Robust Design Optimization of SPMSM for Robotic Actuator Considering Assembly Imperfection of Segmented Stator Core

To be used as a robotic actuator, a surface-mounted permanent magnet synchronous motor (SPMSM) requires a low cogging torque characteristic. The aim of this study is to analyze and reduce the cogging torque's variation due to the assembly imperfection of the segmented stator that is widely used in the SPMSM. Considering the interconnection of the stator segments, an equivalent modeling method of the segmented stator with assembly imperfection is introduced. In addition, the variation in the cogging torque caused by the assembly imperfection is mathematically evaluated. Then, a robust design process that incorporates a sensitivity analysis and a robust design optimization is proposed. By using the proposed design, a robust optimum design model was built and its validity was verified through Monte Carlo simulation and tests.