PERMANENT M AGNET

ELECTRICAL

AND

COMPUTER

ENGINEERING

A Series of Reference Books and Textbooks

FOUNDING EDITOR

Marlin 0. Thurston
Department of Electrical Engineering
The Ohio State University
Columbus, Ohio

1. Rational Fault Analysis, edited by Richard Saeks and S. R. Liberty

2. Nonparametric Methods in Communications, edited by
Kazakos and
Kazakos
3. Interactive Pattern Recognition,
Chien
4. Solid-State Electronics, Lawrence f. Murr
5. Electronic, Magnetic, and Thermal Properties of Solid Materials, Klaus
6. Magnetic-Bubble Memory Technology, Hsu Chang
7. Transformer and Inductor Design Handbook, Colonel Wm.
McLyman
8.
Classical and Modern Theory and Applications,
Samuel Seely and Alexander
9. One-Dimensional Digital Signal Processing,
Chen
10. Interconnected Dynamical Systems, Raymond A.
and Richard
Saeks
Modern Digital Control Systems, Raymond G. Jacquot
12. Hybrid Circuit Design and Manufacture, Roydn
Jones
13. Magnetic Core Selection for Transformers and Inductors: A Users
Guide to Practice and Specification, Colonel Wm.
McLyman
14. Static and Rotating Electromagnetic Devices, Richard H. fngelmann
15. Energy-Efficient Electric Motors: Selection and Application, John C.
16.
17.
18.
19.
20.

Electromagnetic Compossibility, Heinz

Electronics: Models, Analysis, and Systems, James G.
Digital Filter Design Handbook, Fred J. Taylor
Multivariable Control: An Introduction,
Flexible Circuits: Design and Applications, Steve
with contributions by Carl A. fdstrom, Jr., Ray Greenway, and William P.
Kelly
21. Circuit Interruption: Theory and Techniques, Thomas
Jr.
22. Switch Mode Power Conversion: Basic Theory and Design, K. Kit Sum
23. Pattern Recognition: Applications to Large Data-Set Problems,
Tze Bow

24. Custom -Specific Integrated Circuits: Design and Fabrication, Stanley

Hurst
25. Digital Circuits: Logic and Design, Ronald C. Emery
26. Large-Scale Control Systems: Theories and Techniques ,

S.
Mahmoud, Mohamed F. Hassan, and Mohamed G. Darwish
27. Microprocessor Software Project Management,
T.
and Cedric
V. W. Armstrong (Sponsored by Ontario Centre for Microelectronics)
28. Low Frequency Electromagnetic Design, Michael P. Perry
29. Multidimensional Systems: Techniques and Applications , edited by
Spyros G. Tzafestas
30. AC Motors for High-Performance Applications: Analysis and Control,

Sakae Yamamura
31. Ceramic Motors for Electronics: Processing, Properties, and Applications, edited by Relva C. Buchanan
32. Microcomputer Bus Structures and Bus Interface Design, Arthur L.

Dexter
33. End Users Guide to Innovative Flexible Circuit Packaging, Jay J.

Minie t
34. Reliability Engineering for Electronic Design, Norman B.
35. Design Fundamentals for Low-Voltage Distribution and Control, Frank

and Jack L. Warren

36. Encapsulation of Electronic Devices and Components , Edward R.
Salmon
37. Protective Relaying: Principles and Applications , J. Lewis Blackburn
38. Testing Active and Passive Electronic Components, Richard F. Powell
39. Adaptive Control Systems: Techniques and Applications , V. V. Chalam
40. Computer-Aided Analysis of Power Electronic Systems, Venkatachari

Rajagopalan
41.
42.
43.
44.

Integrated Circuit Quality and Reliability, Eugene R. Hnatek

Systolic Signal Processing Systems, edited by
E.
Jr.
Adaptive Digital Filters and Signal Analysis, Maurice G. Be//anger
Electronic Ceramics : Properties, Configuration, and Applications, edi-

ted by Lionel M. Levinson

45. Computer Systems Engineering Management, Robert S. A/ford
46. Systems Modeling and Computer Simulation, edited by Naim A. Kheir
47. Rigid-Flex Printed Wiring Design for Production Readiness, Walter S.

Rigling
48. Analog Methods for Computer-Aided Circuit Analysis and Diagnosis ,

edited by Takao Ozawa

49. Transformer and Inductor Design Handbook: Second Edition, Revised
and Expanded, Colonel Wm. T.
50. Power System Grounding and Transients : An Introduction, A. P.

Meliopoulos
51. Signal Processing Handbook, edited by C. H. Chen
52. Electronic Product Design for Automated Manufacturing, H. Richard
53. Dynamic Models and Discrete Event Simulation, William Delaney and

Vaccari
54. FET Technology and Application: An Introduction, Edwin S. Oxner

55.
56.
57.
58.
59.
60.
61.
62.
63.
64.
65.
66.
67.
68.
69.
70.
71.
72.
73.
74.
75.
76.
77.
78.
79.
80.
81.
82.
83.
84.
85.

Digital Speech Processing, Synthesis, and Recognition, Sadaoki Furui

VLSI RISC Architecture and Organization, Stephen
Furber
Surface Mount and Related Technologies, Gerald Ginsberg
Uninterruptible Power Supplies: Power Conditioners for Critical
Equipment, David C.
Polyphase Induction Motors: Analysis, Design, and Application, Paul
Cochran
Battery Technology Handbook, edited by
A. Kiehne
Network Modeling, Simulation, and Analysis, edited by Ricardo
Garzia and Mario R. Garzia
Linear Circuits, Systems, and Signal Processing: Advanced Theory
and Applications, edited by Nobuo Nagai
High-Voltage Engineering: Theory and Practice, edited by
Khalifa
Large-Scale Systems Control and Decision Making, edited by Hiroyuki
Tamura and Tsuneo Yoshikawa
Industrial Power Distribution and Illuminating Systems, Kao Chen
Distributed Computer Control for Industrial Automation,
Popovic and
P.
Computer-Aided Analysis of Active Circuits, Adrian
Designing with Analog Switches, Steve Moore
Contamination Effects on Electronic Products,
Taufscher
Computer-Operated Systems Control, Magdi S. Mahmoud
Integrated Microwave Circuits, edited by Yoshihiro Konishi
Ceramic Materials for Electronics: Processing, Properties, and Applications, Second Edition, Revised and Expanded, edited by
C.
Buchanan
Electromagnetic Compatibility: Principles and Applications, David A.
Weston
Intelligent Robotic Systems, edited by Spyros G. Tzafesfas
Switching Phenomena in High-Voltage Circuit Breakers, edited by
Kunio Nakanishi
Advances in Speech Signal Processing, edited by Sadaoki Furui and
M. Mohan Sondhi
Pattern Recognition and Image Preprocessing, Sing-Tze
Energy-Efficient Electric Motors: Selection and Application, Second
Edition, John C.
Stochastic Large-Scale Engineering Systems, edited by Spyros G.
Tzafestas and Keigo Watanabe
Two-Dimensional Digital Filters, Wu-Sheng Lu and
Anfoniou
Computer-Aided Analysis and Design of Switch-Mode Power Supplies,
Lee
Placement and Routing of Electronic Modules, edited by Michael Pecht
Applied Control: Current Trends and Modern Methodologies, edited by
Spyros G. Tzafesfas
Algorithms for Computer-Aided Design of Multivariable Control
Systems,
and Hugh F.
Symmetrical Components for Power Systems Engineering, Lewis

86. Advanced Digital Signal Processing: Theory and Applications, Glenn

Zelniker and Fred J. Taylor

87. Neural Networks and Simulation Methods, Jian-Kang

88. Power Distribution Engineering: Fundamentals and Applications,
James J. Burke
89. Modern Digital Control Systems: Second Edition, Raymond G.
90. Adaptive
Filtering in Signal Processing and Control,
A.
Regalia
91. Integrated Circuit Quality and Reliability: Second Edition, Revised and
Expanded, Eugene R. Hnatek
92. Handbook of Electric Motors, edited by Richard H. Engelmann and
William H. Middendotf

93. Power-Switching Converters, Simon S. Ang

94. Systems Modeling and Computer Simulation: Second Edition,

A.

Kheir

95.
Filter Design, Richard Lee Ozenbaugh
96. Power Hybrid Circuit Design and Manufacture, Haim Taraseiskey
97. Robust Control System Design: Advanced State Space Techniques,
Chia-Chi

98. Spatial Electric Load Forecasting, H. Lee Willis

99. Permanent Magnet Motor Technology: Design and Applications, Jacek
F. Gieras and Mitchell Wing
100. High Voltage Circuit Breakers: Design and Applications, Ruben D.
Garzon
101. Integrating Electrical Heating Elements in Appliance Design, Thor
Hegbom
102. Magnetic Core Selection for Transformers and Inductors: A Users
Guide to Practice and Specification, Second Edition, Co/one/ Wm. T.
103. Statistical Methods in Control and Signal Processing, edited by
Katayama and Sueo Sugimoto
104. Radio Receiver Design, Robert C. Dixon
105. Electrical Contacts: Principles and Applications, edited by

G.

106. Handbook of Electrical Engineering Calculations, edited

G.
Phadke
107. Reliability Control for Electronic Systems, Donald J.
108. Embedded Systems Design with 8051 Microcontrollers: Hardware and
Software, Zdravko Karakehayov, Knud
Christensen, and O/e
Winther

109. Pilot Protective Relaying,

by
E/more
110. High-Voltage Engineering: Theory and Practice, Second Edition,
Revised and Expanded,
Hussein
Morshedy, and Roshdy Radwan
111.
Filter Design: Second Edition, Revised and Expanded, Richard
Lee Ozenbaugh

112. Electromagnetic Compatibility: Principles and Applications, Second

Edition, Revised and Expanded, David A. Weston
113. Permanent Magnet Motor Technology: Design and Applications,
Second Edition, Revised and Expanded, Jacek
Gieras and Mitchell
Wing

Additional

Volumes

in

Preparation

High Voltage Circuit Breakers: Design and Applications, Second

Edition, Revised and Expanded, Ruben

PERMANENT
Design and Applications
Second Edition, Revised and Expanded

JACEK F.
United Technologies Research Center

Hartford, Connecticut

London, United Kingdom

MARCEL

DEKKER ,

INC.

NEW YORK

ISBN: o-8247-0739-7
This book is printed on acid-fre paper
Headquarters
Marcel Dekker, Inc.
270 Madison Avenue, New York, NY 100 16
tel: 212-696-9000; fax:
Eastern Hemisphere Distribution
Marcel Dekker AG
Hutgasse 4, Postfach 8 12, CH-4001 Basel, Switzerland
tel: 41-61-261-8482: fax: 41-61-261-8896
World Wide Web

The publisher offers discounts on this book when ordered in bulk quantities. For more information, write to Special Sales/Professional Marketing at the headquarters address above.
Copyright

2002 by Marcel Dekker, Inc. All Rights Reserved.

Neither this book nor any part may be reproduced or transmitted in any form or by any
means, electronic or mechanical, including photocopying, microfilming, and recording, or
by any information storage and retrieval system, without permission in writing from the
publisher.
Current printing (last digit):
1 0 9 8 7 6 5 4 3 2 1
PRINTED IN THE UNITED STATES OF AMERICA

Preface to the
Second Edition
The importance of permanent magnet motor technology and its impact on

electromechanical drives has significantly increased since publication of the

permanent magnet (PM)
first edition of this book in 1996. The
prices have dropped and their performance has improved, brushless motor
technology has become much more mature, in many applications commutator motors have been replaced by more reliable brushless motors, new
PM motor topologies have found their first applications, and significant
progress in control techniques and design computations has been achieved.
Application of small PM brushless motors has increased on a large scale not
only in computer hardware but also in consumer electronics, building equip-

ment,

force, airborne apparatus, instrumentation and automation

systems. The era of electric and hybrid cars is close and it is obvious that

PM brushless motors are the highest power density and efficiency traction
motors. The all-electric ship, more electric aircraft, advanced combat vehicle, smart buildings and other large-scale research programs also stimulate
the development of PM motors. Since the 1996 book does not cover the
most recent advances, the authors have prepared this revised, improved,

and expanded second edition. We believe that the new edition will serve
as both a textbook and design handbook for PM motors and will stimulate
innovations in this field.

F. Gieras
Mitchell Wing

111

Preface to the
First Edition
In a modern industrialized country about 65% of electrical energy is consumed by electrical drives. Constant-speed, variable-speed or servo-motor
drives are used almost everywhere: in industry, trade and service, households, electric traction, road vehicles, ships, aircrafts, military equipment,
medical equipment and agriculture. Electromechanical drives for speed and
position control play a key role in robotics, factory automation, process con-

trol, energy conservation and electric vehicles. There is an increasing need

to train students, electrical engineers, and electromechanical engineers in

the area of modern electrical motors and drives, their control, simulation
and CAD.
Vector control methods developed in the early 1970s allow for controlling
three-phase induction motors in the same way as d.c. commutator motors.
This new control technology, in connection with the high reliability, very
limited maintenance and low price of cage induction motors, has made
induction motors the most popular motors today.
With the world-wide trend to energy conservation, there is a need to
increase the efficiency of a.c. drives, small and large. The recent advancements of permanent magnet (PM) materials, solid-state devices and microelectronics have contributed to new energy efficient, high performance
electric drives which use modern PM brushless motors. Owing to rare-earth

these motors have higher efficiency, power factors, output power per
mass and volume, and better dynamic performance than cage induction
motors without sacrificing the reliability. It is quite possible that these PM
brushless motor drives will become predominant in the next century.
Progress in PM materials has also revolutionized construction of other
commutator motors and stepping motors, as well
PM motors such as
as making possible the manufacture of large PM motors (megawatts) and
micromotors (milliwatts).

vi

Preface to the First Edition

New electromechanical drive technology has had an impact on teaching

and training. Modern electrical drives courses in electrical engineering departments and the continuing education of practicing engineers require a
book which can cover the broad topic of PM motors and their applications.
In comparison with other recent books on the subject, this book covers
not only brushless PM motors but also other types of PM motors (d.c.
commutator, large, micro-, special purpose, disk, stepping motors), their
applications, and principles of optimization and design. This book can also
be used as a handbook of PM motors.
The aim of Chapter 1, Introduction, is to bring the reader into the
modern world of electromechanics and motion control. The structure of
electromechanical drives and classification of PM motors are described. The
current and future trends in the PM motors and drives industry are discussed. This chapter also shows the reader how to select PM motors to
meet the specific requirements of electrical drives. The second chapter,
Permanent Magnet Materials and Circuits, is devoted to the physics of
hard magnetic materials and practical calculation of PM circuits. Analysis
of magnetic circuits is based on PM materials currently available on the
market. How to find an operating point, including armature reaction, and
how to evaluate the
permeance and permeances for leakage fluxes
are emphasized. Chapter 3, Finite Element Analysis, deals with CAD design of PM motors with the aid of the finite element method (FEM). Field
equations, their solutions, boundary conditions, pre-processing and postprocessing routines and determination of integral parameters (inductances,
back EMF, forces, torques) are discussed. According to a survey made in
different parts of the world, nearly 20% of electrical engineers working in
industry require additional updated knowledge in
Chapter 4,
Commutator Motors, deals with cost effective d.c. commutator
motors with barium ferrite
manufactured in large quantities. Chapter
5 Theory of Permanent Magnet Synchronous Motors discusses analysis of
synchronous motors with
Chapter 6,
Brushless Motors, emphasizes the differences between the synchronous motors (sinusoidally excited)
and
(square wave) brushless motors. The next three chapters, Axial Flux Motors, High Power Density Brushless Motors, and Brushless
Motors of Special Construction, focus on a large family of brushless motors with moving
such as motors of cylindrical and disk construction,
micromotors, large motors (ship propulsion), single-phase motors, transverse flux motors, and other configurations. Special attention is paid to
their application to modern electrical drives. Stepping motors with active
PM rotors are discussed in Chapter 10, Stepping motors. Fundamentals of
modern mathematical methods of optimization, including population-based
incremental learning, are found in Chapter 11, Optimization. This

Preface to the First Edition

ter also shows how to integrate FEM into optimization routines. The book

concludes with a discussion of reliability, vibration and noise, condition

monitoring, protection
and lubrication of PM motors (Chapter
12, Maintenance).
In each chapter, applications of PM motors to various electromechanical
drives are presented. Some examples of applications are limited to block

diagrams but most show ready-to-implement solutions to practical motion

control problems or how to modernize existing traditional drives. Each
chapter also contains numerical examples of performance calculations or

design of PM motor drives. Both classical and finite element approaches

are used.
This book was written in the Department of Electrical Engineering at
the University of Cape Town. Research carried out by the Electrical Ma-

chines Group is partially presented in Chapters 2, 4, 5, 6 and 11. The rest

selected and compiled on the basis of abundant
of the material was
literature on PM motors and drives. The authors are aware that not all
existing PM motor designs have been described and not all contributions
to the development of PM motor drives have been included. This is never

possible and the authors apologize to researchers whose work has not been
covered.
The book has been sponsored by the Foundation for Research Development (FRD) with some financial support received from Eskom and the
University of Cape Town.

F. Gieras
Mitchell Wing