CN103855826B - IPM rotary motor - Google Patents

Abstract

A kind of IPM rotary motor, possesses the stator of rotor (12) and this rotor of storage imbedding permanent magnet (16) with V-shaped, the groove number of unit magnetic pole unit phase is 2, when making permanent magnet exist in d axle side, permanent magnet produces the magnet magnetic flux offsetting the direction of the armature flux of this d axle side, in the scope producing above-mentioned magnet magnetic flux, this permanent magnet is replaced into the magnetic flux wall (17c) in the little space of permeability, for this rotor side bridge (30) magnetic flux wall (17b) side, outer end in face (17b1), angle (�� 8) (electric angle) between itself and d axle is setting intermediate point (17b1m) in the scope of 64.7 �㡫74.2 ��, angle (�� 9) (mechanical angle) between face (17b1q) in the extended surface of face (17b1d) in d axle side and q axle side is set in the scope of 0 �㡫37 ��.

Description

IPM rotary motor

Technical field

The present invention relates to IPM rotary motor, it is specifically related to realize the IPM rotary motor of high efficiency rotary actuation.

Background technology

The characteristic corresponding to installing device is sought for the rotary electric being installed on various device is confidential.

Such as, when being installed on hybrid electric vehicle (HEV:HybridElectricVehicle) together with oil engine as driving source or be installed on the driving electric motor of power truck (EV:ElectricVehicle) as independent driving source, require to produce big torque in low rotation speed area, possess simultaneously wide can speed change characteristic.

In this kind of vehicle, in order to improve fuel efficiency, each integral part comprising electric rotating motivation is required to improve effciency of energy transfer, particularly in vehicle-mounted electric rotating motivation, expect to improve the efficiency of general regions. And, in vehicle-mounted electric rotating motivation, from the restriction of installation space, light-weighted viewpoint, it is desired to the more structure of the high-energy-density of miniaturization.

, in HEV, EV, in general, the slow speed of revolution/low-load region of electric rotating motivation is general regions. Therefore, there is following trend: be that magnet torque is greater than the magnetic resistance torque corresponding to the size of armature current to the ratio of the torque contribution of vehicle-mounted electric rotating motivation, use the permanent magnet of high magnetic force more in order to high efficiency.

Due to this kind of trend, as electric rotating motivation, in order to improve effciency of energy transfer, particularly improve the efficiency of the general regions of the slow speed of revolution/low-load region, it is used as the neodium magnet by high residual flux density to imbed the IPM(InteriorPermanentMagnet of synchronous motor of permanent magnet of core interior of rotor more; Built-in permanent magnet) type electric rotating motivation. Propose in this IPM rotary motor, permanent magnet is imbedded in rotor in the way of becoming the V-shaped opened towards periphery side, such as, thus it is set on the basis of magnet torque can also actively to utilize the scheme in the magnetic loop (patent documentation 1) of magnetic resistance torque. In addition, it is also proposed the structure possessing the magnetic flux wall that the periphery from two sides, outer end of permanent magnet towards rotor stretches out in IPM rotary motor, also proposed the structure (patent documentation 2) making magnetic flux wall also open continuously in the periphery side of rotor, the structure (patent documentation 3) that the space of magnetic flux wall is expanded to the periphery side of rotor.

Prior art literature

Patent documentation

Patent documentation 1: JP 2006-254629 publication

Patent documentation 2: JP 2011-4480 publication

Patent documentation 3: JP 2012-29524 publication

Summary of the invention

The problem that invention to be solved

; in electric rotating motivation in recent years; in order to improve magnetic force and thermotolerance; many uses comprise the permanent magnet of the rare earth elements such as Nd, Dy, Tb; but due to the surging instability with its circulation of price that its rareness is brought, reduce rare earth element usage quantity and realize the necessity increase of high efficiency.

But, in HEV, EV, the general regions of electric rotating motivation is the slow speed of revolution/low-load region, therefore, the magnet torque contributed in this region to increase, in the IPM type electric motor described in patent documentation 1, also has the trend of the usage quantity of the permanent magnet increasing high magnetic force. This is the direction hindering the problem solving the usage quantity reducing rare earth element.

In addition, in the IPM rotary motor described in patent documentation 2,3, the magnetic flux wall of two sides, outer end of permanent magnet is expanded excessively to the periphery side of rotor, therefore magnetic resistance between itself and periphery becomes big, cogging torques etc. increase, and hinder high-quality rotation.

Therefore, it is an object of the invention to cut down the usage quantity of permanent magnet and realize high-level efficiency and high-quality rotary actuation, it is provided that the electric rotating motivation of low cost and high-energy-density.

For the scheme dealt with problems

1st mode of the invention involved by IPM rotary motor solved the problem possesses: rotor, has wherein imbedded permanent magnet, has rotated integrally with drive shaft; and stator, it is accommodated with the rotatable described rotor being arranged on its opposite, and coil be accommodated in this rotor faced by multiple teeth between groove in, this stator has armature function, in this IPM rotary motor, the groove number of unit magnetic pole unit phase is 2, above-mentioned IPM rotary motor is characterised in that, above-mentioned permanent magnet configuration is the V-shape opened towards the periphery of above-mentioned rotor, when this permanent magnet being existed near the d axle side consistent with the central shaft of this permanent magnet of each magnetic pole that above-mentioned permanent magnet is formed, permanent magnet in this d axle side produces the magnet magnetic flux offsetting the direction of the armature flux that above-mentioned armature produces, in the scope producing above-mentioned magnet magnetic flux, above-mentioned permanent magnet is replaced into the little space of permeability, the above-mentioned d axle of the periphery of above-mentioned rotor is formed the central authorities' adjustment ditch with axis parallel, and the offside adjustment ditch with axis parallel it is formed with in two sides, outer end of the above-mentioned permanent magnet of this periphery, possesses the magnetic flux wall that the periphery from two sides, outer end of above-mentioned permanent magnet towards above-mentioned rotor stretches out, carry out between the q axle side of the flow direction being formed between face and the periphery of above-mentioned rotor between the above-mentioned magnetic pole of this rotor in the side, outer end of this magnetic flux wall and above-mentioned d axle side linking the side bridge supported, in the side, outer end of above-mentioned magnetic flux wall, face has face, d axle side and face, q axle side in the both sides of the intermediate point in the both end sides corner of the rear side of the periphery being positioned at above-mentioned rotor, angle between the straight line of the intermediate point in face and above-mentioned d axle is set to �� 8 in by the side, outer end by the axle center of above-mentioned rotor and above-mentioned magnetic flux wall, meet 64.7 ��ܦ� 8(electric angle)��the relation of 74.2 ��, in above-mentioned d axle side, face extends from the intermediate point in face in the side, outer end of above-mentioned magnetic flux wall to the direction parallel with the periphery of above-mentioned rotor, when being set to �� 9 to the angle between the extended surface of above-mentioned q axle side of face in face and above-mentioned d axle side in by above-mentioned q axle side, meet 0 �� of < �� 9(mechanical angle)��the relation of 37 ��.

2nd mode of the invention involved by IPM rotary motor solved the problem is characterised in that, on the basis of the specific item of above-mentioned 1st mode, above-mentioned angle theta 8 meets 64.9 ��ܦ� 8(electric angle)��the relation of 74.2 ��.

Invention effect

Like this, above-mentioned 1st mode according to the present invention, the permanent magnet producing to offset the scope of the magnet magnetic flux in the direction of armature flux in d axle side is replaced into the little space of permeability, therefore, can not disturb (offseting) at d axle side magnet magnetic flux and armature flux, in addition, it is also possible to restriction armature flux is by within the scope of this. Accordingly, it may be possible to eliminate the magnet magnetic flux wasting armature flux in d axle side, effectively utilize magnet torque and magnetic resistance torque, it is possible to not only obtain the torque before being not less than displacement d axle side permanent magnet but also cut down the usage quantity of permanent magnet self.

And, by permanent magnet is replaced into space, it is possible to reduce magnet magnetic flux, reduce the induction voltage constant of high rotating speed side, it is possible to improve the output of high rotating speed side. Moreover, it is possible to realize lightweight, it is possible to reduce inertia.

In addition, by reducing magnet magnetic flux, it is possible to cut down territory, weak magnetic area (reducing the weak quantity of magnetism), it is possible to reduce the space harmonic causing magnetostriction. Accordingly, it may be possible to the generation of the eddy current being limited in permanent magnet and suppress heating, it is possible to suppress the demagnetization that causes of temperature variation of permanent magnet, reduce temperature classification and realize cost degradation.

And, central authorities' adjustment ditch can adjust in the way of the magnetic resistance near the d axle increased between rotor and stator side tooth, with forming above-mentioned space, the magnet magnetic flux near d axle is reduced, it is possible to suppress to hand over the increase of the armature flux of chain. Accordingly, it may be possible to prevent from making drive efficiency decline due to the increase of torque pulsation, iron loss.

In addition, adjustment ditch in side can increase the magnetic resistance near two outer ends of the V-shaped permanent magnet of rotor, it is possible to the higher harmonic that suppression will be overlapping with handing over the flux waveforms of chain. Accordingly, it may be possible to suppression cogging torque, and prevent from due to the increase of torque pulsation, iron loss, drive efficiency being declined.

In addition, it is in the structure of 2 at the groove number of unit magnetic pole unit phase, for the magnetic flux wall forming side bridge between the periphery side of rotor, angle theta 8 between the intermediate point in face in side, outer end and d axle is set to 64.7 �㡫74.2 �� (electric angle), d axle side inner face side is extended from this intermediate point to the direction parallel with the periphery of rotor in the way of playing function as bottom line bridge portion, and by face in the q axle side of intermediate point bending and in d axle side face q axle side extended surface between angle theta 9 be set to 0 �㡫37 �� (mechanical angle), it is thus possible to reduce cogging torque with almost not reducing torque.

Its result is, it is possible to realization high-energy-density carries out the electric rotating motivation of the low cost of rotary actuation in high quality.

Above-mentioned 2nd mode according to the present invention, angle theta 8 between the intermediate point in face in the side, outer end of magnetic flux wall and d axle is concentrated on 64.9 �㡫74.2 �� (electric angle) further, thus, cogging torque and torque pulsation can be reduced further, also the electric and magnetic oscillation that this torque pulsation causes the stator core produced can be reduced, it is also possible to reduce the electromagnetic noise that it is adjoint.

And, on the basis of the specific item of aforesaid way, angle theta 8(electric angle between the intermediate point in face and d axle in the side, outer end of magnetic flux wall) it is set to 66 �㡫68 ��, 70 �㡫72 ��, in addition, in q axle side in face and d axle side face q axle side extended surface between angle theta 9(mechanical angle) be set to 10 �㡫27 �� such that it is able to reduce cogging torque, torque pulsation with more effectively almost not reducing torque.

And, space is formed as the shape that the center axis to the wider space of d axle side towards rotor expands, thus, the armature flux that the q axle side that can limit the side from magnetic pole enters in rotor enters the periphery side of permanent magnet, and make the q axle side that it travels back across another side, it is possible to avoid itself and the magnet magnetic flux of periphery side towards permanent magnet to mix and saturated. Accordingly, it may be possible to more effectively utilize the magnetic resistance torque produced because of armature flux, it is possible to increase total torque.

This space is formed as the shape also expanded to the wider space of d axle side towards the periphery side of rotor such that it is able to though making the direction being unlikely to offset the magnet magnetic flux that armature flux can not synthesize effectively in this d axle side become suitable. Accordingly, it may be possible to make the path of the resultant flux of armature flux and magnet magnetic flux by the generation of torque effectively being contributed, it is possible to increase total torque further.

And, the angle theta 6(electric angle by between the magnetic flux wall outboard end of the side, both ends of permanent magnet) it is set to 144 �㡫154.3 �� such that it is able to suppress 5 times, 7 times space harmonics. In addition, angle theta 2(mechanical angle by outside the periphery side from d axle to permanent magnet) it is set to 27.5 �㡫72.5 �� or 37.5 �㡫82.5 �� or 37.5 �㡫72.5 ��, it is thus possible to increase maximum load time, underload time torque, the pulsation of torque now and 6 times, 12 times higher harmonic torques can be suppressed, reduce electric and magnetic oscillation, electromagnetic noise.

Accompanying drawing explanation

Fig. 1 illustrates one of IPM rotary motor (electric motor) the involved in the present invention figure implementing mode, is illustrate its roughly overall vertical view formed.

Fig. 2 is the magnetic flux line chart of the armature flux during driving of the underload in the structure of enforcement mode.

Fig. 3 is the magnetic flux line chart of the magnet magnetic flux during driving of the underload in the structure of enforcement mode.

Fig. 4 be illustrate d axle side do not have big space V-shaped IPM electric motor current phhase corresponding to the coordinate diagram of torque characteristics.

Fig. 5 A is the magnetic flux line chart of the magnet magnetic flux of the V-shaped IPM electric motor not having big space in d axle side.

Fig. 5 B be d axle side do not have big space V-shaped IPM electric motor d axle near the vector diagram of magnet magnetic flux.

Fig. 6 A is the magnetic flux line chart of the armature flux during maximum load driving of the V-shaped IPM electric motor not having big space in d axle side.

Fig. 6 B is the vector diagram of armature flux near the d axle when d axle side does not have the maximum load of V-shaped IPM electric motor in big space to drive.

Fig. 7 is the magnet magnetic flux vector of outer circumferential side of magnetic pole (permanent magnet) during the maximum load driving illustrating the V-shaped IPM electric motor not having big space in d axle side and the model diagram of the relative relation of armature flux vector.

Fig. 8 is the coordinate diagram illustrating the current phhase corresponding to received current of IPM type electric motor and the corresponding relation (characteristic) of Driving Torque.

Fig. 9 is the magnetic flux line chart of the armature flux during underload driving of the V-shaped IPM electric motor not having big space in d axle side.

The path figure in the path that magnet magnetic flux when Figure 10 illustrates that the underload of the V-shaped IPM electric motor not having big space in d axle side drives and the magnetic flux line chart of resultant flux of armature flux and this resultant flux are got.

Figure 11 illustrates to shorten have the change producing torque when burying permanent magnet underground of V-shaped IPM electric motor in space, the coordinate diagram of the reduction rate of torque pulsation in d axle side.

Figure 12 illustrates the coordinate diagram of change of 5 space harmonics overlapping when burying permanent magnet underground of V-shaped IPM electric motor shortening and having space in d axle side.

Figure 13 is the coordinate diagram that the V-shaped IPM electric motor illustrating and not having big space in d axle side and the torque having the underload drive area of the V-shaped IPM electric motor in space in d axle side produce ratio.

Figure 14 is the coordinate diagram that the V-shaped IPM electric motor illustrating and not having big space in d axle side and the torque having the maximum load drive area of the V-shaped IPM electric motor in space in d axle side produce ratio.

Figure 15 is the magnetic flux line chart of the armature flux during maximum load driving illustrating the V-shaped IPM electric motor having space in d axle side.

Figure 16 is the magnetic flux line chart of the resultant flux of the magnet magnetic flux during underload driving illustrating the V-shaped IPM electric motor having space in d axle side and armature flux.

Figure 17 is the magnetic flux line chart of the resultant flux of the magnet magnetic flux during maximum load driving illustrating the V-shaped IPM electric motor having space in d axle side and armature flux.

Figure 18 comprises the magnetic flux line chart of resultant flux of magnet magnetic flux when illustrating that the maximum load of the V-shaped IPM electric motor having space in d axle side drives and armature flux, is the structure iron that the structure of the present embodiment with Figure 17 compares.

Figure 19 is the coordinate diagram illustrating instantaneous torque that produce in the comparative structure B of the present embodiment structure A and Figure 18 of Figure 17, in average torque.

Figure 20 is the coordinate diagram of the ratio illustrating the higher harmonic torque that the waveform of the instantaneous torque with Figure 19 produced in the comparative structure B of the present embodiment structure A and Figure 18 of Figure 17 is overlapping.

Figure 21 is the coordinate diagram of the containing ratio of space harmonic composition in the comparative structure B of the present embodiment structure A and Figure 18 that illustrate Figure 17, that hand over chain flux waveforms to comprise across 1 tooth of clearance G.

Figure 22 illustrates that the position, end wall face of the center axis using magnetic flux wall 17c is to the outside radius R1 of the separation distance R2/ rotor in axle center as the coordinate diagram of the change of torque during parameter.

Figure 23 illustrates that the position, end wall face of the center axis using the outside radius R1/ magnetic flux wall 17c of rotor is to the separation distance R2 in axle center as the coordinate diagram of the change of torque during parameter.

Figure 24 illustrates the model diagram of the magnet magnetic flux vector near d axle side corner sections when d axle side forms big space but do not drive to the maximum load of the V-shaped IPM electric motor of periphery side expansion, permanent magnet with the relative relation of armature flux vector.

Figure 25 illustrates the model diagram of the magnet magnetic flux vector near d axle side corner sections when d axle side forms big space and also drives to the maximum load of the V-shaped IPM electric motor of periphery side expansion, permanent magnet with the relative relation of armature flux vector.

The structure iron that rotor magnetic pole is exaggerated of the parameter that Figure 26 uses when being the size shape illustrating and determining the expansion space shown in Figure 25.

The structure iron of the model example of shape when Figure 27 illustrates the parameter DLd changed shown in Figure 26.

Figure 28 be illustrate using the DLd shown in Figure 26 relative to the ratio of outside radius R1 as the coordinate diagram of torque during parameter change and the change of higher harmonic torque.

Figure 29 is the coordinate diagram illustrating the change pulsed as torque during parameter change by the DLd shown in Figure 26 relative to the ratio of outside radius R1.

Figure 30 be illustrate using the �� 1 shown in Figure 26 relative to the ratio of magnet opening degree �� 2 as the coordinate diagram of torque during parameter change and the change of higher harmonic torque.

Figure 31 is the coordinate diagram illustrating the change pulsed as torque during parameter change by the �� 1 shown in Figure 26 relative to the ratio of magnet opening degree �� 2.

Figure 32 is the coordinate diagram of the instantaneous torque in the average torque illustrating situation using possessing the magnetic flux wall as the space expanded compared with situation about not expanding.

Figure 33 is the coordinate diagram of the ratio illustrating the higher harmonic torque overlapping with the waveform of the instantaneous torque in the average torque of Figure 32.

Figure 34 A is the magnetic flux line chart of the magnet magnetic flux of the V-shaped IPM electric motor not forming median groove not having big space in d axle side.

Figure 34 B is the vector diagram of the resultant flux of the armature flux near the d axle when d axle side does not have the maximum load of the V-shaped IPM electric motor not forming median groove in big space and magnet magnetic flux.

Figure 35 A is the magnetic flux line chart of the magnet magnetic flux of the V-shaped IPM electric motor not forming median groove defining big space in d axle side.

Figure 35 B is the vector diagram of the resultant flux of the armature flux near the d axle when d axle side defines the maximum load of the V-shaped IPM electric motor not forming median groove in big space and magnet magnetic flux.

Figure 36 be illustrate by shown in Figure 34 A d axle side do not have the structure not forming median groove in big space with shown in Figure 35 A define the structure not forming median groove in big space in d axle side compared with 1 tooth hand over the coordinate diagram of chain flux waveforms.

Figure 37 illustrates the flux waveforms shown in this Figure 36 is expanded into Fourier series, the coordinate diagram of the containing ratio of the space harmonic handing over chain flux waveforms overlapping with 1 tooth.

Figure 38 is the vector diagram of the resultant flux of the armature flux near the d axle when d axle side defines the maximum load of the V-shaped IPM electric motor forming median groove in big space and magnet magnetic flux.

Figure 39 illustrates the coordinate diagram of the torque profile during maximum load of present embodiment compared with the structure not forming median groove shown in Figure 35 A.

Torque profile shown in this Figure 39 is expanded into Fourier series by Figure 40, compares the coordinate diagram of the overlapping degree of the higher harmonic torque overlapping with this torque profile.

The structure iron that rotor magnetic pole is exaggerated of the parameter that Figure 41 uses when being the size shape illustrating and determining median groove.

Figure 42 is the coordinate diagram illustrating the change pulsed as torque during parameter change by the R4 in the size shape of the median groove shown in Figure 41 relative to the ratio of outside radius R1.

Figure 43 illustrates the outward opening angle �� a in the size shape of the median groove shown in Figure 41 as the coordinate diagram of phase voltage waveform during parameter change and line-to-line voltage waveform.

Figure 44 illustrates the coordinate diagram of the torque profile during underload of present embodiment compared with the structure not forming median groove shown in Figure 35 A.

Torque profile shown in this Figure 44 is expanded into Fourier series by Figure 45, compares the coordinate diagram of the overlapping degree of the higher harmonic torque overlapping with this torque profile.

Figure 46 is the structure iron of the position relation of the stator tooth illustrating a magnetic pole place in the structure not forming lateral sulcus.

The coordinate diagram of gap flux waveforms when Figure 47 illustrates the structure not forming lateral sulcus shown in Figure 46 zero load.

Figure 48 is the coordinate diagram of the gap flux waveforms during maximum load illustrating the structure not forming lateral sulcus shown in Figure 46.

Figure 49 illustrates the structure iron being exaggerated by rotor magnetic pole of parameter determining to use when the size shape of the lateral sulcus that the periphery of rotor is formed.

Figure 50 illustrates when maximum load, using the outer angle theta 4 of interior angle theta 5/ arriving d axle in the size shape of the lateral sulcus shown in Figure 49 as the coordinate diagram of torque during parameter change and the change of higher harmonic torque and torque pulsation.

Figure 51 illustrates when underload, using the coordinate diagram of the change pulsed as torque during parameter change and torque to the outer angle theta 4 of interior angle theta 5/ of d axle in the size shape of the lateral sulcus shown in Figure 49.

Figure 52 illustrates when maximum load, using the trench depth RG/ air gap width AG in the size shape of the lateral sulcus shown in Figure 49 as the coordinate diagram of torque during parameter change and the change of torque pulsation.

Lateral sulcus and the coordinate diagram of the size without higher harmonic overlapping on the flux waveforms of gap when lateral sulcus is had when Figure 53 compares zero load.

Figure 54 be from during maximum load have lateral sulcus and without torque profile lateral sulcus to compare the coordinate diagram of size of torque pulsation.

Figure 55 be from during underload have lateral sulcus and without torque profile lateral sulcus to compare the coordinate diagram of size of torque pulsation.

Figure 56 be from time zero load have lateral sulcus and without cogging torque waveform lateral sulcus to confirm the coordinate diagram of the reduction rate of this cogging torque.

Figure 57 is the structure iron being exaggerated by rotor magnetic pole illustrating magnetic pole opening degree �� 6, magnet opening degree �� 2.

Figure 58 is the coordinate diagram of the approximate waveform illustrating the gap magnetic flux handing over chain with 1 tooth.

Figure 59 is the conceptual illustration figure illustrating the approximate waveform of gap magnetic flux and the relation of magnetic pole opening degree and magnet opening degree handing over chain with 1 tooth.

Figure 60 is by the coordinate diagram of expression overlapping with the waveform (trapezoidal wave) of the theoretical waveform (square wave) and reality of the gap magnetic flux of 1 tooth friendship chain.

Figure 61 illustrates when maximum load, using magnet opening degree �� 6 as the coordinate diagram of torque during parameter change and the change of higher harmonic torque and torque pulsation.

Figure 62 illustrates when underload, using magnet opening degree �� 6 as the coordinate diagram of torque during parameter change and the change of higher harmonic torque and torque pulsation.

Figure 63 is the structure iron being exaggerated by rotor magnetic pole of the shape illustrating side bridge.

The vector diagram of the magnet magnetic flux near the bridge of side when Figure 64 is V-shaped IPM electric motor zero load.

The coordinate diagram of the magneticflux-density waveform at rotor when Figure 65 A illustrates zero load and the clearance place between stator.

Figure 65 B is the amplification coordinate diagram of the elevated areas of the magneticflux-density waveform in Figure 65 A.

Figure 66 is the vector diagram of the armature flux near the side bridge during maximum load of V-shaped IPM electric motor.

Figure 67 is the isogram of the analytical results of the physical strength illustrating the position producing big Feng meter Si stress when the high rotating speed of V-shaped IPM electric motor.

The coordinate diagram of the change of cogging torque when Figure 68 illustrates the bending part in face in the side, outer end of the magnetic flux wall changing outside.

Torque when Figure 69 illustrates the bending part in face in the side, outer end of the magnetic flux wall changing outside and the coordinate diagram of the change of torque pulsation.

Torque when Figure 70 illustrates the bending amount in face in the side, outer end of the magnetic flux wall changing outside and the coordinate diagram of the change of torque pulsation.

Embodiment

Below, the enforcement mode that present invention will be described in detail with reference to the accompanying. Fig. 1��Figure 70 illustrates one of the IPM rotary motor involved in the present invention figure implementing mode. At this, in description of the present embodiment, using make rotor relative to stator to the situation that (CCW:counterclockwise) direction rotates counterclockwise as an example to illustrate its sense of rotation.

In FIG, electric rotating motivation 10 possesses: stator 11, and it is formed as substantially cylindrical shape; And rotor 12, it is rotatably accommodated in this stator 11, is fixedly installed the rotating driveshaft 13 consistent with axle center. This electric rotating motivation 10 have suitable examples as in hybrid electric vehicle (HEV), power truck (EV) as the driving source same with oil engine or the performance that is installed in wheel.

In stator 11, by make inner peripheral surface 15a side across clearance G and rotor 12 periphery 12a faced by the way of multiple stator teeth 15 of being formed in the normal direction in axle center to extend. 3 phase windings (not shown) utilize distributed winding to be wound in this stator tooth 15, and this 3 phase winding is formed in the inner coil producing magnetic flux, the rotor 12 of this magnetic flux rotary actuation opposite storage.

Rotor 12 is made into IPM(InteriorPermanentMagnet; Built-in permanent magnet) structure, in IPM structure, by taking one, the permanent magnet 16 as 1 group is imbedded as 1 magnetic pole in the way of becoming the V-shaped opened towards periphery 12a. This rotor 12 is formed as faced by V-shaped space 17 and periphery 12a, embeds and the corner 16a of flat permanent magnet 16 that is accommodated in the table of accompanying drawing on direction with dynamic state to extend in V-shaped space 17.

V-shaped space 17 is formed as possessing: space 17a, wherein embeds and receive permanent magnet 16; And space 17b, 17c(are hereinafter also referred to magnetic flux wall 17b, 17c), it is positioned at the both sides of the width of this permanent magnet 16, plays function as the restriction magnetic flux wall that enters of magnetic flux. Locate in order to centrifugal force when can resist high rotating speed and keep permanent magnet 16, in this V-shaped space 17, be formed between the 17c of space to extend in the normal direction and link the central bridge 20 supporting outer circumferential side and inner circumferential side. The side bridge 30 with said function is described below.

Space between the stator tooth 15 of stator 11 side of this electric rotating motivation 10 is configured for making winding by also winding thus forms the groove 18 of coil. Relative to this, 8 group permanent-magnets 16 of rotor 12 are each and faced by 6 stator teeth 15 of stator 11 side. Generally speaking, it is built in this electric rotating motivation 10: 1 magnetic pole that pair of permanent magnets 16 side of rotor 12 side is formed is corresponding to 6 grooves 18 of stator 11 side. That is, the 3 phase IPM electric motor that electric rotating motivation 10 is made into that make to replace in the N pole of permanent magnet 16 and the table of S pole, 8 magnetic poles (4 magnetic pole to) by adjacent every 1 magnetic pole, 48 grooves, single-phase distribution reel 5 tooth pitches and becomes. In other words, electric rotating motivation 10 is made into the groove number q=(groove number/number of magnetic poles of unit magnetic pole unit phase) the IPM type structure of/number of phases=2.

Thus, the coil electricity in the groove 18 of stator 11 make magnetic flux from the rotor 12 faced by stator tooth 15 arrival such that it is able to rotary actuation electric rotating motivation 10. Now, electric rotating motivation 10(stator 11 and rotor 12) rotary actuation can be carried out by total torque of the shortest magnetic resistance torque of the gravitation produced between permanent magnet 16 and the magnet torque that cause of repulsion and the magnetic circuit being made magnetic flux pass through. Therefore, the electric energy of energising input can be exported as mechanical energy by electric rotating motivation 10 from the rotating driveshaft 13 rotated relative to stator 11 integratedly with rotor 12.

In addition, stator 11 and rotor 12 are that the thin plate of the electro-magnetic steel plate materials such as silicon steel is stacked into the thickness in axial direction corresponding to the Driving Torque expected, utilize mounting block 19 etc. to be made into one to maintain its stacking state.

At this, this electric rotating motivation 10 is using as illustrated as magnetic flux line chart in Fig. 2, form the mode of the magnetic circuit (armature flux) of the outer circumferential side from stator 11 (rear side of stator tooth 15) by the path in rotor 12 by every multiple stator teeth 15 corresponding with the pair of permanent magnets 16 forming 1 magnetic pole, in groove 18, distribution is wound with winding coil.This permanent magnet 16 is accommodated in the way of the magnetic circuit along armature flux �� r, in other words, in the embedded space 17a in the V-shaped space 17 formed in the way of not hindering the formation of this armature flux �� r.

As illustrated as magnetic flux line chart in Fig. 3, the magnetic circuit (magnet magnetic flux �� m) of this permanent magnet 16 gets the path being connected to vertical direction from the N pole inside the table of the pair of permanent magnets 16 forming 1 magnetic pole with S pole, particularly becomes from the stator tooth 15 of correspondence by the path of its rear side in stator 11 side.

And, permanent magnet 16 being imbedded in the IPM structure in rotor 12 with V-shaped, using the central shaft between the direction of magnetic flux of magnetic pole generation and the permanent magnet 16 of V-shaped as d axle, in addition, using with this d axle on electric field/magnetic field central shaft between permanent magnet 16 between magnetic pole orthogonal, adjacent as q axle. This rotor 12 is formed as making the space 17c of the inner side being positioned at d axle side in V-shaped space 17 to expand as the space becoming big towards axle center, plays function as magnetic flux wall 17c. The optimum size shape of the magnetic flux wall 17c in this V-shaped space 17 is aftermentioned.

Thus, in this electric rotating motivation 10, as shown in Figure 2, following path is formed: make the armature flux �� r entering in rotor 12 from stator tooth 15 more enter inner circumferential (axle center) side in the way of not entering the outer circumferential side in V-shaped space 17 and return stator tooth 15. Generally speaking, electric rotating motivation 10 is built into the V-shaped IPM electric motor that rotor 12 has space at d axle.

In addition, in this electric rotating motivation 10, in order to make 5 times, the 7 times space harmonics becoming torque pulsation increase reason more not overlapping with the armature flux �� r entered from the stator tooth 15 corresponding with d axle, the periphery in rotor 12 side is formed with the upper median groove (central authorities' adjustment ditch) 21 extended in the direction (axis direction) parallel with the inner peripheral surface 15a of this stator tooth 15. The optimum size shape of this median groove 21 is aftermentioned.

And, in this electric rotating motivation 10, lateral sulcus (side adjustment ditch) 22 is formed in the respective outer end-side outer peripheral surface of the pair of permanent magnets 16 forming magnetic pole, what above-mentioned lateral sulcus 22 made torque is reduced to minimum limit, and torque pulsation when cogging torque when reducing zero load, underload and during maximum load, suppresses the pulsation of the torque in whole drive area. The optimum size shape of this lateral sulcus 22 is aftermentioned.

Like this, when permanent magnet 16 to be imbedded the electric rotating motivation 10 of the IPM structure in rotor 12 with V-shaped, torque T can represent by following formula (1), as shown in Figure 4, so that magnet torque Tm and the maximum current phhase of magnetic resistance torque Tr sum drive, thus realize high torque (HT)/high-level efficiency running.

[several 1]

T=P_p{��_mi_q+(L_d-L_q)i_di_q}....(1)

Pp: magnetic pole logarithm, �� m: chain magnet magnetic flux handed over by armature (stator tooth 15),

Id: the d axle component of line current, iq: the q axle component of line current,

Ld:d axle inductance, Lq:q axle inductance

; when replacing the magnetic flux wall 17c in space, d axle side and possess the rotor 12A of the correlation technique of the equal magnetic flux wall 17d of the magnetic flux wall 17b in the outside with V-shaped space 17; forming the magnetic circuit of the permanent magnet 16 illustrated in magnetic flux line chart of Fig. 5 A, its magnet magnetic flux �� m becomes the vector V m in the direction illustrated in magnetic flux vector figure of Fig. 5 B. In addition, by the armature flux �� r being accommodated in the coil electricity of groove 18 and produce being formed as the magnetic circuit illustrated in the magnetic flux line chart of Fig. 6 A, the vector V r in the direction illustrated in magnetic flux vector figure of Fig. 6 B is become.

In this kind of electric rotating motivation, driving to realize high torque (HT)/high-level efficiency when maximum load drives, boost current phasing degree drives. In the rotor 12A of correlation technique, as shown in the magnetic flux vector figure of Fig. 5 B and Fig. 6 B, be arranged in V-shaped space 17(magnetic pole) outer circumferential side d axle near zonule A1, magnet magnetic flux �� m and armature flux �� r is the relation of reversed magnetic field, is in the state that magnetic resistance torque Tr offsets (offseting) magnet torque Tm and drive. Generally speaking, as shown in Figure 7, this magnetic pole outer circumferential side zonule A1 is magnet magnetic flux �� m with armature flux �� r taking angle as the relative interference region of more than 90 degree position relations in opposite direction, and armature flux �� r wastes the magnet magnetic flux �� m of the generation in the scope B of d axle side in the permanent magnet 16 suppressing (counteractings) adjacent with this magnetic pole outer circumferential side zonule A1.

Therefore, it may be said that torque T actively is not contributed by the d axle side scope B of the permanent magnet 16 corresponding with this magnetic pole outer circumferential side zonule A1, it is possible to reduced the magnet amount of permanent magnet 16 self by the magnetic loop forming the part of the d axle side scope B not only cutting down this permanent magnet 16 but also maintaining equal salient pole ratio.

At this, torque T is above-mentioned formula (1), therefore, when reducing the magnet amount of permanent magnet 16, increases magnetic resistance torque Tr such that it is able to make torque T identical with the situation of the magnet amount not reducing permanent magnet 16. This magnetic resistance torque Tr can be increased by the difference and salient pole ratio increasing d axle inductance L d and q axle inductance L q.

Therefore, in the rotor 12 of present embodiment, by the d axle side scope B of permanent magnet 16 is replaced into the little space of permeability (restricted areas), it is possible to not only reduce the magnet amount of permanent magnet 16 but also increase salient pole ratio, obtain the front equal above torque T with displacement. Change an angle, waste in the armature flux �� r of the magnet magnetic flux �� m suppressing permanent magnet 16 to produce in d axle side scope B by effectively utilizing, it is possible to increase magnetic resistance torque Tr, even if the magnet amount cutting down permanent magnet 16 also can obtain equal torque T.

In addition, torque T also can represent for following formula (2), and in the low-load region that current value Ia is little, the ratio of magnet torque Tm becomes high, and as shown in Figure 8, current value Ia is more low, and current phhase �� during torque capacity is more close to zero. Waveform i��v in this Fig. 8 illustrates each current value Ia(i)��Ia(v) current phhase-torque characteristics, the size of current value Ia is the relation of i < ii < iii < iv < v. Therefore, when underload drives, the ratio (dependence) of magnet torque Tm becomes high naturally, but, it is generally desirable to effectively utilize the magnetic loop of this magnet torque Tm to greatest extent.

[several 2]

${T=P}_p\{{\mathrm{\&Psi;}}_m{I}_a\cos \mathrm{\&beta;}+\frac{1}{2}\&CenterDot;(L_d-L_q){I_a}^2\sin 2\mathrm{\&beta;}\}\&CenterDot;\&CenterDot;\&CenterDot;\left(2\right)$

��: current phhase angle, Ia: phase current values

For the rotor 12A of correlation technique, as shown in Figure 9, driving with the condition of current phhase �� close to zero in the low-load region of low current value, therefore, the magnetic flux of armature flux �� r becomes big becoming (between the permanent magnet 16 of adjacent different magnetic poles) between the magnetic pole of q axle. Therefore, as the path of the magnetic flux �� s that this armature flux �� r and magnet magnetic flux �� m synthesizes, it is applicable to the magnetic loop by magnetic circuit MP1, MP2 being set to shown in Figure 10. Thus, resultant flux �� s can make q axle magnetic circuit (magnetic flux) point dispersion (avoiding saturated), increases q axle inductance L q, it is possible to make actively to utilize magnetic resistance torque Tr to become possibility.

Magnetic circuit MP1 gets following path: after handing over chain from the stator tooth 15 of stator 11 side via clearance G and rotor 12A and entering between magnetic pole, from inner circumferential side through the permanent magnet 16 of the adjacent side of the magnetic pole forming sense of rotation advance side (figure left side). And then, this magnetic circuit MP1 gets following path: by the outer circumferential side region A2 of this magnetic pole, again return stator tooth 15 via clearance G.

Magnetic circuit MP2 gets following path: samely with magnetic circuit MP1, after entering between magnetic pole, from inner circumferential side through the permanent magnet 16 away from side of the magnetic pole forming sense of rotation advance side, by the outer circumferential side region A2 of this magnetic pole, again return stator tooth 15 via clearance G.

Such as, in this magnetic circuit MP1, MP2, when the both end sides (magnetic pole outer end) of pair of permanent magnets 16 is reamed and make it near inner side, there is big magnetic flux wall in this both end sides and make magnetic flux path focus on the immediate vicinity of magnetic pole, particularly the path on the right side of magnetic pole outer circumferential side region A2 becomes difficulty and gets, and can not effectively utilize this region A2 overall.

On the contrary, when the side, center (magnetic pole inner end) of pair of permanent magnets 16 is reamed and make it near outside, there is big magnetic flux wall in this side, center and magnetic flux path can be made to be distributed to the both sides of magnetic pole, the path on the right side of magnetic pole outer circumferential side region A2 is also included can actively be effectively utilized, and magnetic flux can pass through this region A2 in exhaustive ground. In the case of such a construction, additionally it is possible to get magnetic circuit MP3, described magnetic circuit MP3, after the permanent magnet 16 of magnetic pole retreating side from outer circumferential side towards inner circumferential side through sense of rotation, is coupled between the N pole/S pole of the permanent magnet 16 of adjacent magnetic pole. In this magnetic circuit MP3, it is possible to by the path same with magnetic circuit MP1, by the outer circumferential side region A2 of the magnetic pole of sense of rotation advance side, point dispersion efficiency height of magnetic flux.

Therefore, in rotor 12, as formed magnetic pole pair of permanent magnets 16 bury structure underground, be applicable to adopt by do not hinder produce magnetic resistance torque Tr armature flux �� r in the way of maintain V-shaped and make it near the shape of both end sides (magnetic pole outer end). And, it is applicable to adopting between this pair of permanent magnets 16 (magnetic pole inner end) to form the structure limiting magnetic flux and getting the magnetic flux wall 17c of short circuit paths. In addition, being applicable to adopting periphery on the d axle of rotor 12 to form the structure of median groove 21, this median groove 21 limits the saturated of the armature flux �� r that the stator tooth 15 from stator 11 side enters, and in other words, this magnetic flux �� r is disperseed. Adopting this kind of structure, rotor 12 just can make q axle magnetic circuit (magnetic flux) point dispersion, increases q axle inductance L q, actively utilizes magnetic resistance torque Tr.

About the optimum value of length (width) Wpm of the long dimensional directions in the accompanying drawing of this permanent magnet 16, be the situation using not shortening this length Wpm as benchmark, determine by comparing.

Specifically, the outside radius R1 from axle center to periphery of number of magnetic poles P and rotor 12 is set to fixed value, the length Wpm being arranged at the permanent magnet 16 of magnetic pole outer end is set to parameter (changing the position of inner side end edge), and the ratio �� that change calculates by following formula (3) determines. Key element is determined as it, if to relative to ratio ��, maximum load time the change of per unit (perunit) of torque T and the change of reduction rate as torque pulsation (torqueripple) of the amplitude of fluctuation of this torque T carry out magnetic field analysis and represent by coordinate diagram, then as shown in figure 11.In addition, the meaning of per unit is such as identical with the situation of 1.0 [p.u.].

��=(P �� Wpm)/R1...(3)

Known in fig. 11, ratio ��=1.84 are the situations of the permanent magnet 16 of the shape size (magnet reduction amount is 0%) not shortening length Wpm, when size shape (magnet reduction amount is 24.7%) of ratio ��=1.38, it is possible to obtain and the torque T of equal (1.0 [p.u.]) when not shortening. This permanent magnet 16 also can obtain equal torque T by being set to ratio ��=1.38 when conventional slow speed of revolution load.

At this, in this Figure 11, the rotor 12A of correlation technique that the side, interior outer end in V-shaped space 17 possesses magnetic flux wall 17b, 17d of equal size is as comparison other. Relative to this, when rotor the 12 of present embodiment, owing to possessing magnetic flux wall 17c and median groove 21, it is possible to effectively split, distribute armature flux �� r. Therefore, in this rotor 12, it is possible to effectively produce magnetic resistance torque Tr, even if permanent magnet 16 also can improve torque T by ratio ��=1.84 as equal length Wpm, and torque ripple reduction. That is, in fig. 11, illustrating the length Wpm shortening permanent magnet 16 in the structure of this rotor 12, torque T and torque are pulsed relative to the change of ratio ��. In addition, it is contemplated that when former state keeps the structure of rotor 12A of correlation technique and shortens the length Wpm of permanent magnet 16, near from ratio ��=1.84 to ratio ��=1.38, torque T does not have big change (1.0 [p.u.]).

In addition, in electric rotating motivation, along with the rotation of rotor, the induction voltage (reverse voltage) corresponding to the permanent magnetic iron buried underground can be produced, the space harmonic of the magnetostriction that overlapping weak magnetic causes. 5 times, 7 times, 11 times, 13 times compositions of this space harmonic are the major causes producing torque pulsation, become the reason that iron loss increases. If therefore it will be seen that by relative to ratio ��, the such as generation of 5 space harmonics make coordinate diagram by per unit, then as shown in figure 12, ratio �� more lower than 1.75, more can suppress the generation of these 5 space harmonics from 1.75. In this case, the magnet amount of permanent magnet 16 can be cut down more than 4.7%, moreover, it is possible to reduce iron loss improve drive efficiency by reducing the space harmonic of magnetostriction, and the generation of the eddy current that can be limited in permanent magnet 16 suppresses heating.

Thus, in the rotor 12 of present embodiment, want not only to obtain the equal torque T of the rotor 12A with correlation technique but also cut down the usage quantity of permanent magnet 16, magnet amount is cut down 24.7% by the length Wpm(preferably shortening this permanent magnet 16) and it is set to the degree of ratio ��=1.38, additionally it is possible to torque ripple reduction. Generally speaking, as long as permanent magnet 16 is suitably selected from ratio ��=1.38(magnet reduction amount 24.7% according to the characteristic of the expectation of torque T, torque pulsation etc.) to 1.75(magnet reduction amount 4.7%) scope in size shape.

Therefore, in electric rotating motivation 10, if the situation that the d axle that become equal torque T, to shorten permanent magnet 16 length Wpm is formed as the size shape of ratio ��=1.38 has the IPM electric motor of the V-shaped in space and the situation not shortening the IPM electric motor of the V-shaped of permanent magnet 16 carry out magnetic field analysis, then as shown in Figure 13 and Figure 14, it is seen that the ratio of magnet torque Tm and magnetic resistance torque Tr changes and can export equal torque T.In addition, d axle has the IPM electric motor of the V-shaped in space to be the structure of the magnetic flux wall 17c possessing big space in d axle side, and the IPM electric motor of simple V-shaped is the structure possessing little magnetic flux wall 17d in d axle side.

This Figure 13 is shown in the ratio of torque Tm, Tr of low-load region, and Figure 14 is shown in the ratio of torque Tm, the Tr in maximum load region. It will be seen that no matter which is, when d axle has the IPM electric motor of V-shaped in space, all owing to shortening permanent magnet 16 and magnet torque Tm diminishes, magnetic resistance torque Tr becomes big. Namely, in electric rotating motivation 10, permanent magnet 16 near d axle is replaced and forms magnetic flux wall 17c, the median groove 21 of big void space such that it is able in the magnetic pole outer circumferential side zonule A1 shown in Fig. 6 B and Fig. 7, reduce the magnet magnetic flux �� m offsetting armature flux �� r. Its result is, electric rotating motivation 10 can increase q axle inductance L q so that it is bigger than the IPM electric motor of non-shortening V-shaped with the difference (salient pole ratio) of d axle inductance L d, it is possible to effectively to utilize magnetic resistance torque Tr, it is ensured that equal torque T.

According to this structure, as illustrated as magnetic flux line chart in Figure 15, the armature flux �� r that electric rotating motivation 10 also can make to focus on the zonule A1 of the outer circumferential side of the pair of permanent magnets 16 forming magnetic pole effectively splits (shunting) magnetic circuit Mr2 to the inner circumferential side of the d axle side space 17c entering V-shaped space 17 from by the magnetic circuit Mr1 of this magnetic pole outer circumferential side zonule A1. Its result is, electric rotating motivation 10 can reduce magnet magnetic flux �� m and armature flux �� r(d axle/q axle) magnetic interference, avoid the sense of rotation advance side (in figure left side) at magnetic pole outer circumferential side zonule A1 locally to turn into magneticsaturation state, effectively the generation of torque T is contributed.

Therefore, electric rotating motivation 10 is as illustrated in the magnetic flux line chart of Figure 16, when underload drives, the resultant flux �� s of magnet magnetic flux �� m and armature flux �� r is mainly through the magnetic circuit MP0 through permanent magnet 16, and when maximum load drives, this resultant flux �� s as illustrated in the magnetic flux line chart of Figure 17, can be divided into magnetic circuit MP1, magnetic circuit MP2. Its result is, it is possible to realize the magneticsaturation state reducing magnetic interference and avoiding local, not only reduces the magnet amount of permanent magnet 16 but also produce equal above torque T efficiently. In addition, in the resultant flux �� s when underload drives, the ratio armature flux �� r's of magnet magnetic flux �� m is big.

In addition, in electric rotating motivation 10, if permanent magnet 16 being such as set to the size shape of ratio ��=1.44, the magnetic flux wall 17c(being replaced into low permeability reduces magnet magnetic flux �� m), magnet amount is cut down 23%, then can reduce inertia (mass force), and induction voltage constant is also reduced the degree of 13.4%, it is possible to be increased in the output of high rotating speed side. And, in this electric rotating motivation 10, owing to causing the space harmonic of magnetostriction to reduce, it is possible to heating, iron loss and the electromagnetic noise suppressing the eddy current because producing in permanent magnet 16 and produce.

Relative to this, such as, as shown in the magnetic flux line chart of Figure 18, when magnetic flux wall 17e does not expand the center axis of rotor 12 to, not can abundant Ground Split resultant flux �� s, can not avoid the magneticsaturation of the local of the sense of rotation advance side (in figure left side) at magnetic pole outer circumferential side zonule A1.

In the comparative structure B of the magnetic flux wall 17e illustrated in the present embodiment structure A and Figure 18 of the magnetic flux wall 17c illustrated in Figure 17, characteristic during as illustrated maximum load in Figure 19, if comparing with the size of torque and variation (torque pulsation) thereof, the then torque increase about 6% of known structure A, the pulsation of torque simultaneously diminishes, it is possible to carry out rotary actuation in high quality.In addition, in Figure 19, calculate average torque by benchmark of the structure B of Figure 18, will represent with the corresponding instantaneous torque per unit of its rotation angle (electric angle), the situation of structure A of diagram Figure 17 and the situation of this structure B.

In this structure A, B, if being Fourier series by the waveform unfolds shown in Figure 19, then as shown in figure 20, the higher harmonic torque overlapping with torque can be compared, it will be seen that compared with structure B, structure A particularly can reduce 12 times and 24 higher harmonic torques significantly. Thus, in the structure A of present embodiment, it is possible to significantly reduce particularly 12 higher harmonic torques, suppress the generation of flutter when going up a slope acceleration, and also can significantly reduce electromagnetic noise. In addition, in this Figure 20, the ratio (%) of the higher harmonic torque that the torque of schematic structure A, B comprises.

And, in structure A, B, if handing over the flux waveforms of chain to expand into Fourier series by by clearance G and 1 stator tooth 15, the relatively containing ratio of 11 times and 13 times space harmonic compositions, then as shown in figure 21, it is seen that compared with structure B, structure A can make it reduce. In addition, in this Figure 21,1 tooth of structure A, B is handed over the basic wave formation point stdn of chain magnetic flux and illustrates with per unit.

In addition, known when 3 phase, the time higher harmonic that the torque of electric rotating motivation 10 is pulsed and comprised due to the space harmonic overlapping with the flux waveforms of every 1 mutually every 1 magnetic pole and phase current, with 6f composition (f=1 in electric angle, 2,3 ...: natural number) produce.

, the producing cause that torque is pulsed is described below, if circular frequency is set to ��_m, the inductive emf of each phase is set to E_u(t), E_v(t), E_wT (), electric current by each phase are set to I_u(t), I_v(t), I_wT (), then can obtain 3 phases by following formula (4), formula (5) and export (electric power) P(t) and torque tau (t).

P (t)=E_u(t)I_u(t)+E_v(t)I_v(t)+E_w(t)I_w(t) ... (4)

�� (t)=P (t)/��_m

=[E_u(t)I_u(t)+E_v(t)I_v(t)+E_w(t)I_w(t)]...(5)

3 phase torques are U phase, V phase, W phase torque sums separately, if establishing m to represent, the higher harmonic component of electric current, n represent the higher harmonic component of voltage, by U phase current I_uT formula (6) that () is expressed as, then U phase torque tau_uT formula (7) that () can be expressed as.

[several 3]

$I_u\left(t\right)=\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{I}_m\sin m\&CenterDot;(\mathrm{\&theta;}+{\mathrm{\&beta;}}_m)\&CenterDot;\&CenterDot;\&CenterDot;\left(6\right)$

$\begin{array}{c}{\mathrm{\&tau;}}_u\left(t\right)=\frac{1}{{\mathrm{\&omega;}}_m}\left[\underset{n=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{E}_m{I}_m\right\{-\frac{1}{2}\left(\cos ((n+m)\mathrm{\&theta;}+n{\mathrm{\&alpha;}}_n-m{\mathrm{\&beta;}}_m\right)\\ -\cos ((n-m)\mathrm{\&theta;}+n{\mathrm{\&alpha;}}_n-m{\mathrm{\&beta;}}_m)\left\}\right]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(7\right)$

Phase current I(t) and phase voltage E(t) it is symmetrical wave, therefore, " n " and " m " is only odd number. V phase torque beyond U phase and W phase torque are respectively relative to U phase induction voltage E_u(t), U phase current I_uT the phase differential of () is "+2 ��/3(rad) ", "-2 ��/3(rad) ", therefore, overall torque is cancelled (offseting) item for only surplus " 6 " coefficient, if representing is

6f=n �� m(f: natural number), s=n ��_n+ m ��_m, t=n ��_n-m ��_m, then the formula (8) can being expressed as.

[several 4]

$\mathrm{\&tau;}\left(t\right)=\frac{1}{{\mathrm{\&omega;}}_m}\left[\underset{n=1}{\overset{n}{\mathrm{\&Sigma;}}}\underset{m=1}{\overset{m}{\mathrm{\&Sigma;}}}{E}_m{I}_m\right\{-\frac{1}{2}\{3\cos (6\mathrm{f\&theta;}+s)-3\cos (6\mathrm{f\&theta;}+t)\}\left\}\right]\&CenterDot;\&CenterDot;\&CenterDot;\left(8\right)$

In addition, this induction voltage can be obtained by magnetic flux is carried out time differential, and therefore, the higher harmonic that 1 phase 1 pole flux comprises also produces the composition of the number of times same number of the higher harmonic comprised with each induction voltage. Its result is, in 3 phase ac motors, when being combined as 6f of time higher harmonic number of times m that the space harmonic frequency n comprised when magnetic flux (induction voltage) and phase current comprise, produces the torque pulsation of this 6f time composition.

Therefore known, as mentioned above, the torque pulsation of 3 phase electric motor is n �� m=6f(f in the space harmonic n of flux waveforms and time higher harmonic m of phase current of 1 phase 1 magnetic pole: natural number) time produces, therefore, such as, under basic wave (m=1) this combination of overlapping 11 times and 13 space harmonics (n=11,13) and phase current, produce 12 higher harmonic torques.

And, in this electric rotating motivation 10, for the magnetic flux wall 17c in the V-shaped space 17 in rotor 12, in order to permanent magnet 16 being set to the size shape of ratio ��=1.44 and makes the expansion size optimizing towards axle center, the position, end wall face of center axis to be determined.

First, return Fig. 1, the structure of this rotor 12 is determined by the torque characteristics shown in Figure 22, Figure 23, this torque characteristics be the position, end wall face of the center axis changing magnetic flux wall 17c to the separation distance R2 in the normal direction in axle center, using its relative to ratio R 2/R1, the R3/R2 of the outside radius R1 to periphery and the inside radius R3 to inner peripheral surface as obtaining during parameter. At this, owing to making permeability (easily the passing through degree of magnetic flux) worsen the Feng meter Si stress caused by the stress under compression of electro-magnetic steel plate applying during press-in rotating driveshaft 13, therefore, the size shape of rotor 12 determines to consider the numerical value of this Feng meter Si stress. In addition, this Figure 22, Figure 23 taking the comparative structure B of Figure 18 as benchmark, the torque that obtains when illustrating maximum load with per unit.

First, as shown in Figure 22, the torque of more than structure B can be obtained in the scope A that R2/R1 is 0.56��0.84, preferably near the position that trend changes 0.565��0.75 scope B in, it is more preferable to torque increase by 5% degree 0.59��0.63 degree scope C in determine the separation distance R2 of center axis end position of magnetic flux wall 17c.

And, as shown in Figure 23, the torque of more than structure B can be obtained in the scope A that R3/R2 is 0.54��0.82, preferably near the position that trend changes 0.60��0.81 scope B in, it is more preferable to torque increase by 5% degree 0.70��0.77 degree scope C in determine the separation distance R2 of center axis end position of magnetic flux wall 17c.

Thus, it is possible to fully guarantee the magnetic circuit width of the magnetic circuit MP2 in Figure 17, it is possible in the way of not producing magneticsaturation at this magnetic circuit MP2, determine the size of magnetic flux wall 17c.

In addition, in the rotor 12B shown in Figure 24, as mentioned above, even if when the length (width) of the long dimensional directions of permanent magnet 16 is set to optimum value Wpm, near the corner 16a being coupling near with d, also there is the vector V r of the armature flux �� r relative with the vector V m of magnet magnetic flux �� m. Specifically, near the corner 16a being coupling near with this d, following state is remained with: by becoming relative (interference) more than on the reverse direction of 90 degree at angle towards the vector V r of the armature flux �� r of the magnetic circuit in the most deep of the center axis of magnetic pole outer circumferential side zonule A1 relative to the vector V m of magnet magnetic flux �� m, offset the relation of the reversed magnetic field of (offseting). Therefore, in the structure of this rotor 12B, wasted in suppression (counteracting) magnet magnetic flux �� m by the armature flux �� r near the d axle side corner sections 16a of permanent magnet 16.

Therefore, at this electric rotating motivation 10(rotor 12) in, as shown in figure 25, magnetic flux wall 17c is formed as the void shape also expanded towards periphery 12a in d axle side. Thus, this rotor 12 is set to the structure that can effectively utilize armature flux �� r and magnet magnetic flux �� m so that this armature flux �� r is the magnetic circuit of less than 90 degree relative to the angle of the vector V m of magnet magnetic flux �� m by the vector V r of the armature flux �� r near the corner 16a of the permanent magnet 16 being coupling near with d.

Specifically, in this electric rotating motivation 10, for the magnetic flux wall 17c in the V-shaped space 17 in rotor 12, in order to permanent magnet 16 is set to ratio ��=1.44 size shape and by the space optimizing expanded towards periphery 12a side to determine its size shape 1,2.

First, for the size shape 1 of the magnetic flux wall 17c of this rotor 12, as shown in figure 26, it is resolved that from the extended surface of periphery side end face (planeform) 17cu of this magnetic flux wall 17c and the intersection point Y of d axle to periphery 12a(intersection point X) separation distance DLd. Such as, this separation distance DLd determines as the average torque obtained during parameter, higher harmonic torque and torque pulsation by using the ratio DLd/R1 of the outside radius R1 relative to rotor 12. In other words, for the size shape 1 of this magnetic flux wall 17c, in the way of the optimal performance such as can obtain making the magneticflux-density of the magnetic circuit MP1 of the magnetic pole outer circumferential side region A2 by rotor 12 unsaturated, it is resolved that interval (separation distance) DLd of the end, d axle side from periphery 12a to periphery side end face 17cu.

Such as, as shown in figure 27, the DLd of the periphery side end face 17cu from the periphery 12a of this rotor 12 to magnetic flux wall 17c is made to expand DLd/R1=0.086 from the DLd/R1=0.194 consistent with the extended surface of periphery sidewall face (outside of the permanent magnet 16) 17au of the storage space 17a in V-shaped space 17 to periphery 12a side. In this case known, as shown in the coordinate diagram of Figure 28, Figure 29, torque characteristics changes. In addition, in Figure 28, take DLd/R1=0.194 as benchmark, the average torque obtained when illustrating maximum load with per unit. In addition, the high frequency torque of Figure 28 illustrates its 6 times and the Duplication of 12 compositions (electric angle), the rate of change of the torque pulsation diagram torque of Figure 29.

By this Figure 28 it will be seen that the size shape 1 of the magnetic flux wall 17c of rotor 12 is set in the scope A of DLd/R1=0.098��0.194, thus obtain than being only the torque that the structure extended by the periphery sidewall face 17au of the storage space 17a in V-shaped space 17 is big. For this size shape 1, it is preferable that be set in the scope B of degree of DLd/R1=0.11��0.194 such that it is able to reduce 12 higher harmonic torques, in addition, it is more preferable to be set in the scope C of degree of DLd/R1=0.12��0.14 such that it is able to obtain torque capacity. In addition, as shown in Figure 29, for this size shape 1, it is set to the optimum point shape BP1 of DLd/R1=0.139 such that it is able to make torque pulsation minimum.

And, for the size shape 2 of the magnetic flux wall 17c of this rotor 12, as shown in figure 26, it is resolved that the angle [alpha] that the periphery side end face 17cu of magnetic flux wall 17c tilts relative to the periphery sidewall face 17au of the storage space 17a in V-shaped space 17.

Such as, for this inclined angle alpha, based on DLd/R1=0.139, it is resolved that ratio �� 1/ �� 2 of the angle theta 1 between the periphery side end face 17cu of magnetic flux wall 17c and d axle and the angle theta 2 between the periphery sidewall face 17au of the storage space 17a in V-shaped space 17 and d axle. This ratio �� 1/ �� 2 is determined by the average torque illustrated in Figure 30, Figure 31 of obtaining during parameter change, higher harmonic torque and torque pulsation. In other words, for the size shape 2 of this magnetic flux wall 17c, determine inclined angle alpha as follows: can near the corner 16a of the permanent magnet 16 being coupling near with d of the magnetic pole outer circumferential side zonule A1 of rotor 12, form the magnetic circuit that armature flux �� r does not suppress magnet magnetic flux �� m, obtain optimal performance. In addition, in fig. 30, taking �� 1/ �� 2=1.7 as benchmark, the average torque obtained when illustrating maximum load with per unit. In addition, the high frequency torque of Figure 30 illustrates the Duplication of its 6 times and 12 times compositions, the rate of change of the torque pulsation diagram torque of Figure 31.This �� 2 is also sometimes referred to as the magnet opening degree of permanent magnet 16, and therefore, �� 1 can also be called magnetic flux wall opening degree.

By this Figure 30 it will be seen that the size shape 2 of magnetic flux wall 17c for rotor 12, it is set to the scope D of the degree of �� 1/ �� 2=1.2��1.7 such that it is able to obtain big torque and reduce 12 higher harmonic torques. And, for this size shape 2, as shown in Figure 31, it is preferable that be set to the optimum point shape BP2 of �� 1/ �� 2=1.52 such that it is able to obtain torque capacity, minimum torque pulsation.

At this, if considering both size shapes 1,2 of magnetic flux wall 17c, then when being set to the scope A of DLd/R1=0.098��0.194, it is possible to by the �� 1 under this condition is obtained divided by the �� 2 of displacement, it is possible to obtain the torque characteristics being applicable to by being set to �� 1/ �� 2=1.0��2.13. In addition, in the scope B of degree being set to DLd/R1=0.11��0.194, equally, it is possible to obtain the torque characteristics being more suitable for by being set to �� 1/ �� 2=1.0��2.02.

In addition, under DLd/R1=0.139 and the �� 1/ �� 2=1.5 of both the size shapes 1,2 to consider magnetic flux wall 17c has carried out optimizing situation, as shown in figure 32, compared with the situation of the comparative structure example shown in Figure 24, it is possible to not only make average torque increase about 1.8% but also must be less by Torque Ripple Reduction. In addition, in this size shape 1,2, as shown in figure 33, compared with the situation of the comparative structure example shown in Figure 24, it is possible to reduce 12 times and 24 higher harmonic torques significantly. Thus, in this size shape 1,2, it is possible to significantly reduce particularly 12 higher harmonic torques, the generation of flutter when suppressing to go up a slope acceleration, and also can significantly reduce electromagnetic noise.

In addition, in the rotor 12A shown in Figure 34 A, owing to until there is permanent magnet 16 to exist near d axle, creating more magnet magnetic flux �� m at magnetic pole outer circumferential side region A2. Relative to this, in the rotor 12C that median groove 21 is not set shown in Figure 35 A, near this d axle, it is formed with the magnetic flux wall 17c in space, therefore, from the orthogonality decline of the magnet magnetic flux �� m that permanent magnet 16 produces, in other words, the magneticflux-density decline of the magnet magnetic flux �� m near d axle. Therefore, concerning q axle magnetic circuit �� q, the magnetic resistance near d axle reduces, thus inductance becomes high. Its result is, in rotor 12C, owing to handing over the density generation difference of the magnetic flux of chain with periphery 12a, causes having higher harmonic overlapping in magnetic flux, makes torque pulsation, iron loss increase, thus make decrease in efficiency.

Such as, near the d axle of rotor 12A, as shown in the magnetic flux vector figure during maximum load of Figure 34 B, with the magnetic circuit ring of armature flux �� r accordingly, from faced by stator tooth 15D hand over the magneticflux-density of chain not high. Relative to this, near the d axle of rotor 12C, as shown in the magnetic flux vector figure during maximum load of Figure 35 B, compared with the magnetic flux in the stator tooth 15D of Figure 34 B, handing over the magneticflux-density of chain to become high, the magnetic flux of inflow increases.

This point can be understood by following aspect: if at rotor 12A(magnetic flux wall 17d, without median groove 21) and rotor 12B(magnetic flux wall 17c, without median groove 21) in, relatively hand over chain flux waveforms by 1 tooth of the clearance G between 1 stator tooth 15, then as shown in the coordinate diagram of Figure 36, place shown in " P " in the figure affected near d axle, the magnetic flux of rotor 12B easily flows, and higher harmonic is easily overlapping.Such as, if the flux waveforms shown in Figure 36 is expanded into Fourier series, then as shown in figure 37, compared with rotor 12A, the flux waveforms of rotor 12B is overlapping in the way of the containing ratio of 5 times, 7 times space harmonics is big.

Therefore, electric rotating motivation 10 forms median groove 21 on the d axle of the periphery 12a of rotor 12, and this median groove 21 adjusts in the way of the magnetic resistance at the clearance G place increased between the inner peripheral surface 15a of stator tooth 15. In the rotor 12 defining this median groove 21, as shown in the magnetic flux vector figure during maximum load of Figure 38, it is possible to suppress near the d axle of rotor 12 from faced by the increase of magnetic flux that enters of stator tooth 15.

In addition, if having median groove 21 at this rotor 12() and rotor 12C(without median groove 21) in compare torque profile, then as shown in the coordinate diagram of Figure 39, taking rotor 12C as benchmark (1.0 [p.u.]), there is the torque profile of the rotor 12 of median groove 21 can reduce amplitude, it is possible to torque pulsation inhibited. In addition, if the torque profile shown in this Figure 39 is expanded into Fourier series, then as shown in figure 40, the torque profile of the rotor 12 of median groove 21 is had can significantly to reduce 6 times, 12 times, 18 times, 24 times higher harmonic torques. In addition, in Figure 39, taking the average torque of rotor 12C as benchmark (1.0 [p.u.]), the torque profile of instantaneous torque is illustrated.

Further, in this electric rotating motivation 10, the optimum size shape of the median groove 21 of rotor 12 is determined based on torque characteristics such as this torque pulsation.

For this median groove 21, as shown in figure 41, change the separation distance R4 of bottom of trench 21a from axle center to normal direction, determine size shape according to using pulsing as the torque shown in that obtain during parameter, Figure 42 relative to the ratio R 4/R1 of the outside radius R1 to periphery 12a of rotor 12.

First, as the degree of depth of median groove 21, there is no the size shape (R4/R1=1.0) of median groove 21 as benchmark, be formed as following size shape to the torque pulsation produced when can reduce maximum load:

0.98��R4/R1 < 1.0.

In addition, the median groove 21 of rotor 12 needs from the relative relation of the stator tooth 15 relative to stator 11 side to determine size shape, as shown in figure 41, it is possible to specify by the outward opening angle �� a on periphery 12a centered by the axle center of rotor 12 with than the inner opening angle �� b of this periphery 12a bottom of trench 21a in the inner part.

In this rotor 12, if the outward opening angle �� a of median groove 21 is changed as parameter, then as Figure 43 makes phase voltage corresponding with line-to-line voltage coordinate diagram shown in, the place shown in peak F in the drawings and top W is affected.

Specifically, such as, the width from G1 to G3 in Figure 43, U phase voltage waveform changes along with the width of the outward opening angle �� a of median groove 21 according to the relative position relation of stator 11 and rotor 12. If making outward opening angle �� a narrow, then this U phase voltage waveform turns into the waveform of following point: also narrow between G1-G3, and top W turns into most summit, and line-to-line voltage waveform turns into following waveform: peak F, close to top W, is similar to choppy sea. On the contrary, if the outward opening angle �� a making median groove 21 becomes wide, then U phase voltage waveform turns into following waveform: the top W between G1-G3 turns into even shape, line-to-line voltage waveform turns into following waveform: peak F is left from top W, it is similar to the trapezoidal wave that bottom is wide, it becomes easily overlapping 5 times, 7 times space harmonics.

At this, for median groove 21, as mentioned above, need the magnetic resistance (reduction permeability) at the clearance G place increased between rotor 12 and stator tooth 15, if but make outward opening angle �� a become excessive, then become easily overlapping 5 times, 7 times space harmonics, consequently, it is desirable to be set to the size shape of required bottom line.

As shown in figure 41, if set the opening width of rotor 12 side of groove 18 as the inner peripheral surface 15a of SO, stator tooth 15 in the face of width be TB, stator tooth 15 than inner peripheral surface 15a leading section width in the inner part be the clearance G between TW, rotor 12 and stator tooth 15 air gap width be AG, then the structure of this rotor 12 and stator 11 is as follows.

First, owing to needing the magnetic resistance increasing clearance G place, median groove 21 need to be set to stator tooth 15 in the face of more than width TB. Thus, as the lower value of outward opening angle �� a, owing to the shape approximation surrounded in the face of the axle center of width TB and rotor 12 with this is in isosceles triangle (2 �� right-angle triangle), it is possible to be set to

2��tan^-1((TB/2)/(R1+AG))�ܦ� a.

In addition, for groove 18, if considering the automatic insertion of coil, necessary energy density, then need to be set to the opening width S O > air gap width AG of groove 18. By this relation it will be seen that compared with the open space of groove 18, the magnetic resistance at clearance G place is low, it is necessary to reduce from the front end corner part K(of stator tooth 15 with reference to Figure 36) with the magnetic flux of rotor 12 top-cross chain. Therefore, median groove 21 needs to be set to below the width arriving inner peripheral surface 15a of adjacent stator tooth 15, thus, as the higher limit of outward opening angle �� a, equally, it is possible to be set to

��a��2��tan^-1((SO+(TB/2))/(R1+AG)).

Then, for the inner opening angle �� b of the bottom of trench 21a of median groove 21, samely with outward opening angle �� a, it is possible to the outward opening angle �� a below the width to inner peripheral surface 15a of adjacent stator tooth 15 is set to higher limit, is set to

��b��2��tan^-1((SO+(TB/2))/(R1+AG)).

And on the other hand, for the lower value of inner opening angle �� b of the bottom of trench 21a of median groove 21, by the lower value of outward opening angle �� a being set to adjusting in the face of width TB of stator tooth 15 to increase the mode of the magnetic resistance at clearance G place, thus can also be set to there is no bottom of trench 21a's

0��ܦ�b��

In addition, for stator tooth 15 in the face of width TB and leading section width TW, if being set to the shape fined away in the leading section of stator tooth 15, then above-mentioned condition is false, and is thus

TW��TB��

At this, in this rotor 12, when underload too, if comparing torque profile with the rotor 12C without median groove 21, then as shown in the coordinate diagram of Figure 44, taking rotor 12C as benchmark (1.0 [p.u.]), there is the torque profile of the rotor 12 of median groove 21 can reduce amplitude, torque pulsation inhibited. In addition, if the torque profile shown in this Figure 44 is expanded into Fourier series, then as shown in figure 45, the torque profile of the rotor 12 of median groove 21 is had can to reduce 6 higher harmonic torques.

In addition, above main explanation median groove 21 is on the impact of torque characteristics, and this median groove 21 can, when assembling waits manufacture as mark etc., be also useful. Such as, closing in the position in axial direction of permanent magnet 16 is the state twisted, when namely there is so-called deflection, it is possible to be confirmed whether to there is deflection according to this median groove 21 in the rectilinearity of direction of principal axis.

In addition we know, in the rotor 12D not having lateral sulcus 22 shown in Figure 46, the magneticflux-density waveform at clearance G place during as illustrated zero load in Figure 47, it is deformed into the waveform close to trapezoidal wave from basic wave. At this clearance G place, on the basis of the gap flux waveforms corresponding to the structure of the stator tooth 15 of stator 11 side, the permanent magnet 16 of the V-shaped of rotor 12 side, magnetic flux wall 17b, the 17c in V-shaped space 17, further overlapping space higher harmonic, thus, become the major cause of torque pulsation, electromagnetic noise, iron loss increase.

For gap flux waveforms, electric angle 90 �� is equivalent to d axle, electric angle 0 ��, 180 �� be equivalent to q axle, the stator tooth 15a��15g in a magnetic pole of rotor 12D corresponds respectively to the region A��G of electric angle 30 ��. This gap flux waveforms is in the magnetic flux wall 17c(space with d axle side) depression before and after corresponding region A, if compared with basic waveform, then known between region B, C and between region E, F magneticflux-density too high. , it is seen that in rotor 12D, namely from d axle towards working direction side from the 2nd stator tooth 15b to the 3rd stator tooth 15c with from d axle towards direction of retreat side from, the 2nd stator tooth 15e to the 3rd stator tooth 15f, the overlapping change of space harmonic is many.

Therefore, in rotor 12D, in the scope at 2 places (d axle �� 30 �㡫60 ��) of the periphery 12a corresponding with between stator tooth 15b, 15c and between stator tooth 15e, 15f, the lateral sulcus 22 of the magneticflux-density that shape hands over chain for reducing in a pair is effective.

And, in IPM type electric motor, between the permanent magnet to direction of principal axis, to apply so-called segmentation deflection by twisting rotor such that it is able to offset the torque pulsation of specific times. Such as, when three-phase motor, apply the segmentation deflection of electric angle 15 �� such that it is able to offset the torque pulsation of 12 times completely.

Specifically, if representing 12 higher harmonics overlapping with magnetic flux with function, then can represent and it is

F(��)=sin12 ��,

Electric angle offsets the waveform of 15 ��

F(��+15 ��)=sin12(��+15 ��)=-sin12 ��,

In theory, it is possible to offseting and offset with 11 times and 13 space harmonics, its result is, it is possible to reduce the torque pulsation of 12 times.

Therefore, during to confirm only zero load, the gap flux waveforms that has higher harmonic during load overlapping in addition, then become waveform as shown in figure 48. In addition, in this Figure 48, both the situations with or without segmentation deflection when not having lateral sulcus 22 are illustrated.

In this gap flux waveforms, it is possible to confirm to suppress overlapping space harmonic by applying segmentation deflection, but samely with time zero load, if compared with basic waveform, then known between region B, C and between region E, F magneticflux-density too high.

Further, in this electric rotating motivation 10, based on torque characteristics such as such torque, torque pulsation, it is resolved that the optimum size shape of the lateral sulcus 22 of rotor 12.

As shown in Figure 49 (Figure 26), lateral sulcus 22 can carry out regulation forming position with the angle between the extended line of the angle between the extended surface in the periphery 12a sidewall face (periphery sidewall face 17au) of permanent magnet 16 and d axle and so-called magnet opening degree �� 2, the periphery 12a side corner sections 16b connecting permanent magnet 16 from axle center and d axle and the outer angle theta 4 between so-called magnet end subtended angle �� 3, outboard end limit 22o and d axle and the interior angle theta 5 between interior side end edge 22i and d axle.

First, if lateral sulcus 22 is positioned at the outside of magnet end subtended angle �� 3, magnet opening degree �� 2, then with the gap flux waveforms shown in Figure 47 between region C, D and between region F, G corresponding, the reduction position of deviation magneticflux-density. In addition, for rotor 12, the Feng meter Si stress that the centrifugal force of the permanent magnet 16 during high rotating speed causes concentrates on the side described later bridge 30 inside and outside the magnetic pole linking and supporting between periphery 12a and magnetic flux wall 17b, therefore, in order to prevent concentrating the fracture caused by this stress, it is necessary to width to a certain degree.Therefore, the forming position of lateral sulcus 22 is

The outer angle theta 4��magnet end subtended angle �� 3 of interior angle theta 5 <.

In addition, according to using the torque characteristics of the ratio of outer for interior angle theta 5/ angle theta 4 as the torque shown in that obtain during parameter, Figure 50, Figure 51, higher harmonic torque, torque pulsation, the size shape of lateral sulcus 22 is determined.

First, for lateral sulcus 22, from the torque characteristics during maximum load of Figure 50, there is no the rotor 12D(�� 5/ �� 4=1.0 of lateral sulcus 22) as benchmark (1.0 [p.u.]), it is set to

0.945�ܦ�5/��4��0.98

Size shape, thus, it is possible to not only torque to a certain extent but also torque ripple reduction effectively. Particularly, this lateral sulcus 22 is set to �� 5/ �� 4=0.97 such that it is able to make torque pulsation for minimum.

In addition, for this lateral sulcus 22, from the torque characteristics during underload of Figure 51, it is set to

��5/��4��0.98

Size shape, thus also can not only torque to a certain extent but also torque ripple reduction effectively.

In addition, as shown in figure 49, according to using the ratio of trench depth RG/ air gap width AG as the torque characteristics of the torque shown in that obtain during parameter, Figure 52, torque pulsation, determine the size shape of this lateral sulcus 22.

First, for lateral sulcus 22, from the torque characteristics during maximum load of Figure 52, there is no the rotor 12D(RG/AG=0.0 of lateral sulcus 22) as benchmark (1.0 [p.u.]), it is set to

0.00 < RG/AG��0.73

Size shape, thus, it is possible to not only torque to a certain extent but also torque ripple reduction effectively. Particularly, this lateral sulcus 22 is set to the degree of 0.30��RG/AG��0.45 such that it is able to make torque pulsation for minimum.

Thus, as shown in the coordinate diagram of the gap flux waveforms of Figure 53, in electric rotating motivation 10, lateral sulcus 22 is formed in the best position of the periphery 12a of rotor 12 such that it is able to reduce in trapezoidal wave, particularly magneticflux-density between B, the C of region and between region E, F.

In addition, as shown in the coordinate diagram of the torque profile during underload of the torque profile during maximum load of Figure 54, Figure 55, in electric rotating motivation 10, lateral sulcus 22 is formed in the best position of the periphery 12a of rotor 12, thus, can both torque ripple reduction regardless of which.

And, as shown in the coordinate diagram of the cogging torque waveform of Figure 56, in electric rotating motivation 10, lateral sulcus 22 is formed in the best position of the periphery 12a of rotor 12 such that it is able to cogging torque is reduced more than 50%.

And, in electric rotating motivation 10, when to become IPM structure that permanent magnet 16 is imbedded in rotor 12 by position relation as shown in Figure 57, as shown in Figure 58, the change of the magnetic flux in 1 tooth of the stator tooth 15 of stator 11 can be approximately square wave. This flux waveforms overlap is had 5 times, 7 inferior low space harmonics, thus iron loss, as torque amplitude of fluctuation torque pulsation increase, cause degradation in efficiency as the waste of heat energy, and become produce vibration, noise major cause. Iron loss can be divided into magnetic hysteresis loss and eddy current loss. Magnetic hysteresis loss is the long-pending of frequency and magneticflux-density, and eddy current loss is long-pending square with magneticflux-density of frequency, therefore, it is possible to by suppressing space harmonic to reduce the loss, it is possible to improve the drive efficiency inputted relative to electric energy. In addition, in Figure 58, the longitudinal axis is set to magnetic flux, transverse axis is set to the time, illustrate for 1 stator tooth 15, between L1, there is no the friendship chain of magnetic flux, the approximate rectangular ripple of the flux waveforms in the electric angle 1 cycle T (4L1+2L2) of magnetic flux generation reciprocal cross chain between L2.

In addition, the electromagnetic noise of electric motor (electric rotating motivation) causes the vibration of this stator to produce owing to acting on the electromagnetic force of stator side, the radial electromagnetic force that the electromagnetic force acting on stator has the magnetic coupling of rotor and stator to cause and the circumferential electromagnetic force that torque causes. For radial electromagnetic force, when electric motor being approximately linear magnetic loop to investigate by every 1 stator tooth 15, if set magnetic flux asMagnetic energy to be W, radial electromagnetic force be fr, magnetic resistance to be Rg, magneticflux-density be B, magnetic flux hand over chain area to be S, clearance G spacing to be x, magnetic circuit permeability to be ��, then magnetic energy W and radial electromagnetic force fr can represent like that as shown in the formula (9), formula (10).

[several 5]

$W=\frac{1}{2}{\mathrm{\&phi;}}^2{R}_g=\frac{1}{2}{(B\&CenterDot;S)}^2\&CenterDot;\frac{x}{\mathrm{\&mu;S}}=\frac{1}{2\mathrm{\&mu;}}{B}^2\&CenterDot;x\&CenterDot;S\&CenterDot;\&CenterDot;\&CenterDot;\left(9\right)$

$\mathrm{fr}=\frac{\&PartialD;W}{\&PartialD;x}=\frac{1}{2\mathrm{\&mu;}}{B}^{2}S\frac{\&PartialD;}{\&PartialD;x}\left(x\right)=\frac{1}{2\mathrm{\&mu;}}{B}^{2}S\&CenterDot;\&CenterDot;\&CenterDot;\left(10\right)$

Therefore, when considering space harmonic and represented like that as shown in the formula (11) by magneticflux-density B, radial electromagnetic force fr comprise magneticflux-density B square, therefore space harmonic be overlapped into radial electromagnetic force fr increase major cause. That is, reduce the minimizing that space harmonic just can realize torque pulsation, and then realize the minimizing of electric motor electromagnetic noise and the raising of drive efficiency.

[several 6]

$B=\underset{t=1}{\overset{t}{\mathrm{\&Sigma;}}}{B}_t\sin t\left(\mathrm{\&theta;}{+\mathrm{\&delta;}}_t\right)\&CenterDot;\&CenterDot;\&CenterDot;\left(11\right)$

When the electric rotating motivation 10 of 3 phase IPM electric motor of the distribution winding method of groove number=2 as unit magnetic pole unit phase, every 1 magnetic pole is to corresponding 12 grooves 18, therefore within 1 cycle of electric angle, there are 12 places in the groove 18 that magnetic resistance is big, due to the magnetic resistance of corresponding groove 18,11 times, 13 times space harmonic n can be overlapped in flux waveforms. These 11 times, 13 times space harmonic n is commonly referred to as groove higher harmonic, by having the arranging the deflection angle reversed centered by axle center position and can easily reduce in axial direction according to permanent magnet 16.

But, when the IPM structure of 3 phases, as shown in Figure 58, magnetic flux and 1 stator tooth 15 hand over the flux waveforms of chain to be substantially rectangular ripple, therefore structurally 5 times, 7 times space harmonics n(6f time=6 times higher harmonics) also easily overlapping and be difficult to reduce.

Therefore, in order to torque ripple reduction, it is necessary to adopt the structure reducing by 5 times, 7 times space harmonics.

Fourier transform formula f(t when flux waveforms in 1 stator tooth 15 of the IPM structure of this 3 phase is approximately square wave) represent like that as shown in the formula (12), the flux waveforms F(t illustrated in Figure 58) can represent like that as shown in the formula (13). If this flux waveforms F(t) for comprising the approximate expression of the space harmonic till 7 times, represent like that as shown in the formula (14), if launching to arrange with long-pending formula with trigonometrical function, following formula (15) can be deformed into such, it is seen that want to reduce 5 times from this formula or 7 higher harmonics need to meet following condition 1 or condition 2.

Condition 1: " cos5 �� L1=0 "

Condition 2: " cos7 �� L1=0 "

[several 7]

$f\left(t\right)=\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;t}\right\}}{2k-1}\&CenterDot;\&CenterDot;\&CenterDot;\left(12\right)$

$\begin{array}{c}F\left(t\right)=\frac{1}{2}[f(t-L1)+f(t+L1)]\\ =\frac{1}{2}[\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;}(t-L1)\right\}}{2k-1}+\frac{4}{\mathrm{\&pi;}}\underset{k=1}{\overset{\&infin;}{\mathrm{\&Sigma;}}}\frac{\sin \left\{(2k-1)\mathrm{\&omega;}(t+L1)\right\}}{2k-1}]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(13\right)$

$\begin{array}{c}F\left(t\right)=\frac{1}{2}\left[\frac{4}{\mathrm{\&pi;}}\right\{\sin \mathrm{\&omega;}(t-L1)+\frac{1}{3}\sin 3\mathrm{\&omega;}(t-L1)+\frac{1}{5}\sin 5\mathrm{\&omega;}(t-L1)+\frac{1}{7}\sin 7\mathrm{\&omega;}(t-L1)\}\\ +\frac{4}{\mathrm{\&pi;}}\{\sin \mathrm{\&omega;}(t+L1)+\frac{1}{3}\sin 3\mathrm{\&omega;}(t+L1)+\frac{1}{5}\sin 5\mathrm{\&omega;}(t+L1)+\frac{1}{7}\sin 7\mathrm{\&omega;}(t+L1)\}]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(14\right)$

$\begin{array}{c}F\left(t\right)=\frac{4}{\mathrm{\&pi;}}[\sin \mathrm{\&omega;t}\&CenterDot;\cos \mathrm{\&omega;L}1+\frac{1}{3}\sin 3\mathrm{\&omega;t}\&CenterDot;\cos \mathrm{\&omega;L}1\\ +\frac{1}{5}\sin 5\mathrm{\&omega;t}\&CenterDot;\cos 5\mathrm{\&omega;L}1+\frac{1}{7}\sin 7\mathrm{\&omega;t}\&CenterDot;\cos 7\mathrm{\&omega;L}1]\end{array}\&CenterDot;\&CenterDot;\&CenterDot;\left(15\right)$

And, the flux waveforms with reference to Figure 58 is then following formula (16), if therefore substituting into the deformation type of condition 1, shown in (17). At this, due to " L1, L2 > 0 ", therefore it is arranged, it is seen that 5 space harmonics can be kept zero by meeting following condition 1A.

Radian frequency (circular frequency) ��=2 ��/T=2 ��/(4L1+2L2) ... (16)

Condition 1:5 �� L1=5 2 �� L1/(4L1+2L2)=�� pi/2 ... (17)

Condition 1A:L1=L2/8

Equally, the deformation type of condition 2 is such as shown in the formula (18), due to " L1, L2 > 0 ", therefore it is arranged, it is seen that 7 space harmonics can be kept zero by meeting following condition 2A.

Condition 2:7 �� L1=7 2 �� L1/(4L1+2L2)=�� pi/2 ... (18)

Condition 2A:L1=L2/12

Further, in the electric rotating motivation 10 of groove number=2 of unit magnetic pole unit phase, it may also be useful to the outside radius R1 of rotor 12, has following relation, therefore, it is possible to arrange like that as shown in the formula (19), formula (20) with circumferential speed V.

Mechanical angle 45 degree=electric angle cycle T/2

V(m/sec)=2 �� R1 (45 ��/360 ��)/(T/2)

=2 �� R1 (45 ��/360 ��)/((4L1+2L2)/2)

=R1(m) �� (rad/sec) ... (19)

2L1+L2=��/4 �� ... (20)

It is substituted into condition 1A and condition 2A, it is possible to derive following condition.

Thus, electric rotating motivation 10 carries out layout and makes it meet following relational expression (21), thus be tending towards reducing by 5 times and 7 space harmonics, it is possible to be torque pulsation inhibited.

�ء�L2��3, ��/5 ��/14 �� (sec) ... (21)

At this, " L2 " of this relational expression (21) is equivalent to the region of the magnetic circuit of the formation in the flux waveforms of Figure 58 and rotor 12 side faced by stator tooth 15, can as comprising until the opening angle �� 6 centered by axle center of the scope in the region of the outer end of the magnetic flux wall 17b of the both sides of permanent magnet 16, in other words, it is possible to as magnetic pole opening degree �� 6.

With reference to the flux waveforms of this Figure 58, the relational expression of " ��=�� t " is set up, therefore, it is possible to be replaced into " �� 1=�� L2 ", various representation can represent as follows. Such as, 8 magnetic pole 48 slot motors structure (structures for 1 corresponding 6 grooves of magnetic pole) unit magnetic pole unit phase groove number=2 electric rotating motivation 10 in, taking 2 magnetic poles in 8 magnetic poles as 1 cycle, therefore 360 �� of rotations in mechanical angle 1 cycle of rotor 12 are equivalent to electric angle 4 cycle, then following relational expression is set up.

��/5(rad)�ܦ� 6(mechanical angle)��3 ��/14(rad)

36(degree)�ܦ� 6(mechanical angle)��270/7(degree)

�� 6(mechanical angle)=(8 magnetic pole/2 magnetic pole) �� 6(electric angle)

144(degree)�ܦ� 6(electric angle)��154.3(degree)

In electric rotating motivation 10, as shown in Figure 59, therefore, the magnetic pole opening degree �� 6 comprising 1 magnetic pole till the outer end of permanent magnet 16 and both end sides magnetic flux wall 17b by following layout setting in rotor 12. In addition, the �� 7 in Figure 59 is corresponding to the opening degree between q axle.

36 ��ܦ� 6(mechanical angle)��38.6 ��

144 ��ܦ� 6(electric angle)��154.3 ��

And, now, the magnetic pole opening degree �� 6 of 1 magnetic pole in rotor 12 hand over chain corresponding to the magnetic flux in the approximate waveform of flux waveforms as shown in Figure 58 and stator tooth 15 during L2, as shown in Figure 59, this friendship chain period L2 is positioned at the center of �� 7 between q axle, and is the flux waveforms of the d axle timing consistent with the medullary ray of this friendship chain period L2. In addition, the angle that the angle, �� 7 in Figure 57 is equivalent between q axle is mechanical angle 45 ��, in addition, is the electrical angle �� of the semi-period in flux waveforms.

Therefore, in electric rotating motivation 10, it is set to the magnetic pole opening degree �� 6 comprising magnetic flux wall 17b of the permanent magnet 16 in rotor 12 suppress as the m=1 of the basic waveform of time higher harmonic m as phase current 6f (n=5 of the effective specific times of torque ripple reduction, 7) the angle scope (144 ��ܦ� 6(electric angle) of 5 times, 7 times of the space harmonic n of phase voltage��154.3 ��), it is thus possible to torque ripple reduction, make vibration, noise become few, in high quality turning axle 13 is carried out rotary actuation.In addition, meanwhile, due to torque ripple reduction, it is possible to make vibration become few such that it is able to suppress the iron loss of thermosteresis and magnetic hysteresis loss and eddy current loss, it is possible to carry out losing few high-level efficiency rotary actuation.

In fact, as shown in Figure 60, at two shoulders, leakage magnetic flux is created for the flux waveforms being approximately square wave, therefore from theoretical value (waveform), small deviation can occur. This small deviation can in 144 ���magnetic pole opening degree �� 6(electric angle) adjusted by magnetic field analysis etc. in��the scope of 154.3 ��.

In this electric rotating motivation 10, when maximum load, near the q axle that the impact of armature flux �� r inflow magnet magnetic flux �� m is fewer than d axle side (q axle magnetic circuit), magneticflux-density has the trend becoming high, therefore when this q axle magnetic circuit declines thus torque reduction close to permeability during magneticsaturation. Therefore, in order to guarantee q axle magnetic circuit as far as possible, torque (magnetic flux passes through efficiency) being improved, magnetic pole opening degree �� 6 less (narrow) is more favourable, is set to the value close to 144 �� (electric angles). About this magnetic pole opening degree �� 6, the correlationship in the face of the air gap width AG etc. between width TB, the opening width S O of groove 18, rotor 12 and stator tooth 15 of the stator tooth 15 according to stator 11 carries out magnetic field analysis, as reducing by 5 times, 7 times space harmonics and also can reduce the optimum value of cogging torque and be determined as 146.8 �� (electric angles).

In addition, in electric rotating motivation 10, the torque characteristics of the torque according to Figure 61, the Figure 62 as parameter, 6 times, 12 times higher harmonic torques, torque pulsation determines magnet opening degree �� 2. In addition, at this Figure 61, Tu62Zhong, using �� 2=90 �� (electric angle) as benchmark (1.0 [p.u.]), these torque characteristics are illustrated.

First, as shown in Figure 61, magnet opening degree �� 2(mechanical angle) if when maximum load less than 27.5 ��, torque meeting much slower, if in addition more than 72.5 ��, torque pulsation, higher harmonic torque can become big, it is preferred to be accommodated in the scope E of 27.5 �㡫72.5 ��, from torque, it is more preferable to be set in the scope F of 37.5 �㡫67.5 �� of degree.

In addition, as shown in Figure 62, magnet opening degree �� 2(mechanical angle) if when underload less than 37.5 ��, torque can sharply reduce, in addition, if more than 82.5 ��, along with the whereabouts rapidly of torque, torque pulsation, higher harmonic torque also can become big, it is preferred to be accommodated in the scope G of 37.5 �㡫82.5 ��, from torque, it is more preferable to be set in the scope H of 42.5 �㡫67.5 �� of degree.

From during these maximum loads and during underload, preferred magnet opening degree �� 2(mechanical angle) it is accommodated in 37.5 �㡫72.5 ��, from torque, more preferably the degree of 42.5 �㡫67.5 �� it is set to, and, be set to 52.5 �� can torque pulsation inhibited, higher harmonic torque and make torque maximum, thus suitable.

; as shown in Figure 63; electric rotating motivation 10 adopts the IPM structure imbedding permanent magnet 16 in rotor 12 by V-shaped; therefore except above-mentioned central bridge 20; also possess side bridge 30 in the side, outer end of magnetic flux wall 17b, thus the Feng meter Si stress that causes of the centrifugal force in time resisting the magnetic pole high speed rotating comprising pair of permanent magnets 16 and carry out linking in the way of maintaining shape and support. Central bridge 20 extends from the axle center of rotor 12 to the normal direction consistent with d axle, carries out magnetic pole linking support.Side bridge 30 is formed in the side, outer end of the periphery 12a and magnetic flux wall 17b of rotor 12 between the 17b1 of face, carries out linking supporting in rotor 12 between the d axle side in the outside (periphery 12a side) of the pair of permanent magnets 16 forming a magnetic pole and the q axle side of another adjacent magnetic pole side.

As shown in magnetic flux vector figure during Figure 64 zero load, side bridge 30 is (although ideally thinking to suppress as far as possible the place that enters of magnetic flux) between the d axle side of magnetic pole and q axle side, and therefore also magnet magnetic flux �� m(as permanent magnet 16 is illustrated as vector V m in the drawings) the magnetic circuit that enters play function. In addition, side bridge 30 also makes magnet magnetic flux �� m hand over the region of chain to carry out the magnetic circuit during switching in q axle side and d axle side as the rotation along with rotor 12 between stator tooth 15 via clearance G and plays function. This side bridge 30 can according to the shape of side, the outer end face 17b1 of the magnetic flux wall 17b of the rear side of the periphery 12a being positioned at rotor 12 to adjust magnetic resistance, it is possible to changes the rotation along with this rotor 12 and magneticflux-density to hand over magnet magnetic flux �� m that the modes such as chain pass through.

As shown in Figure 65 A, when zero load, this magnet magnetic flux �� m is at stator 11(stator tooth 15) and rotor 12 between clearance G in magneticflux-density change by close to the waveform of square wave, produce cogging torque by the change of the magneticflux-density of this magnet magnetic flux �� m. The magneticflux-density of magnet magnetic flux �� m is ideally made to change by the waveform of approximate sine wave, it is thus possible to realize driving smoothly, but be difficult to realize, therefore make the change on the time of this magnetic flux (d ��/dt) diminish and can reduce cogging torque, because of but effectively. Particularly as shown in Figure 65 B, magnetic flux (by density waveform diagram) elevated areas, collect that to make the change on the time become in region be effective gently. Therefore, want to reduce cogging torque, it may be considered that make formation side bridge 30 magnetic flux wall 17b side, outer end in the shape optimizing of face 17b1.

In addition, as shown in the magnetic flux vector figure during maximum load of Figure 66, side bridge 30 equally also makes armature flux �� r(be illustrated as vector V r in the drawings as the clearance G that is rotated through along with rotor 12 between stator tooth 15) hand over the region of chain to carry out the magnetic circuit during switching in q axle side and d axle side to play function. This armature flux �� r and magnet magnetic flux �� m is similarly the flux waveforms being approximately square wave, therefore as mentioned above, it is necessary, easy overlapping 5 times, 7 times, 11 times, 13 inferior (6f �� 1) secondary space harmonic, therefore can produce torque pulsation. Therefore, side bridge 30 equally particularly makes the shape optimizing of face 17b1 in the side, outer end of magnetic flux wall 17b, make elevated areas, the change (d ��/dt) that collects on the time of armature flux �� r in region at magnetic flux become mild, this makes it possible to torque ripple reduction, because of but effective.

Therefore, in this electric rotating motivation 10, make the shape smooth variation of face 17b1 in the side, outer end of the magnetic flux wall 17b of the periphery 12a of rotor 12 to adjust the thickness (width in figure) of side bridge 30 thus adjust the magnetic resistance in the G of clearance.

As seen in figure 67, the region in the outside (periphery 12a side) of the pair of permanent magnets 16 being positioned at rotor 12 is carried out linking together with central bridge 20 and supports by this side bridge 30, and therefore Feng meter Si stress during high speed rotating concentrates on the q axle side region MS2 of face 17b1 in the side, outer end of the d axle side region MS1 and magnetic flux wall 17b of the periphery 12a of rotor 12.In addition, in central bridge 20 side, Feng meter Si stress concentrates on the periphery side region MS3 of rotor 12.

Therefore, return Figure 63, in side bridge 30, in the side, outer end of magnetic flux wall 17b, the intermediate point 17b1m place of the both end sides corner 17b1c of face 17b1 makes face 17b1 bending in its side, outer end the thickness (width on accompanying drawing) of q axle side becomes thick to make, and forms so-called fillet (fillet) shape. Thus, offside bridge 30 adjusts, and makes the shape that q axle side region MS2 becomes favourable relative to Feng meter Si stress, and the magnetic resistance in the G of clearance is reduced gently, makes the magnet magnetic flux �� m in the G of this clearance, armature flux �� r smooth variation.

Specifically, in the side, outer end of the magnetic flux wall 17b of rotor 12 inside of side bridge 30, face 17b1 has in d axle side face 17b1q in face 17b1d and q axle side in the both sides of intermediate point 17b1m. In this side, outer end face 17b1 be by using by the angle theta 8 between the straight line in the axle center of rotor 12 and intermediate point 17b1m and d axle and in d axle side face 17b1d to the angle theta 9 between face 17b1q in the extended surface of q axle side and q axle side as the torque obtained during parameter change, cogging torque, torque pulsation characteristic determine. In addition, in this Property comparison, angle theta 8=74.2 �� (angle theta 9=0, without bending) in the structure making above-mentioned magnetic pole opening degree �� 6 optimizing is illustrated by per unit as benchmark. In addition, in the side, outer end of this magnetic flux wall 17b, the both end sides corner 17b1c of face 17b1, intermediate point 17b1m place form curved shape so that in d axle side, in face 17b1d and q axle side, 17b1q respective both end sides in face is smoothly continuous, forms so-called chamfer shape.

First, as shown in Figure 68, it is seen that in the side, outer end of the magnetic flux wall 17b of side bridge 30 in the 17b1 of face, the angle theta 8(electric angle of intermediate point 17b1m) it is more than 64.7 �� and scope I less than 74.2 �� such that it is able to cogging torque when reducing zero load. Known more preferably this angle theta 8 is the scope J of 66 �㡫72 �� such that it is able to more effectively reduce cogging torque.

In addition, as shown in Figure 69, known in the side, outer end of the magnetic flux wall 17b of side bridge 30 in the 17b1 of face, the angle theta 8(electric angle of intermediate point 17b1m) be set to more than 64.9 �� and less than the scope K of 74.2 �� such that it is able to the reduction of torque during maximum load is suppressed to minimum and can torque ripple reduction. Known more preferably this angle theta 8 is the range L of 66 �㡫78 �� such that it is able to torque ripple reduction more effectively, in addition, close to 72 �� in the scope M of 70 �㡫72 �� such that it is able to suppress further torque reduction and can torque ripple reduction effectively.

On the other hand, as shown in figure 70, known in the side, outer end of the magnetic flux wall 17b of side bridge 30 in the 17b1 of face, angle theta 9(mechanical angle between the 17b1q of face in the extended surface of face 17b1d and q axle side in d axle side), in other words, in q axle side, face 17b1q is relative to the bending angle �� 9(mechanical angle of face 17b1d in d axle side) the scope N that is set to be greater than 0 �� and be less than or equal to 37 �� such that it is able to the reduction of torque during maximum load is suppressed to minimum and can torque ripple reduction more effectively. Known more preferably this angle theta 9 in the scope P of 10 �㡫27 �� close to 10 �� such that it is able to suppress further torque reduction and can torque ripple reduction effectively.

Like this, in the present embodiment, cut down the d axle side scope B of permanent magnet 16 and it is replaced into big magnetic flux wall 17c, therefore, it is possible to eliminate the magnet magnetic flux �� m in the direction offsetting armature flux �� r, eliminate interference (offseting) mutually, in addition, it is also possible to restriction armature flux �� r is by this scope B.

Therefore, the usage quantity of permanent magnet 16 can be cut down, and effectively apply flexibly armature flux �� r, the magnet magnetic flux �� m of d axle side, it is possible to obtain big magnet torque Tm and magnetic resistance torque Tr. Moreover, it is possible to the increase of the output of high rotating speed side that the reduction seeking induction voltage constant brings, and the heating that the eddy current that can suppress permanent magnet 16 causes, suppress the demagnetization that temperature variation causes, reduce temperature classification thus reduce cost.

In addition, the relation (size shape) being set to the separation distance R2 of the center axis end of magnetic flux wall 17c and the outside radius R1 of rotor 12 and inside radius R3 is 0.56��R2/R1��0.84 and 0.54��R3/R2��0.82 such that it is able to produce big torque T efficiently.

In addition, in magnetic flux wall 17c, the separation distance DLd making the periphery of rotor 12 is 0.098��DLd/R1 < 0.194 relative to the outside radius R1 of rotor 12 such that it is able to produce big torque efficiently. And, it is preferable that this magnetic flux wall 17c is 0.12��DLd/R1��0.14 and 1.2��magnetic flux wall opening angle �� 1/ magnet opening angle �� 2��1.7, and is DLd/R1=0.139 and �� 1/ �� 2=1.52 such that it is able to produce bigger torque efficiently.

In addition, about the median groove 21 of rotor 12, being set to by the length R4 to bottom of trench 21a relative to the outside radius R1 of rotor 12 is 0.98��R4/R1 < 1.0 such that it is able to suppress higher harmonic torque, effectively torque ripple reduction.

And, this median groove 21 is set to following size shape: 2 �� tan^-1((flank of tooth is to width TB/2)/(rotor outside radius R1+ air gap width AG))��outward opening angle �� a��2 �� tan^-1((the channel opening width S O+(flank of tooth is to width TB/2))/(rotor outside radius R1+ air gap width AG)), 0 ���inner opening angle �� b��2 �� tan^-1((the channel opening width S O+(flank of tooth is to width TB/2))/(rotor outside radius R1+ air gap width AG)), tooth leading section width TW��flank of tooth is to width TB such that it is able to suppress higher harmonic torque further, cut down torque pulsation further.

In addition, the lateral sulcus 22 of rotor 12 is set to outer angle theta 4��magnet end subtended angle �� 3,0.945��interior angle theta 5/ outer angle theta 4��0.98,0.00 < trench depth RG/ air gap width AG��0.73, thus, can suppress will be overlapping with gap flux waveforms space harmonic, it is possible to prevent from due to the increase of cogging torque, torque pulsation, iron loss, drive efficiency being declined.

And, as the structure of the pair of permanent magnets 16 imbedded with V-shaped, it is set to 144 ���magnetic pole opening degree �� 6(electric angle)��154.3 �� and 27.5 �㡫37.5 ���magnet opening degree �� 2(mechanical angle)��72.5 �㡫82.5 ��, more preferably 37.5 ��ܦ� 2(mechanical angle)��72.5 ��, it is thus possible to when making maximum load, underload time torque become high, the pulsation of torque now and 6 times, 12 times higher harmonic torques can be suppressed, reduce electric and magnetic oscillation, electromagnetic noise.

And, on the basis of said structure, by face 17b1d in the d axle side of side bridge 30 and in q axle side angle theta 8 between the intermediate point 17b1m of face 17b1q and d axle be set to 64.9 �㡫74.2 �� (electric angle), angle theta 9 between the 17b1q of face in the extended surface of face 17b1d in this d axle side and q axle side is set to 0 �㡫37 �� (mechanical angle) such that it is able to reduce cogging torque, torque pulsation with almost not reducing torque. Therefore, it is also possible to reduce the electric and magnetic oscillation that torque pulsation causes the stator core produced, it is also possible to reduce the electromagnetic noise that it is adjoint. In addition, when to reduce for the purpose of cogging torque, it is also possible to condition is relaxed for making angle theta 8 be more than 64.7 ��.

And, angle theta 8 is set to 66 �㡫68 ��, 70 �㡫72 ��, and in addition, angle theta 9 is set to 10 �㡫27 �� such that it is able to reduce cogging torque, torque pulsation with more effectively almost not reducing torque.

Its result is the rotor 12 that can manufacture in stator 11 with low cost, carries out rotary actuation in high quality with high-energy-density.

At this, in the present embodiment, the electric rotating motivation 10 of the formation of 8 magnetic pole 48 slot motors is illustrated as an example, but it is not limited to this, as long as the structure of the groove number q=2 of unit magnetic pole unit phase, can both former state apply, it is also possible to former state is applied to the electric motor structure of such as 6 magnetic pole 36 grooves, 4 magnetic pole 24 grooves, 10 magnetic pole 60 grooves suitablely.

The scope of the present invention is not limited to illustrate the enforcement mode of the illustration recorded, and also comprises whole enforcement modes of the effect that the object with the present invention can be brought to be equal to. And, the scope of the present invention is also not limited to the combination of the feature of the invention by each scope, but limit by the combination being hopeful of the special characteristic in each feature disclosed in whole.

Description of reference numerals

10 electric rotating motivations (IPM type)

11 stators

12 rotors

12a periphery

13 rotating driveshafts

15 stator teeth

16 permanent magnets

17V figure space

17b, 17c magnetic flux wall

Face in side, 17b1 outer end

Face in 17b1dd axle side

17b1m intermediate point

Face in 17b1qq axle side

18 grooves

20 central bridge

21 median groovees

22 lateral sulcus

30 side bridges

Bd axle side scope

G clearance

The angle of �� 8 from d axle to intermediate point

In �� 9d axle side in face and q axle side face extended surface between angle

Claims (2)

1. an IPM rotary motor, possesses: rotor, has wherein imbedded permanent magnet, has rotated integrally with drive shaft; And stator, it is accommodated with the rotatable described rotor being arranged on its opposite, and coil be accommodated in this rotor faced by multiple teeth between groove in, this stator has armature function, and in above-mentioned electric rotating motivation, the groove number of unit magnetic pole unit phase is 2,

Above-mentioned IPM rotary motor is characterised in that,

Above-mentioned permanent magnet configuration is the V-shape opened towards the periphery of above-mentioned rotor,

When this permanent magnet being existed near the d axle side consistent with the central shaft of this permanent magnet of each magnetic pole that above-mentioned permanent magnet is formed, permanent magnet in this d axle side produces the magnet magnetic flux offsetting the direction of the armature flux that above-mentioned armature produces, in the scope producing above-mentioned magnet magnetic flux, above-mentioned permanent magnet is replaced into the little space of permeability

The above-mentioned d axle of the periphery of above-mentioned rotor is formed the central authorities' adjustment ditch with axis parallel, and is formed with the offside adjustment ditch with axis parallel in two sides, outer end of the above-mentioned permanent magnet of this periphery,

Possess the magnetic flux wall that the periphery from two sides, outer end of above-mentioned permanent magnet towards above-mentioned rotor stretches out,

Carry out between the q axle side of the flow direction being formed between face and the periphery of above-mentioned rotor between the above-mentioned magnetic pole of this rotor in the side, outer end of this magnetic flux wall and above-mentioned d axle side linking the side bridge supported,

In the side, outer end of above-mentioned magnetic flux wall, face has face, d axle side and face, q axle side in the both sides of the intermediate point in the both end sides corner of the rear side of the periphery being positioned at above-mentioned rotor,

Angle between the straight line of the intermediate point in face and above-mentioned d axle is set to �� 8 in by the side, outer end by the axle center of above-mentioned rotor and above-mentioned magnetic flux wall, meet the relation of 64.7 ���electric angle �� 8��74.2 ��,

In above-mentioned d axle side, face extends from the intermediate point in face in the side, outer end of above-mentioned magnetic flux wall to the direction parallel with the periphery of above-mentioned rotor,

When being set to �� 9 to the angle between the extended surface of above-mentioned q axle side of face in face and above-mentioned d axle side, meets the relation of 0 �� of < mechanical angle �� 9��37 �� in by above-mentioned q axle side.

2. IPM rotary motor according to claim 1, it is characterised in that, above-mentioned angle theta 8 meets the relation of 64.9 ���electric angle �� 8��74.2 ��.