JP3564252B2 - Armature winding - Google Patents

Armature winding Download PDF

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JP3564252B2
JP3564252B2 JP02368997A JP2368997A JP3564252B2 JP 3564252 B2 JP3564252 B2 JP 3564252B2 JP 02368997 A JP02368997 A JP 02368997A JP 2368997 A JP2368997 A JP 2368997A JP 3564252 B2 JP3564252 B2 JP 3564252B2
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Prior art keywords
phase
coil
tooth
teeth
poles
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JPH10225035A (en
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慎二 西村
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三菱電機株式会社
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Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a small-sized motor having a small cogging torque and an armature winding.
[0002]
[Prior art]
FIG. 10 is a cross-sectional view of an armature for illustrating a conventional armature winding of this type. In the figure, a conventional armature winding in the case of 4 poles and 6 slots (teeth) is shown, in which a first tooth 11 has a U-phase coil U1 and a second tooth 12 has a V-phase coil V2. The third tooth 13 has a W-phase coil W3, the fourth tooth 14 has a U-phase coil U4, the fifth tooth 15 has a V-phase coil V5, and the sixth tooth 16 has a W-phase coil V5. A coil W6 is wound around each tooth without straddling each slot, so that a small motor having a small coil end is provided.
[0003]
However, the cogging torque caused by the slot permeance and the magnetomotive force of the rotor is generated by the least common multiple of the number of poles and the number of slots per one rotation of the rotor. Torque appears. When the number of cogging torques is small, the peak value of one cogging torque becomes large, so that vibration and noise are large, and torque unevenness is also large. To solve this, for example, Japanese Patent Publication No. 5-34897 discloses the method. As described above, there is a method of changing the number of coils wound in each slot with two poles and 15 slots. However, in this method, each coil straddles one or more slots, and the coil ends are large, resulting in a large motor.
[0004]
As another example of a conventional small-sized armature winding of a motor having no slots, as shown in Japanese Patent Application Laid-Open No. 7-59283, an 8-pole, 9-slot or 4-pole, 6-slot is provided. In some cases, coils of either phase are wound so as not to cross the slot, but because the spatial phase and the current phase are shifted, the combined magnetomotive force contains many harmonics, However, there is a disadvantage that the noise becomes large.
[0005]
Further, in a configuration such as 4 poles and 5 slots, the number of slots cannot be divided by the number of phases (3). For example, a five-phase AC power supply is connected. There are drawbacks such as
[0006]
Further, if the number of slots is increased and the number of slots is increased, such as four poles and nine slots, the cogging torque is reduced, but the coil pitch is reduced and the magnetomotive force per coil is reduced. Is required, resulting in a large motor.
[0007]
[Problems to be solved by the invention]
Since the conventional armature winding is configured as described above, the disadvantage is that the coil end is large and the motor becomes large, or the peak value of the cogging torque becomes large and vibration and noise increase. there were.
[0008]
The present invention has been made in order to solve the above problems, and has as its object to obtain an armature winding of a motor having a small coil end, a well-balanced magnetomotive force, and a small cogging torque.
[0009]
[Means for Solving the Problems]
An armature winding according to claim 1 of the present invention is an armature winding wound around each tooth of an armature core having +1 number of teeth so as not to span a slot, and One tooth is wound with a single phase coil only, and the other teeth are wound with two different phases, and the combined vector of the current flowing through the coil wound on one tooth is transmitted to the next tooth. The turns ratio of the coil is determined such that the phase is shifted by (number of poles) / (number of teeth) × π in phase with the combined vector of the current flowing through the wound coil.
[0010]
An armature winding according to a second aspect of the present invention is an armature winding wound around each tooth of an armature core having the number of poles plus one tooth so as not to span a slot. And the combined vector of the current flowing through the coil wound on one tooth is different from the combined vector of the current flowing on the coil wound on the adjacent tooth in phase with (the number of poles) ) / (Number of teeth) × The number of turns of the coil is determined so as to shift by π.
[0011]
In the armature winding according to claim 3 of the present invention, k (n + 1) teeth (n is a natural number and k is a natural number of 2 or more) are provided for each tooth of the armature core with respect to the number of kn poles. , an armature winding wound so as not cross the slots, at least one tooth without wound only coil of a single phase, with applying windings of two different phases in the other teeth , the composite vector of the current flowing through the coil wound one teeth, and the resultant vector of the current flowing through the coil wound next to the tooth, in the phase, shifted by (pole number) / (number of teeth) × [pi The turns ratio of the coil is determined as described above.
[0012]
An armature winding according to a fourth aspect of the present invention is configured such that each armature core has k (n + 1) teeth (n is a natural number and k is a natural number of 2 or more) with respect to the number of kn poles. , An armature winding wound so as not to span a slot, in which two different-phase windings are applied to each tooth, and the combined vector of the current flowing through the coil wound on one tooth is adjacent to the armature winding. The number of turns of the coil is determined so as to be shifted by (number of poles) / (number of teeth) × π in phase with the combined vector of the current flowing through the coil wound around the tooth.
[0013]
An armature winding according to a fifth aspect of the present invention is configured such that the cross-sectional area of at least one phase coil is different from the cross-sectional area of another phase coil such that the resistance value of each phase coil is equal. is there.
[0014]
In the armature winding according to claim 6 of the present invention, the number of phases of the coil is three.
[0015]
An armature winding according to a seventh aspect of the present invention is one in which the three-phase coils are Y-connected.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
Hereinafter, an embodiment of the present invention will be described. In the present embodiment, the number of poles of the motor is 4 poles, and the number of slots is 5 slots (5 teeth), which is the number of poles + 1. In the case of such 4 poles and 5 slots, the cogging torque appears 20 times as the number of poles × slots per rotation of the rotor, ie, 4 × 5 = 20 times, and is larger than 12 times in the case of 4 poles and 6 slots, so that the number of cogging torques increases. , The amplitude of the cogging torque decreases as a result.
[0017]
FIG. 1 is a cross-sectional view of an armature showing an armature winding according to an embodiment of the present invention. In the figure, a U-phase coil U1 is wound around the first teeth 1 by Nu1 times in the positive direction. Here, the positive direction is defined as a winding direction such that when a current flows from the positive side to the negative side of the coil, the magnetic field is directed toward the tip of the teeth.
[0018]
The combined vector of the current flowing through the coil wound on one tooth is shifted in phase from the combined vector of the current flowing on the coil wound on the adjacent tooth by (number of poles) / (number of teeth) × π. Since the turns ratio is obtained, the second tooth 2 needs a phase delayed by 4/5 × π from the U phase. Therefore, the U-phase coil U2 is wound N u2 times in the reverse direction and the V-phase coil V2 is wound N v2 times in the forward direction on the second teeth 2. Here, the reverse direction is defined as a winding direction such that when a current flows from the negative side to the positive side of the coil, the magnetic field is directed toward the tip of the teeth. It is assumed that each coil is wound so as not to span the slot.
[0019]
Next will be described how to determine the U-phase coil U2, V-phase coil V2 of the winding number N u2, N v2 winding the second teeth 2. Since a current of cos (ωt) flows through the U phase and a current of cos (ωt−2π / 3) flows through the V phase, the resultant magnetomotive force due to this current is expressed by the following equation (1).
[0020]
(Equation 1)
[0021]
This may be given by equation (2).
[0022]
(Equation 2)
[0023]
If a U-phase current vector, a V-phase current vector, and a current vector necessary for the second tooth are drawn on the complex plane as shown in FIG. 2, the equation (3) is obtained by geometrically analyzing the drawing. .
[0024]
(Equation 3)
[0025]
That is, the number of turns U u2 , N v2 of the U-phase and V-phase coils wound on the second teeth 2 is 0.47 times the number of turns Nu 1 of the U-phase coil U 1 wound on the first teeth, respectively. When a three-phase AC current (in this case, the W phase is not used yet) in which the phase of the current flowing through the V-phase coil V2 is delayed by 2π / 3 is applied, the first tooth 1 is applied to the second tooth 2. And the magnitude is the same, and the magnetomotive force is out of phase (4/5) π.
[0026]
Next, in order to delay the (8/5) π phase with respect to the magnetomotive force of the first teeth 1, the magnetomotive force of the third teeth 3 causes the V-phase coil V3 to rotate N v3 times in the reverse direction and the W-phase coil V3. Wind the coil W3 Nw3 times in the forward direction. The relationship between the magnetomotive forces is expressed by Expression (4).
[0027]
(Equation 4)
[0028]
Similarly, if a vector diagram of the current is drawn as shown in FIG. 3 in order to determine the number of turns, Equation (5) is obtained by performing a geometrical analysis from the drawing.
[0029]
(Equation 5)
[0030]
Since the fourth tooth 4 is symmetrical to the third tooth 3 with respect to the first tooth 1, in order to advance (8/5) π phase with respect to the magnetomotive force of the first tooth 1, The coil W4 is wound Nw4 times in the reverse direction and the V-phase coil V4 is wound Nv4 times in the positive direction. The number of turns of each coil is determined by geometric analysis in the same manner as in the case of the third teeth. (6).
[0031]
(Equation 6)
[0032]
Further, since the fifth tooth 5 is symmetrical to the second tooth 2 with respect to the first tooth 1, in order to advance (4/5) π phase with respect to the magnetomotive force of the first tooth 1, U The phase coil U5 is wound N u5 times in the reverse direction and the W phase coil W5 is wound N w5 times in the forward direction. The number of turns is determined by geometric analysis in the same manner as in the case of the second teeth. Equation (7) is obtained.
[0033]
(Equation 7)
[0034]
As shown in FIG. 4, the coils wound as described above are connected in series with the U-phase, the V-phase with the V-phase, the W-phase with the W-phase, and the U-phase, V-phase, and W-phase. Get the coil. In this state, if a three-phase AC current is applied to each of the U, V, and W phases, a balanced magnetomotive force is generated in the five teeth as if a five-phase AC current was applied.
[0035]
Next, the total number of turns of the U, V, W phase coils will be examined. The U-phase coil is wound N u1 times around the first tooth 1, but this is counted as one unit number of turns for simplification. Then, the U-phase coil is wound once on the first tooth 1, 0.47 times on the second tooth 2, and 0.47 times on the fifth tooth 5, for a total of 1.94 times. The V-phase coil is wound 0.68 times on the second teeth 2, 0.86 times on the third teeth 3, and 0.24 times on the fourth teeth 4, for a total of 1.78 times. is there. Similarly, the W-phase coil is wound 0.24 times on the third tooth 3, 0.86 times on the fourth tooth 4, and 0.68 times on the fifth tooth 5, for a total of 1.78 times. Become.
[0036]
Accordingly, the V-phase coil and the W-phase coil have the same number of turns and the same coil resistance, but the U-phase coil is wound 0.16 times more than the V-phase and W-phase coils, which is about 1.09 times. If the wire length is the same and the wire diameter is the same, the resistance value will be unbalanced. Therefore, the resistance value of each phase can be balanced by setting the coil sectional area of the U phase to be 1.09 times the coil sectional area of the other phases.
[0037]
Next, the electromotive force induced in each phase will be confirmed. The electromotive force due to the magnetic flux linked to the first to fifth teeth is converted into sin (wt), sin (wt-4π / 5), sin (wt + 2π / 5), sin (wt-2π / 5), sin
If (wt + 4π / 5), the electromotive force generated in the U-phase coil is represented by Expression (8).
[0038]
(Equation 8)
[0039]
Similarly, the electromotive force generated in the V phase is represented by Expression (9).
[0040]
(Equation 9)
[0041]
Similarly, the electromotive force generated in the W phase is represented by Expression (10).
[0042]
(Equation 10)
[0043]
That is, the electromotive force of each V and W phase is an electromotive force shifted by 1.624 / 1.76 = 0.922 times in amplitude and ± (2π / 3-16π / 1000) in phase with respect to the U-phase electromotive force. ,
Since 16π / 1000 is almost negligible, a substantially symmetric three-phase AC electromotive force can be obtained.
[0044]
Next, a case is considered where the U, V, and W phase coils obtained in this way are Y-connected as shown in FIG. FIG. 6 is a circuit diagram illustrating the armature winding for easy understanding. When the inter-line electromotive force is obtained, the equations (11) to (13) are obtained, and a symmetric three-phase AC electromotive force having the same amplitude and the phase shifted by 2π / 3 is obtained.
[0045]
(Equation 11)
[0046]
(Equation 12)
[0047]
(Equation 13)
[0048]
When a three-phase winding is applied to the 5-slot armature core as described above and Y-connection is performed, the magnetomotive force generated in each tooth is equivalent to a balanced 5-phase alternating current, and the electromotive force is balanced. The obtained three-phase AC electromotive force is obtained. Therefore, if this winding method is used for an electric motor, for example, the power supply may be a three-phase power supply, so that the external connection is simplified, the coil end is small, the coil is small, the cogging torque is small, and the vibration and noise are small. An electric motor is obtained.
[0049]
As described above, in the armature winding according to the present invention, if the number of slots is set to the number of poles + 1, the least common multiple of the number of poles and the number of slots is always the number of poles × the number of slots. The value can be reduced.
Further, in the present invention, by winding coils of different phases around one tooth, the magnetomotive force phase of the synthesized tooth can be set to a desired value.
[0050]
Embodiment 2 FIG.
In the first embodiment, after the coils are wound around the teeth, the U phase is connected in series with the U phase, the V phase is connected with the V phase, and the W phase is connected with the W phase in series. The coils may be wound with one coil for each phase so as to be in a state. In this case, since the number of connections after winding is reduced, the work is simplified.
[0051]
Embodiment 3 FIG.
Further, in the above embodiment, an example is shown in which the coil cross-sectional area of the U-phase is increased to balance the resistance values. However, even if the coil cross-sectional area of each phase is the same, a 5-phase AC current is applied to each tooth. The phase alternating magnetomotive force is still obtained.
[0052]
Embodiment 4 FIG.
Further, in the above-described embodiment, an example is shown in which three-phase coils are Y-connected, but substantially the same can be obtained as △ -connection. However, in this case, a circulating current is generated due to a slight imbalance of the three-phase electromotive force.
[0053]
Embodiment 5 FIG.
Further, in the above-described embodiment, an example in which only the U-phase coil is wound around the first tooth is shown, but it is also possible to wind all the teeth with two-phase coils having different phases. FIG. 7 shows an example of the winding. If the winding in the forward direction is represented by + and the winding in the reverse direction is represented by-, for example, the winding may be as shown in Table (1). In this case, variations in the electromotive force of the U, V, and W phases are reduced. However, in order to obtain the same magnetomotive force, the configuration in which only one phase coil is wound around at least one tooth as in the above embodiment can minimize the total number of turns of the coil.
[0054]
[Table 1]
[0055]
Embodiment 6 FIG.
Further, in the above-described embodiment, the case of 4 poles and 5 slots is shown, but if the configuration is n poles and n + 1 slots such as 6 poles 7 slots, 8 poles 9 slots, and 10 poles 11 slots, one tooth is used. By winding a coil of two phases having different phases and synthesizing a current vector, a rotational magnetomotive force corresponding to the (n + 1) th phase can be obtained. The winding ratio of each tooth in the case of 6 poles and 7 slots is, for example, as shown in Table (2).
[0056]
[Table 2]
[0057]
The winding ratio of each tooth in the case of 8 poles and 9 slots is as shown in Table (3), for example.
[0058]
[Table 3]
[0059]
Embodiment 7 FIG.
Further, in the above embodiment, the number of turns of each coil is represented by a turns ratio, and when the number of turns for obtaining a necessary electromotive force is determined, the above turns ratio may not be obtained just in some cases. May be selected as the number of turns having the turn ratio closest to the above ratio.
[0060]
Embodiment 8 FIG.
In the above embodiment, the case where the configuration has n poles and n + 1 slots such as 4 poles, 5 slots, 6 poles and 7 slots has been described. (K is a natural number of 2 or more).
[0061]
Here, the case of 8 poles and 10 slots will be described. The winding ratio in the case of 8 poles and 10 slots is the same as that in the case of 4 poles and 5 slots, and the winding ratio of teeth 6 to 10 is the same as that of teeth 1 to 5. With this configuration, the magnetic flux distribution in the gap becomes point-symmetric, so that the radial forces are balanced and the rotor vibration is reduced.
In this case, as in the case of the first embodiment, a configuration in which only one phase coil is wound around one tooth and two different phase windings are wound around the other teeth may be adopted. Alternatively, each tooth may be provided with two different phase windings.
[0062]
Embodiment 9 FIG.
Next, in the case of an armature having n poles and m slots, an expression representing the general number of turns of the U, V, and W phase coils in the i-th tooth is obtained.
First, it is considered that two phases of three-phase coils (currents) are combined to obtain an amplitude of 1 and an arbitrary phase α.
[0063]
(1) In the case of 0 <α ≦ π / 3, combining u and −w from FIG. 8 gives Equation (14).
[0064]
[Equation 14]
[0065]
(2) Next, when π / 3 <α ≦ 2π / 3, Equation (15) is derived from FIG.
[0066]
(Equation 15)
[0067]
In the same manner, the number of turns is obtained in π / 3 steps in the range of -π <α <π.
Here, when only the number of turns of the U-phase coil is obtained,
Nu = A / sin (π / 3)
It becomes.
However, when A is −π <α ≦ −2π / 3, A = sin (2π / 3 + α), and
When −2π / 3 <α ≦ −π / 3, A = 0, when −π / 3 <α ≦ 0, A = sin (π / 3 + α), and when 0 <α ≦ π / 3, A = sin (π / 3−α), A = 0 when π / 3 <α ≦ 2π / 3, and A = sin (2π / 3−α) when 2π / 3 <α ≦ π Become.
[0068]
Here, Nu <0 means that -U (a U-phase coil wound in the opposite direction) is used. Since the phases of the V-phase and W-phase coils are shifted by ± 2π / 3 from the phase of the U-phase coil, α ± 2π / 3 is substituted into α in the above equation.
[0069]
In the case of n-pole m-slot concentrated winding, assuming that the phase of the first tooth is generally a, a is substituted into the above equation α, and the number of turns of each of the U, V, and W phases of the first tooth is calculated. Ask. However, in this case, a phase in which the number of turns is 0 appears.
[0070]
Next, since the phase of the second tooth requires a phase delayed by (n / m) π from the phase of the first tooth, a = (n / m) π is substituted into the above equation α, and The number of turns can be determined.
Then, since the phase of the i-th tooth needs to be delayed by n (i-1) π / m from the phase of the first tooth, a + n (i-1) π / m is expressed by the above equation α. The number of turns can be similarly obtained by substituting.
Here, the reference phase a can be arbitrarily selected. However, when a = 0, only the U-phase coil is wound around the first tooth.
[0071]
As described above, the general number of turns N of the U, V, and W phase coils in the i-th tooth with n poles and m slots can be obtained by N = A / sin (π / 3).
However, A is A = sin (2π / 3 + C) when −π <C ≦ 2π / 3, A = 0 when −2π / 3 <C ≦ −π / 3, and −π / 3 <C A ≦ sin (π / 3 + C) when ≦ 0, A = sin (π / 3−C) when 0 <C ≦ π / 3, and A = sin when π / 3 <C ≦ 2π / 3. 0, and A = sin (2π / 3−C) when 2π / 3 <C ≦ π.
Here, -π <C ≦ π, and C = (n / m) π (i−1) + a + d, where d = 0 for a U-phase coil and d = for a V-phase coil. 2π / 3, and for a W-phase coil, d = −2π / 3.
[0072]
Embodiment 10 FIG.
In the above-described embodiment, the case where the present invention is applied to the electric motor has been described.
[0073]
【The invention's effect】
As described above, according to the armature windings of the first to fourth, seventh, and eighth aspects of the present invention, the number of teeth of the stator core is set to the number of poles +1 or a natural number multiple thereof. Since one or two coils having different phases are wound around the teeth, there is an effect that an excellent electric motor having a small coil end, a small size, a small cogging torque, and a small vibration and noise can be obtained.
[0074]
Also, the combined vector of the current flowing through the coil wound around one tooth is shifted in phase by the (number of poles) / (number of teeth) × π in phase with the combined vector of the current flowing through the coil wound around the adjacent tooth. As described above, since the winding number ratio of the coil is determined, there is an effect that a winding in which the magnetomotive force of each tooth is balanced can be obtained.
[0075]
Furthermore, according to the armature winding of the fifth aspect of the present invention, the cross-sectional area of at least one phase coil is different from the cross-sectional area of another phase coil so that the resistance value of each phase coil becomes equal. Therefore, the resistance value of each phase can be balanced.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view showing an armature according to Embodiment 1 of the present invention.
FIG. 2 is a vector diagram showing a combination of magnetomotive forces of second teeth according to the first embodiment of the present invention.
FIG. 3 is a vector diagram showing a combination of magnetomotive forces of third teeth according to the first embodiment of the present invention.
FIG. 4 is a connection diagram of a coil according to the first embodiment of the present invention.
FIG. 5 is a connection diagram of a coil according to the first embodiment of the present invention.
FIG. 6 is a connection diagram of a coil according to the first embodiment of the present invention.
FIG. 7 is a connection diagram of a coil according to a fifth embodiment of the present invention.
FIG. 8 is a vector diagram showing current combining according to a ninth embodiment of the present invention.
FIG. 9 is a vector diagram showing current combining according to a ninth embodiment of the present invention.
FIG. 10 is a sectional view showing a conventional armature.
[Explanation of symbols]
1 First teeth, 2nd teeth, 3rd teeth, 4th teeth, 5th teeth.

Claims (7)

  1. An armature winding wound around each tooth of the armature core having the number of poles + 1 teeth so as not to span a slot, and at least one tooth is wound with a single phase coil only, The other teeth are wound with two different phases, and the combined vector of the current flowing in the coil wound on one tooth is different from the combined vector of the current flowing on the coil wound on the adjacent tooth in phase. , (Number of poles) / (number of teeth) × π, the winding number ratio of the coil is determined so as to be shifted .
  2. An armature winding wound so as not to span a slot on each tooth of an armature core having the number of poles + 1 tooth, and two different phase windings are applied to each tooth . The combined vector of the current flowing through the coil wound around the tooth is shifted from the combined vector of the current flowing through the coil wound around the adjacent tooth by (number of poles) / (number of teeth) × π in phase. An armature winding having a defined winding ratio .
  3. An armature winding wound around each of the teeth of an armature core having k (n + 1) teeth (n is a natural number and k is a natural number of 2 or more) with respect to the number of kn poles. A wire, in which at least one tooth has only a single phase coil wound thereon, and the other tooth has two different phase windings, and the current flowing through the coil wound on one tooth is synthesized. An electric machine characterized in that the winding ratio of the coil is determined such that the vector is shifted by (pole number) / (number of teeth) × π in phase from the combined vector of the current flowing in the coil wound on the adjacent tooth. Child winding.
  4. An armature winding wound around each of the teeth of an armature core having k (n + 1) teeth (n is a natural number and k is a natural number of 2 or more) with respect to the number of kn poles. A wire, in which two different phase windings are applied to each tooth, and a combined vector of a current flowing through a coil wound on one tooth is a combined vector of a current flowing through a coil wound on an adjacent tooth. An armature winding in which the winding ratio of the coil is determined so as to be shifted by (number of poles) / (number of teeth) × π in phase .
  5. As the resistance of the coils of the respective phases are equal, any of claims 1 to 4, characterized in that the cross-sectional area of the coil of the at least one phase is different from the cross-sectional area of the coil of the other phase 1 The armature winding according to the paragraph.
  6. The armature winding according to any one of claims 1 to 5 , wherein the number of phases of the coil is three.
  7. The armature winding according to claim 6, wherein the three-phase coils are Y-connected.
JP02368997A 1997-02-06 1997-02-06 Armature winding Expired - Lifetime JP3564252B2 (en)

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JP2007097247A (en) * 2005-09-27 2007-04-12 Hitachi Ltd Alternator for vehicle
JP4745857B2 (en) * 2006-02-20 2011-08-10 三菱電機株式会社 Electric machine
DE102006052111A1 (en) * 2006-11-06 2008-05-08 Robert Bosch Gmbh Electric machine
US8519592B2 (en) 2008-07-30 2013-08-27 Panasonic Corporation Synchronous electric motor
JP4828666B2 (en) 2009-08-06 2011-11-30 パナソニック株式会社 Synchronous motor and synchronous motor drive system
JP4968350B2 (en) 2010-02-18 2012-07-04 株式会社デンソー DC motor controller
JP5538984B2 (en) * 2010-04-06 2014-07-02 三菱電機株式会社 Permanent magnet motor
JP5000773B2 (en) * 2011-03-31 2012-08-15 三菱電機株式会社 Electric machine
JP6021772B2 (en) * 2013-09-26 2016-11-09 三菱電機株式会社 Rotating electric machine

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