Comparative Characteristic Analysis of Surface-mounted Permanent Magnet Synchronous Machine for Human-Cooperative Robots

This study investigates the surface-mounted permanent magnet synchronous motors (SPMSMs) according to slot numbers with 20 pole rotor. Based on the optimization process with surface response method (SRM) and finite element method (FEM), each machine is optimized for lower cogging torque and torque ripple, and their electromagnetic field characteristics are comparatively investigated. Besides, by applying the derived circuit parameters to the voltage, torque and mechanical equation, the dynamic characteristic analysis is also performed under position control. While the position is well controlled, the speed, current and torque characteristics are addressed based on the position reference. The studied results show that the 20 pole and 21 slot combination has superior performance in comparison with other machines with 24 slots and 27 slots.