面の近傍で、スロットピッチを複数分割した位置に空
間部を設けて、コギングトルクの周波数を高めているの
で、誘起電圧の低下を防ぐとともに、トルクリップルを
低減することができ、高トルク高精度の永久磁石形電動
機を提供できる効果がある。As described above, according to the present invention, the inner surface of the iron core teeth of the armature core is smoothed, and the space is formed in the vicinity of the inner surface of the iron core teeth at a position where the slot pitch is divided into a plurality. Since the frequency of the cogging torque is increased by the provision, the induced voltage can be prevented from lowering, the torque ripple can be reduced, and there is an effect that a permanent magnet type motor with high torque and high accuracy can be provided.
【図1】 本発明の第1の実施例を示す正断面図であ
る。FIG. 1 is a front sectional view showing a first embodiment of the present invention.
【図2】 本発明の第2の実施例を示す平断面図であ
る。FIG. 2 is a plan sectional view showing a second embodiment of the present invention.
【図3】 本発明の第3の実施例を示す平断面図であ
る。FIG. 3 is a plan sectional view showing a third embodiment of the present invention.
【図4】 本発明の第4の実施例を示す平断面図であ
る。FIG. 4 is a plan sectional view showing a fourth embodiment of the present invention.
【図5】 本発明の第5の実施例を示す平断面図であ
る。FIG. 5 is a plan sectional view showing a fifth embodiment of the present invention.
【図6】 従来例を示す平断面図である。FIG. 6 is a plan sectional view showing a conventional example.
1:電機子コア、2(2a〜2i):鉄心歯、3:スロ
ット、4:電機子コイル、5:ロータ、6:永久磁石、
7(7a〜7i)、7x,7y,7z:空間部1: armature core, 2 (2a to 2i): iron core teeth, 3: slot, 4: armature coil, 5: rotor, 6: permanent magnet,
7 (7a-7i), 7x, 7y, 7z: space part
Claims (6)
ング状の電機子コアと、隣り合う前記鉄心歯の間に形成
されたスロットに装着された電機子コイルと、前記鉄心
歯の内側に空隙を介して対向し、界磁を形成する永久磁
石を設けたロータとを備えた永久磁石形電動機におい
て、 前記複数の鉄心歯の内側表面から内部に入った位置で、
かつ前記スロットのスロットピッチ角を複数分割した位
置に空間部を設けてあることを特徴とする永久磁石形電
動機。1. A ring-shaped armature core having a plurality of core teeth protruding inward, an armature coil mounted in a slot formed between adjacent core teeth, and an inner side of the core teeth. And a rotor provided with a permanent magnet that forms a magnetic field, the rotor being provided with a permanent magnet that forms a magnetic field.
And a space portion is provided at a position obtained by dividing the slot pitch angle of the slot into a plurality.
複数分割した位置にそれぞれ設けてある請求項1記載の
永久磁石形電動機。2. The permanent magnet electric motor according to claim 1, wherein the space is provided at a position obtained by dividing the slot pitch angle into a plurality.
複数分割したずれ角だけ、前記各鉄心歯毎に互いに円周
方向にずれた位置にそれぞれ1個設けてある請求項1記
載の永久磁石形電動機。3. The permanent magnet according to claim 1, wherein one of the space portions is provided at a position which is circumferentially shifted from each other for each of the iron core teeth by a shift angle obtained by dividing the slot pitch angle into a plurality. Shaped motor.
の内側どうしが繋がっている内コアと、前記内コアの外
側に嵌めたリング状の外コアとからなる請求項1から3
までのいずれか1項に記載の永久磁石形電動機。4. The armature core according to claim 1, wherein the inner core of the adjacent iron core teeth is connected to each other, and a ring-shaped outer core fitted outside the inner core.
The permanent magnet type electric motor according to any one of the above.
近い位置に設定された空間部は、他の位置にある空間部
の形状より変形した形状にしてある請求項3または4記
載の永久磁石形電動機。5. The space portion of the space portion set at a position close to the side surface of the iron core tooth has a shape that is more deformed than the shape of a space portion at another position. Permanent magnet type electric motor.
に紡錘形に形成され、かつ前記鉄心歯の内側表面の近傍
から放射状に配置してある請求項1から5までのいずれ
か1項に記載の永久磁石形電動機。6. The space according to claim 1, wherein the space is formed in a spindle shape so that an outer peripheral direction becomes thinner, and is arranged radially from a vicinity of an inner surface of the iron core teeth. A permanent magnet type electric motor as described.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12177397A JP3796609B2 (en) | 1997-04-23 | 1997-04-23 | Permanent magnet motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP12177397A JP3796609B2 (en) | 1997-04-23 | 1997-04-23 | Permanent magnet motor |
Publications (2)
Publication Number | Publication Date |
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JPH10304606A true JPH10304606A (en) | 1998-11-13 |
JP3796609B2 JP3796609B2 (en) | 2006-07-12 |
Family
ID=14819537
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP12177397A Expired - Fee Related JP3796609B2 (en) | 1997-04-23 | 1997-04-23 | Permanent magnet motor |
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JP (1) | JP3796609B2 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002064949A (en) * | 2000-08-18 | 2002-02-28 | Aichi Emerson Electric Co Ltd | Motor |
US6441525B1 (en) * | 2000-09-28 | 2002-08-27 | Hitachi, Ltd. | Permanent magnet rotating electric machine |
CN101764438A (en) * | 2008-12-25 | 2010-06-30 | 乐金电子(天津)电器有限公司 | Stator structure of electrical machine for compressor |
JP2013094044A (en) * | 2011-10-24 | 2013-05-16 | Samsung Electro-Mechanics Co Ltd | Stator core and spindle motor including the same |
JP2014068495A (en) * | 2012-09-27 | 2014-04-17 | Hitachi Automotive Systems Ltd | Rotary electric machine and electrically driven power steering device using the same |
JP2016067089A (en) * | 2014-09-24 | 2016-04-28 | 多摩川精機株式会社 | Servo motor and cogging torque suppression method thereof |
CN111628581A (en) * | 2019-02-28 | 2020-09-04 | 罗伯特·博世有限公司 | Stator of electric machine |
-
1997
- 1997-04-23 JP JP12177397A patent/JP3796609B2/en not_active Expired - Fee Related
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002064949A (en) * | 2000-08-18 | 2002-02-28 | Aichi Emerson Electric Co Ltd | Motor |
US6441525B1 (en) * | 2000-09-28 | 2002-08-27 | Hitachi, Ltd. | Permanent magnet rotating electric machine |
CN101764438A (en) * | 2008-12-25 | 2010-06-30 | 乐金电子(天津)电器有限公司 | Stator structure of electrical machine for compressor |
JP2013094044A (en) * | 2011-10-24 | 2013-05-16 | Samsung Electro-Mechanics Co Ltd | Stator core and spindle motor including the same |
JP2014068495A (en) * | 2012-09-27 | 2014-04-17 | Hitachi Automotive Systems Ltd | Rotary electric machine and electrically driven power steering device using the same |
JP2016067089A (en) * | 2014-09-24 | 2016-04-28 | 多摩川精機株式会社 | Servo motor and cogging torque suppression method thereof |
CN111628581A (en) * | 2019-02-28 | 2020-09-04 | 罗伯特·博世有限公司 | Stator of electric machine |
Also Published As
Publication number | Publication date |
---|---|
JP3796609B2 (en) | 2006-07-12 |
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