1

Efficiency Improvement in High Speed Operation using Slot-less Configuration for Permanent Magnet Synchronous Motor
Masayuki Sanada, Member, IEEE, and Shigeo Morimoto, Member, IEEE

Abstract--High power and high efficiency in high-speed operation (e.g. 50,000r/min) is required for motors used for vacuum cleaners. The permanent magnet synchronous motor (PMSM) is a high efficiency motor in the usual operation region. Large iron losses are generated in conventional PMSMs during high speed operation; therefore, the motor efficiency decreases considerably. In this research, we examine the improvement of the iron loss in the high-speed operation of the PMSM. It is expected that the iron loss of the slot-less PMSM can be greatly decreased because there are no teeth in the area where the magnetic flux density is high. Comparative consideration of the slot-less PMSM and the conventional PMSM with the distributed winding is performed. The slot-less PMSM is suitable for use in vacuum cleaners, which do not demand a large starting torque. Index Terms--vacuum cleaner, high-speed operation, iron loss, PM motor, slot-less, compound wire, efficiency

II. ANALYSIS OF VARIOUS MOTORS A. Analytical Models The rotor structure of the PMSM models examined in this research are shown in Fig. 1, and the stator structures [4],[5] are shown in Fig. 2. Moreover, the specifications of the model are shown in Table 1. In the model based on the generally designed PMSM, we examine the characteristic, which is
Permanent Magnet 19 r 27 0.5 Flux Barrier

2 38.2 r 30

I. INTRODUCTION

Fig. 1. Rotor structure. (unit : mm) Armature winding

HE efficiency of the universal motor, which is mainly used as a motor for vacuum cleaners, is approximately 50 to 80%. An improvement in the efficiency of this motor is needed in order to achieve high efficiency and extended operating time in the rechargeable vacuum cleaner. The permanent magnet synchronous motor (PMSM) is a high efficiency motor in the usual operation region [1]. High power and high efficiency at high-speed (e.g. 50,000r/min) is required for motors that are used in vacuum cleaners. In the PMSM designed for the general rated speed (1,800 ~ 3,600r/min), operation at high-speed is impossible due to the high induced voltage by the armature flux linkage from the permanent magnet. Even if the motor can be operated, a large iron loss occurs [2]. In this research, we examine the characteristics of generally designed PMSMs for amount of magnets and for various characteristics of the slot-less PMSM in order to decrease the iron loss in high-speed operation. Moreover, the effect of the compound wire of copper and iron with respect to enlarging the torque of the slot-less PMSM is described [3].

(a) Distributed winding stator

(b) Concentrated winding stator Fig. 2. Stator structure.

(c) Slot-less stator

Masayuki Sanada is with Osaka Prefecture University, 1-1 Gakuencho, Nakaku, Sakai, Osaka, 599-8531 Japan (e-mail: sanada@eis.osakafu-u.ac.jp). Shigeo Morimoto is with Osaka Prefecture University, 1-1 Gakuencho, Nakaku, Sakai, Osaka, 599-8531 Japan (e-mail: morimoto@eis.osakafuu.ac.jp).

TABLE I SPECIFICATIONS OF TESTED MODELS. Item (Unit) No. of pole pairs Stator outer diameter (mm) Stator inner diameter (mm) Rotor diameter (mm) Shaft diameter (mm) Airgap length (mm) Stack length (mm) Thickness of permanent magnet (mm) Volume of permanent magnet (mm3) Coercive force of rare earth PM (kA/m) Coercive force of ferrite PM (kA/m) Coil diameter (mm) Turns of coil (Normal stator) Turns of coil (Slot-less stator) Space factor (%)

Value 2 112 94 60 16 0.5 40 3 9120 915 305 1.2 232 434 73.4

1-4244-1298-6/07/$25.00 2007 IEEE.

adjusted based on the armature flux linkage a of the permanent magnet (i.e., the amount of the magnet), so that the critical operating speed may be extended. In the model of the slot-less PMSM, the outside diameter and the rotor structure are similar to generally designed PMSMs. However, the stator is made up of a back yoke and a winding composed of resin, so that the stator does not have teeth, as is the case for the generally designed stator [6]. Thus, the space occupied by the teeth in the generally designed stator can be used as winding space, so that the winding length increases and the copper loss increases for the same current. However, because there are no stator teeth, the iron loss is expected to decrease greatly because the stator teeth are the primary source of iron loss when the PMSM is operated at high speed. At the same time, it is thought that the torque constant becomes small compared to that of the general PMSM, although the number of turns of the armature winding increases, because the reluctance between the rotor and the stator is high and the magnetic flux density may be low. B. Calculation of Characteristics and Losses The motor parameters and the voltage and the current condition are needed in order to calculate various characteristics of the motor. The 2-D FEM, in which magnetic saturation was considered, is used for the calculation of the motor parameters. The speed-torque characteristic is calculated based on voltage equations (1) and (2) and torque equation (3). As a fundamental investigation, we confirm the influence on a basic characteristic in the difference model. The speed-torque characteristic and the speed-power characteristic are obtained without considering the iron loss resistance in the d-q equivalent circuit.
vd Ra = v L q e d

winding conductor because the magnetic flux directly crosses the winding. In the high-speed operation of the motor, the eddy current loss in the winding section is decreased by using the Litz wire [8]. Thus, in this research, we do not consider the eddy current loss in the winding conductor. <Copper loss>
Wc = 3 I e 2 Ra

(W)

(4)

< Hysteresis loss>

Wih = f Ba 2 100

(W/kg)

(5)

<Eddy current loss>

f Wie = Ba 100

(W/kg)

(6)

<Iron loss>
Wi = Wih + Wie

(W/kg)

(7)

where, Ie : phase current RMS value, f : frequency (Hz), : constant of hysteresis loss (= 2.4), : constant of eddy current loss (= 0.6), Ba: maximum flux density (T), (Mass of teeth section: 0.565 kg,) (Mass of yoke section: 0.9 kg. ) III. MOTOR CHARACTERISTIC UNDER VARIOUS CONDITIONS A. Constant Armature Current Condition In order to compare how the characteristic differs according to structure, the characteristic is examined using the same armature current (Ie=3A). Table 2 shows the examined models. Figure 3 shows the torque characteristic of current phase from the q-axis. It is understood that the torque of the slot-less PMSM (model I-S-R and model S-S-R) has been reduced considerably compared to the generally designed PMSM. Moreover, it is understood that the SPM rotor has higher torque than the IPM rotor in slot-less construction. It is thought that significant magnetic flux leakage is caused in the flux barrier in the IPM rotor. Moreover, the characteristic of I-S-R model (IPM-Slot-less-Rare earth permanent magnet), as well as the SPM rotor model, is that the torque is maximum at =0. It is thought that the reluctances of both the d-axis and the q-axis are large because there are no teeth, and so there is little influence of the difference of the reluctance in the rotor. For each model the torque decreases in the case of a ferrite
TABLE II COMBINATION AND NAME OF MODELS. Rare earth PM Ferrite PM IPM SPM SPM IPM rotor rotor rotor rotor Distributed winding stator Concentrated winding stator Slot-less stator I-D-R I-C-R I-S-R S-D-R S-C-R S-S-R I-D-F I-C-F (NA) S-D-F S-C-F (NA)

e Lq id 0 + Ra a iq e

(1)

Va = v d 2 + v q 2

(2) (3)

T = pn { aiq (Lq Ld )idiq }

where, vd, vq : d, q-axis voltage, id, iq : d, q-axis current, Ra : armature winding resistance, Ld, Lq : d, q-axis inductance, e: electric angular speed, pn :number of pole pairs, a : armature flux linkage of a permanent magnet. The copper loss is calculated by the winding resistance and the current, and the iron loss is calculated by the general hysteresis loss equation (5) and the eddy current loss equation (6). The magnetic flux density Ba is the maximum average magnetic flux density in the stator yoke and the teeth as calculated by FEM [7]. In the slot-less PMSM, the iron loss is calculated only in the stator yoke because there is no teeth section. Unlike the general structure, the eddy current loss is generated in the

3
Average torque (N-m) [N-m]

33 I-D-R Ie=3A Torque (N-m)

2.5 2.5 [N-m]

S-D-R S-C-R Vam=200V Iem=3A

2.5 2

1.5 1
0.5 0 0 15

22

I-C-R I-S-R

1.5 1.5

11
00

I-D-R I-C-R

I-S-R

0.5 0.5

(a) IPM rotor type.

45 60 Current phase (deg.) [deg.]

30

75

90

10000 10000

20000 30000 20000 30000 -1 [min ] Speed (r/min) (a) Rare earth PM type.

40000 40000

50000 50000

3
Average torque[N-m] (N-m)

1.6 1.6

2.5 2

Ie=3A Torque (N-m) S-D-R S-C-R

1.5 1 0.5
0 0

1.4 1.4 1.2 1.2

I-D-F I-C-F S-D-F (I-S-R) S-C-F

Vam=200V Iem=3A

S-S-R

15

Current phase (deg.) [deg.] (b) SPM rotor type.

30

45

60

75

90

0.4 0.4 0.2 0.2 00

11 0.8 0.8 0.6 0.6

[N-m]

10000 10000

3
Average torque (N-m) [N-m]

2.5 2
S-D-F

Ie=3A I-D-F
1200 1200 1000 1000

20000 30000 40000 20000 30000 40000 -1 Speed (r/min) [min ] (b) Ferrite PM type. Fig. 4. Speed - torque characteristics.

50000 50000

Power (W)

1.5 1
0.5 0 0

S-C-R I-S-R S-D-R I-C-R I-D-R 0 10000 10000 20000 30000 20000 30000 Speed (r/min) [min-1] (a) Rare earth PM type. 40000 40000 50000 50000 Vam=200V Iem=3A

I-C-F

[N-m]

800 800 600 600

S-C-F

400 400
200 200 0 0

15

Current phase [deg.] (deg.) (c) Ferrite PM type. Fig. 3. Current phase - torque characteristics.

30

45

60

75

90

magnet, as shown in Fig. 3(c). We did not consider the slotless machine using a ferrite magnet in this research because it has a very low torque. The speed-torque characteristics are shown in Fig. 4, and the speed-power characteristics are shown in Fig. 5. The voltage limitation Vam is assumed to be 200V. The I-S-R model has low torque compared with other rare earth permanent magnet motors. However, this model has a wide constant-torque operation region and can be operated at highspeed and high power. Moreover, the I-D-R model (IPMDistributed winding-Rare earth permanent magnet) and the IC-R model (IPM-Concentrated winding-Rare earth permanent magnet) cannot be operated beyond approximately 15,000r/min. The S-D-R model (SPM-Distributed windingRare earth permanent magnet) and the S-C-R model (SPMConcentrated winding-Rare earth permanent magnet) cannot be operated beyond approximately 5,000r/min. The use of these generally designed models is not advantageous for highspeed operation. However, the operational range is expanded in the model with a ferrite magnet. All motors except for the S-D-F model (SPM-Distributed winding-Ferrite magnet) can

1200 1200 1000 1000

S-C-F

(I-S-R)

Power (W)

[N-m]

800 800 600 600

IDF

400 400
200 200 0 0 0 0 10000 10000 20000 30000 20000 30000 Speed (r/min) -1 40000 40000 50000 50000 S-D-F I-C-F Vam=200V Iem=3A

(c) Ferrite PM type. Fig. 5. Speed - power characteristics.

[min ]

be operated at high speed. These motors have a maximum torque that is larger than that of the I-S-R model. B. Constant Copper Loss Condition As the heat generation at the winding conductor is a design limitation, several characteristics are examined under the

4 TABLE III COIL RESISTANCE AND CURRENT FOR CONSTANT LOSS. Coil Resistance Armature current Stator type Copper loss (W) Ie (A) ( ) Distributed 0.74 3.0 20 Concentrated 0.49 3.7 20 Slot-less 1.33 2.2 20 33 2.5 2.5 Torque (N-m)
[N-m]

40 35 30 25 20 20 15 10 5 5 0 0

I-D-R I-C-F

Total loss (W) [W]

: Iron loss : Copper loss

TypeA I-S-R ( =) 79.0%

I-D-F
1200

TypeB TypeC I-D-R I-D-F 94.2% 91.9% (a) 2,000r/min

TypeD I-C-R

TypeE I-C-F

94.9%

90.6%

1.5 1.5

Total loss[W] (W)

11
0 0 0

I-S-R

I-C-R

1200
800 800

1000 1000

: Iron loss : Copper loss

0.50.5 0

20000 30000 40000 20000 30000 40000 -1 [min ] Speed (r/min) Fig. 6. Speed - torque characteristics. 10000 10000

50000 50000

600 600 400 400 200 200 0 0

N/A I-D-R TypeB 0% I-D-F TypeC 34.0% I-C-R TypeD 49.2% I-C-F TypeE 31.5%

1200 1200 1000 1000

I-D-R I-D-F I-C-R

I-S-R TypeA ( =) 95.6%

Power (W)

800 800 [W] 600 600 400

(b) 50,000r/min Fig. 8. Loss and efficiency of each model.

400
200 200 0 0 0 0

I-S-R I-C-F
20000 30000 40000 20000 30000 40000 -1 [min ] Speed (r/min) Fig. 7. Speed - power characteristics. 10000 10000 50000 50000

constant copper loss condition. Figure 6 shows the speedtorque characteristics under the current limitation such that the copper loss is the same in each model, as shown in Table 3. Figure 7 shows the speed-power characteristics. Since the flux-weakening control is not effective in the SPM rotor, compared to the IPM rotor, as shown in Fig. 5, only the model that uses the IPM rotor is treated herein, because the SPMSM is not so suitable for high speed operation. The I-C-R model can be operated at high speed under the constant copper loss condition, which is different than the result described in Section A. This is because the current limitation has been increased to 3.7A. Table 4 shows the parameters of the motors examined herein. Although a of the I-C-R model has not changed, because neither the amount nor the material of the permanent magnet have changed, the minimum d-axis magnetic linkage flux becomes small and its
TABLE IV MOTOR PARAMETERS. Model Name I-D-R I-C-R I-S-R I-D-F I-C-F

value is close to 0, because Ie increases. This results in an expansion of the critical operating speed c (=Vam/dmin) and the suitable motor parameter for the high-speed operation. Conversely, dmin grows and the critical operating speed c has decreased because the current value becomes small in the slot-less PMSM (I-S-R model). Figure 8 shows the copper loss and the iron loss for a typical rotational speed. In Fig. 8, is the conventional efficiency calculated as output/(output + loss). Actually (when the speed-torque characteristics are calculated based on the equivalent circuit where iron loss was considered), there is a model that cannot be operated because the loss exceeds the input, so the efficiency is shown as an evaluation guide. In low-speed operation (2,000r/min), the copper loss is predominant in each motor. The slot-less PMSM, therefore, has the worst efficiency because its power is smaller than those of the other models. However, the iron loss in generally designed models becomes high and the efficiency decreases in high-speed operation (50,000r/min). Since the iron loss does not increase greatly in the slot-less PMSM, it can obtain high efficiency. C. Same Starting Torque Condition The characteristics of the low iron loss and high efficiency in the slot-less PMSM are cleared in high-speed operation by the examination of the foregoing section. However, the starting torque at the rated current has been shrinking considerably compared to the generally designed PMSMs. When the load varies approximately with the square of the speed, as is the case for a vacuum cleaner, the small starting torque hardly becomes a problem. However, in the case of the constant torque load or the constant power load, small starting torque becomes problematic. Here, the amount of the permanent magnet and the current value of the generally

a (Wb)
0.163 0.157 0.047 0.054 0.069

Ld (mH) 19.08 25.16 8.46 22.13 28.35

Ie (A) 3.0 3.7 2.2 3.0 3.7

dmin (Wb) c (rad/s)

0.064 0.00005 0.015 -0.061 -0.108 3.13103 4.19106 1.33104

designed PMSM (I-D-R model) are adjusted so that the starting torque and the critical operating speed are equal to those of the slot-less PMSM (I-S-R model). The speed-torque characteristics are shown in Fig. 9, and the speed-power characteristics are shown in Fig. 10. The current constraint Iem of the I-S-R model is 3.0A, and the current constraint Iem of the I-D-R model is 1.5A. The amount of the permanent magnet in the I-D-R model decreases to 41.7% of the base model. The starting torque and the power are the same in the I-S-R model and the I-D-R model up to a speed of approximately 10,000r/min. In the higher speed region, the slot-less PMSM (I-S-R model) has higher torque and power than the I-D-R model. Figure 11 shows the loss analysis and efficiency for a typical rotational speed. Figure 11 shows the conventional efficiency as well as the case of Fig. 8. Because the armature current in the I-D-R model is half that of the I-SR model, the copper loss is approximately 14% of that of the I-S-R model. In low-speed operation, the efficiency of the I0.6 0.6 0.5 0.5 Torque[N-m] (N-m) 0.4 0.4 I-S-R Vam=200V

D-R model is higher than that of the I-S-R model because there is a large difference in copper loss, as shown in Fig. 11(a). The magnetic flux density of the I-S-R model is approximately 1/6 compared to that of the I-D-R model, and the iron loss becomes very small. As a result, the iron loss of the I-S-R model increases only slightly, while the iron loss of the I-D-R model becomes large in high-speed operation, as shown in Fig. 11(b). In the high-speed operation the slot-less PMSM, therefore, has a high efficiency characteristic. IV. EFFECTS OF COMPOUND WIRE OF COPPER AND IRON In this chapter, the armature winding using a compound wire of copper and iron in slot-less PMSM is examined for torque improvement with the low iron loss maintained. A. Permeability of Compound Wire The torque of the slot-less PMSM is improved if the magnetic flux density of the space where the armature winding exists is increased. The magnetic flux flows easily through the iron (ferromagnetic material) and copper (nonmagnetic material) compound wire. However, when the percentage of the iron component increases, the copper loss in the armature winding increases because the resistivity of the iron is approximately 5.7 times higher than that of the copper. Two typical configurations of the compound wires are examined using the finite element method. Figure 12 shows sectional views of the iron sheath type and the iron core type compound wires. Figure 13 shows an enlarged cross sectional view of the magnetic flux in the compound wires. The magnetic flux flows easily in the iron part of the wire. With respect to the iron core type compound wire, since the iron cores of adjacent wires are separated by their copper sheaths, the magnetic flux does not increase significantly, as shown in
Fe Cu Fe Cu

0.3 0.3 0.2 0.2 0.1 0.1 00 0 0

I-D-R (PM : 41.7%)

20000 30000 40000 20000 30000 40000 -1 Speed (r/min) [min ] Fig. 9. Speed - torque characteristics.

10000 10000

50000 50000

1200 1200 I-S-R 1000 1000

[W] Power (W) 800 800

Vam=200V

600 600 400 400 200 200 00 0 0 20000 30000 40000 20000 30000 40000 -1 [min ] Speed (r/min) Fig. 10. Speed - power characteristics. 10000 10000 I-D-R (PM : 41.7%)

(a) Iron sheath type. (b) Iron core type. Fig. 12. Compound wire models. 50000 50000 Fe Cu Fe Cu

40 35 30 25 20 15 10 5 0
I-S-R TypeA (=) 67.8%

Total loss (W) [W]

Total loss (W) [W]

Copper loss

500 400

Iron loss

(a) 100% copper

200
300 100 0
I-S-R TypeA (=) 96.0% TypeC I-D-R TypeB 52.3%

(b) 36% iron sheath Cu

(c) 64% iron sheath Cu

Fe

Fe

Fe

TypeC I-D-R TypeB 91.8%

(a) 2,000r/min (b) 50,000r/min Fig. 11. Loss and efficiency.

(d) 100% iron

(e) 36% iron core

(f) 64% iron core

Fig. 13. Magnetic flux in the compound wire.

6 4 Equivalent relative permeability 3.5 3 2.5 2 1.5 1 0.5 0 0 20 40 60 80 100 Percentage of iron in the compound wire [%] [%] Fig. 14. Characteristics of the compound wire. Fe sheath Fe core Resistance 0.06 0.04 0.02 0 Fe Fe Cu Cu Equivalent permeability 0.12 Resistance [/m] Torque [N-m] (N-m) 0.1 0.08 0.14

1.2 1 0.8

Ie=3.0A I-S-R (Compound wire)

0.6 0.4 0.2

I-S-R (Normal wire)

0 0 20000 30000 40000 -1 Speed (r/min) [min ] Fig. 15. Speed - torque characteristics. 10000

50000

60 50
Total loss (W) [W]

Figs. 13(e) and 13(f). The equivalent relative permeability is defined as follows: total flux of compound wire Relative permeability = total flux of copper wire (8) Figure 14 shows the characteristics of the equivalent relative permeability to the ratio of the iron component in the compound wire. In the iron sheath type compound wire, the equivalent relative permeability is large, and the resistance is rather small when the percentage of the iron part is approximately 40%. Therefore, the 40% iron sheath type compound wire is effective for torque improvement. B. Performance of Slot-less PMSM using Compound Wire Table 5 shows the motor parameters that the high speed operation is possible under constant current condition (dmin0, Ie=3A). The equivalent relative permeability of the winding part rises by using the compound wire, and d-axis inductance grows. The permanent magnet flux linkage a also increases. Figure 15 shows speed-torque characteristics of the slotless PMSM using the compound wire. Twice or more starting torque is obtained in the motor using compound wire compared that using copper wire. It is shown that the slot-less PMSM using the compound wire can obtain almost the same torque as a conventional PMSM. However, the iron loss grows because the magnetic flux density of the stator yoke rises, and the efficiency at the high speed operation might deteriorate. Figure 16 shows the copper loss and the iron loss of the slot-less PMSM using the compound wire for a typical rotation speed. Figure 16 shows the conventional efficiency as well as the case of Figs. 8 and 11. The total loss of the motor
TABLE V MOTOR PARAMETERS. Model I-S-R (Normal wire) I-S-R (Compound wire)

30 20 10 0
(=) 67.8%

40

Total loss (W) [W]

loss Copper

120 100 60 40 20 0 80

Iron loss

TypeA

Normal

Compound Normal Ty peA TypeB 91.1% (=) 96.0% 69.3% (a) 2,000r/min (b) 50,000r/min Fig. 16. Loss and efficiency.

TypeB

Compound

using the compound wire is larger at each speed. However, the motor using the compound wire is higher efficiency at the low speed operation, because the output power is large. It is understood that it is effective to use the compound wire to increase the torque without sacrificing the efficiency at the high speed operation. V. CONCLUSIONS To decrease iron loss in high-speed operation, the characteristics of the generally designed PMSM and the slotless PMSM were examined. In the generally designed PMSM having a low-rated speed, the armature flux linkage a of the permanent magnet is reduced and the critical operating speed reaches infinity, so that it is possible to expand the operation region to the high-speed region. However, as a result, the iron loss is very high. On the other hand, the slot-less PMSM has a disadvantage in that the starting torque is low and the efficiency is not good at low and middle speeds. However, it is clear that the motor has low iron loss and high efficiency in high-speed operation. The characteristics when the air gap between rotor and stator is wide [9] are scheduled to be examined in the generally designed PMSM. The characteristics calculation in the equivalent circuit with the iron loss resistance, the optimization of the design of the slot-less machine, and consideration of the eddy current loss in the winding conductor are necessary.

a (Wb)
0.047 0.099

Ld (mH) 8.46 19.43

Ie (A) 3.0 3.0

dmin (Wb) c (rad/s)

0.0023 -0.0018 8.83104

VI. REFERENCES
[1] Y. Takeda, N. Matsui, S. Morimoto, and Y. Honda: Design and Control Interior Permanent Magnet Synchronous Motor, Ohmsha (2003) (in Japanese). L. Ma, M. Sanada, S. Morimoto, Y. Takeda, C. Kaido, and T. Wakisaka: Evaluation of Iron Loss in Interior Permanent Magnet Synchronous Motor with Consideration of Rotational Field, IEEJ Trans. IA, Vol. 123, No. 4, pp. 454-461 (2003) (in Japanese). M. Sanada, T. Ogawa, S. Morimoto, and Y. Takeda: Thrust Improvement of Linear Electromagnetic Actuator using Compound Wire with Copper and Iron, Proc. of 2005 International Power Electronics Conference Niigata, pp. 431-434 (2005) N. Matsumoto, S. Nishimura, M. Sanada, S. Morimoto, Y. Takeda: Torque Performances and Arrangement of Permanent Magnet for IPMSM, The Paper of Tech. Meeting on Rotating Machinery, IEE Japan, RM-04-52, pp. 29-34 (2004) (in Japanese). T. Kishi, M. Sanada, S. Morimoto, Y. Takeda: Improvement of Torque Performance for Interior Permanent Magnet Synchronous Motor with Concentrated Winding using Asymmetric Flux Barriers, Proc. of the2004 JIAS Conference, Vol. 3, pp.177-180 (2004) (in Japanese). Y. Morio, M. Sanada, S. Morimoto, and Y. Takeda: Basic Examination of Suitable Motor Structure for Driving in high-speed Rotation Region in Permanent Magnet Synchronous Motor, IEEJ Kansai-section Joint Convention of Institutes of Electrical Engineering, G89 (2005) (in Japanese). IEEJ University Course:
pp.

[2]

[3]

[4]

[5]

[6]

[7] [8]

Electric Machine Design Outline,

Ohmsha

[9]

79-92 (1984) (in Japanese). A. Hoshino, S. Isobe, M. Morimoto, M. Sanada, Y. Takeda, N. Matsui: Loss Analysis and Efficiency Improvement of the Axial Flux Type Generator with Coreless Windings, IEEJ Trans. IA, Vol. 121, No. 9, pp. 971-977 (2001) (in Japanese). M. Kano, T. Noguchi: Efficiency Improvement by Means of Permeance Coefficient Optimization of 150,000-r/min, 1.5-kW PM Motor, Proc. of the 2006 JIAS Conference, Vol. 3, pp. 335-338 (2006) (in Japanese).

VII. BIOGRAPHIES
Masayuki Sanada (M94) was born in Japan in 1966. He received the B.E., M.E., and Ph.D degrees from Osaka Prefecture University, Sakai, Japan, in 1989, 1991, and 1994, respectively. Since 1994, he has been with the Department of Electrical and Electronic Systems, Osaka Prefecture University, where he is currently an Assistant Professor. His main areas of research interest are linear motors for the direct drive applications, their control systems, and magnetic field analysis. Dr. Sanada is a member of the Institute of Electrical Engineers of Japan, the Japan Institute of Power Electronics, and the Japan Society of Applied Electromagnetics and Mechanics. Shigeo Morimoto (M'93) was born in Japan in 1959. He received the B.E., M.E., and Ph.D degrees from Osaka Prefecture University, Sakai, Japan, in 1982, 1984, and 1990, respectively. He joined Mitsubishi Electric Corporation, Tokyo, Japan, in 1984. Since 1988, he has been with the Department of Electrical and Electronic Systems, Osaka Prefecture University, where he is currently a Professor. He has been engaged in the research on ac drive systems and motion control. Dr. Morimoto is a member of the Institute of Electrical Engineers of Japan, the Society of Instrumental and Control Engineers of Japan, the Institute of Systems, Control and Information Engineers, and the Japan Institute of Power Electronics.