Abstract:
A permanent-magnet synchronous machine for suppressing harmonics includes a stator and a rotor with permanent magnets. Each permanent magnet represents a magnetic pole and is, when viewed in the circumferential direction of the rotor, shaped as a parallelogram or an arrow. The pole coverage is less than one. The permanent magnets are staggered at a staggering angle, wherein the permanent magnets of one pole are arranged in the axial direction with an increasing offset of a circumferential angle in relation to a first permanent magnet of this pole. Each permanent magnet is skewed at a skew angle defined by a circumferential angle of a projection of a tip portion of the parallelogram or arrow. The optimal skew and staggering angles are calculated from the design parameters for the stator and the number of pole pairs and the number of poles in the axial direction of the rotor.

Description:
CROSS-REFERENCES TO RELATED APPLICATIONS 
       [0001]    This application is a continuation of prior filed copending U.S. application Ser. No. 11/575,718, filed Mar. 21, 2007, which is a U.S.-National Stage of International Application No. PCT/EP2005/054622, filed Sep. 16, 2005, which claims the priority of German Patent Application, Serial No. 10 2004 045 939.8, filed Sep. 22, 2004, the content of which are incorporated herein by reference in its entirety as if fully set forth herein. 
     
    
     BACKGROUND OF THE INVENTION 
       [0002]    The invention relates to a permanent-magnet synchronous machine with a stator provided with slots and with a rotor provided with permanent magnets, which form magnetic poles. 
         [0003]    Such a permanent-magnet synchronous machine often has a certain degree of torque ripple during operation. In order to reduce this torque ripple, various suppression means are known. For example, DE 100 41 329 A1 discloses that a pole coverage of the surface of the rotor with permanent magnets of from 70 to 80% results in an improved harmonic field response. In addition, DE 199 61 760 A1 has disclosed that special winding factors of a winding system arranged in the slots and a skew of the slots results in a reduction in the torque ripple. Despite these known measures, the torque ripple still exists, in particular when there is at the same time the demand for production of the permanent-magnet synchronous machine which is as inexpensive as possible. 
       SUMMARY OF THE INVENTION 
       [0004]    The object of the invention is therefore based on the provision of a permanent-magnet synchronous machine of the type mentioned at the outset which has a further improved torque response with as little ripple as possible. 
         [0005]    This object is achieved by a permanent-magnet synchronous machine including a) first suppression means in the form of a pole coverage, which, based on a pole pitch of the permanent magnets, is less than one, b) second suppression means in the form of a first staggering of the permanent magnets of one pole or a first skew of the permanent magnets or a first skew of the slots, and c) third suppression means in the form of a second staggering of the permanent magnets of one pole or a second skew of the permanent magnets or a second skew of the slots. 
         [0006]    It has been identified that the torque ripple can be attributed to various causes. The cause of a first component is the reluctance forces between the permanent magnets of the rotor and the teeth, which are provided between the slots. This component brings about cogging and results in oscillating torques. Interactions between the rotor and stator magnetic field waves are further causes of the torque ripple. In this regard, in particular the fifth and the seventh harmonics to the fundamental of the air gap field present in the air gap between the rotor and the stator are significant. Overall, with the cogging, the fifth and the seventh harmonics in the air gap field, three main sources of the torque ripple can therefore be found. According to the invention, special suppression means are provided for reducing each of the mentioned three main causes as efficiently as possible. The suppression means can then be matched in a very targeted manner to the respectively critical cause of the torque ripple. As a result, considerably improved suppression of the torque ripple can be achieved. 
         [0007]    A pole coverage of 4/5, i.e. of 80%, is used in particular to suppress the fifth harmonic to the fundamental of the air gap field. Accordingly, the seventh harmonic can be suppressed by a pole coverage of 6/7, i.e. of approximately 85.7%. 
         [0008]    A favorable variant is one in which the second suppression means is in the form of a first staggering of the permanent magnets of one pole, and the third suppression means is in the form of a second staggering of the permanent magnets of one pole. This results in a double staggering at a first and a second staggering angle. Both staggerings can be produced by means of an arrangement of the permanent magnets which is offset corresponding to the respective staggering angle. The manufacturing complexity required for the double staggering is not substantially greater than that for single staggering. Nevertheless, effective suppression of two main sources of the torque ripple, for example the cogging and one of the two particularly disruptive harmonics mentioned, is achieved by means of the double staggering. A double staggering can also be realized exclusively by intervention on the rotor, with the result that no additional manufacturing complexity is required for the stator. 
         [0009]    Furthermore, with a double staggering provision can be made for the permanent magnets of one pole, irrespective of their respective assignment to the first or second staggering, to be arranged in the axial direction with an increasing offset of the circumferential angle in relation to the first permanent magnet of this pole. This results in very few stray fields. In addition, the permanent magnets can then be arranged more easily since a situation in which the permanent magnet arrangements of adjacent poles engage in one another virtually does not arise when ordered in this way. 
         [0010]    The first or the second skew may be in the form of a simple skew or else in the form of an arrow-like skew. In the case of an arrow-like skew, the permanent magnets or the slots have an arrow shape. 
         [0011]    In addition, a double skew with a first and a second skew angle is possible, in which the second suppression means are in the form of a first skew, and the third suppression means are in the form of a second skew. This results in similar advantages to in the case of the double staggering, it being possible for a double skew to be provided both on the rotor and on the stator. 
         [0012]    In a further configuration, some of the suppression means can be provided on the stator and some on the rotor. In particular, the second suppression means are provided as the first skew of the slots, and the third suppression means are provided as the second skew or staggering of the permanent magnets. Owing to the measures being split up in this way, simpler manufacture can be achieved, in particular if the physical conditions are tight. 
         [0013]    Advantageously, a winding system arranged in the slots contains tooth-wound coils as essential components. Said tooth-wound coils are particularly advantageous in terms of their production costs and their low inductance. 
         [0014]    The permanent-magnet synchronous machine may contain an internal or else an external rotor. The measures for suppressing the torque ripple can be used advantageously in both configurations. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWING 
         [0015]    Further features, advantages and details of the invention are given in the description below of exemplary embodiments with reference to the drawing, in which: 
           [0016]      FIG. 1  shows an exemplary embodiment of a permanent-magnet synchronous machine with suppression means in a cross-sectional illustration, 
           [0017]      FIG. 2  shows an unrolled surface of two exemplary embodiments of a rotor with skew or staggering of the permanent magnets, 
           [0018]      FIG. 3  shows an unrolled surface of a further exemplary embodiment of a rotor with double staggering of the permanent magnets, 
           [0019]      FIG. 4  shows an unrolled surface of a further exemplary embodiment of a rotor with double staggering of the permanent magnets, 
           [0020]      FIG. 5  shows the rotor with double staggering as shown in  FIG. 4 , in a side view, 
           [0021]      FIG. 6  shows an unrolled surface of a further exemplary embodiment of a rotor with skew and staggering of the permanent magnets, 
           [0022]      FIG. 7  shows an unrolled surface of a further exemplary embodiment of a rotor with arrow-like skew and staggering of the permanent magnets, 
           [0023]      FIG. 8  shows an unrolled surface of a further exemplary embodiment of a rotor with double skew of the permanent magnets; and 
           [0024]      FIG. 9  shows an exemplary embodiment of a permanent-magnet synchronous machine with external rotor. 
       
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       [0025]    Mutually corresponding parts are provided with the same reference symbols in  FIGS. 1 to 9 . 
         [0026]      FIG. 1  shows a permanent-magnet synchronous machine  1  in the form of a motor, in a cross-sectional illustration. It contains a stator  2  and a rotor  3 , which is mounted such that it can rotate about an axis of rotation  4 . The rotor  3  is an internal rotor, or, as shown in  FIG. 9 , an external rotor. The stator  2  contains a plurality of (in the exemplary embodiment in  FIG. 1  in total twelve) slots  5 , which are distributed uniformly over the circumference and between which in each case teeth  6  are formed, on its inner wall facing the rotor  3 . An outwardly circumferential yoke  7  connects the teeth  6  to one another. Tooth-wound coils  8 , which each surround a tooth  6 , are arranged in the slots  5 . The rotor  3  is provided with permanent magnets  9 , which are arranged such that in total eight magnet poles  10  result which are distributed uniformly over the circumference. In this case, a pole pitch τ p , which is formed by an angular range of a circumferential angle α, is assigned to a magnet pole  10 . The permanent magnets  9  extend in the circumferential direction not over the entire angular range of the pole pitch τ p , but only over part, x·τ p . The variable x in this case denotes a pole coverage. It has a value of &lt;1. 
         [0027]    In order to suppress a torque ripple during operation, the permanent-magnet synchronous machine  1  has various suppression means. In the main, three aspects are responsible for forming the disruptive torque ripple. 
         [0028]    Firstly reluctance forces between the permanent magnets  9  and the teeth  6  cause cogging with a cogging pole pair number p R , which is calculated as follows: 
         [0000]        p   R   =kgV ( n,  2· p ). 
         [0029]    In this case, kgV represents the least common multiple, n represents a slot number of the slots  5 , and p represents a pole pair number of the magnet poles  10 . The variable p can also denote the useful pole pair number of a magnetic field established in an air gap  11 , which is provided between the stator  2  and the rotor  3 . It then reproduces the dominant component of the air gap field, i.e. the fundamental. In the exemplary embodiment with in total eight magnet poles  10 , i.e. a pole pair number p=4, and a slot number n=12, a cogging pole pair number p R  of 24 results. The permanent-magnet synchronous machine  1  therefore cogs with twice the number of slots n. In addition to this primary cogging, higher-order cogging can be established given any desired multiple of the cogging pole pair number p R . 
         [0030]    The other two main causes of the torque ripple are the interactions between the rotor and stator magnetic field waves in the air gap  11 . In this case, the fifth and the seventh harmonics to the fundamental of the magnetic air gap field forming in the air gap  11  are particularly disruptive. 
         [0031]    Both the cogging and the fifth and the seventh harmonics of the air gap field need to be suppressed in order to ensure as little torque ripple as possible. The permanent-magnet synchronous machine  1  comprises separate and specifically designed suppression means countering each of these three sources of disruption. The slots  5  therefore do not run precisely parallel to the axis of rotation  4 , but have a first skew angle α sc1 , which reproduces an offset of the circumferential angle. It is calculated as follows: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       α 
                       
                         sch 
                          
                         
                             
                         
                          
                         1 
                       
                     
                     = 
                     
                       
                         
                            
                           · 
                           360 
                         
                          
                         ° 
                       
                       
                         k 
                         · 
                         p 
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
           
         
       
     
         [0000]    where i denotes any desired natural number, and k denotes an ordinal number of the harmonic to be suppressed. In the exemplary embodiment, the seventh harmonic is suppressed, i.e. k assumes the value 7. When i=1 and p=4, the first skew angle α sch1  of 12.86° results. 
         [0032]    The two further suppression means relate to measures provided on the rotor  3 . As the second measure for suppressing the fifth harmonic, a value of 4/5 is provided for the pole coverage x. In principle, the first and the second measures can also be interchanged as regards the harmonic to be suppressed. 
         [0033]    In addition, as a third measure for suppressing the cogging, the permanent magnets  9  are arranged on the rotor  3  taking into consideration a second skew angle α sch2  or a second staggering angle α st2 . The second skew angle α sch2  is calculated as follows: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       α 
                       
                         sch 
                          
                         
                             
                         
                          
                         2 
                       
                     
                     = 
                     
                       
                         
                            
                           · 
                           360 
                         
                          
                         ° 
                       
                       
                         kg 
                          
                         
                             
                         
                          
                         
                           V 
                            
                           
                             ( 
                             
                               n 
                               , 
                               
                                 2 
                                 · 
                                 p 
                               
                             
                             ) 
                           
                         
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   2 
                   ) 
                 
               
             
           
         
       
     
         [0000]    and the second staggering angle α st2  is calculated as follows: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       α 
                       
                         st 
                          
                         
                             
                         
                          
                         2 
                       
                     
                     = 
                     
                       
                         
                            
                           · 
                           360 
                         
                          
                         ° 
                       
                       
                         m 
                         · 
                         
                           ( 
                           
                             kg 
                              
                             
                                 
                             
                              
                             
                               V 
                                
                               
                                 ( 
                                 
                                   n 
                                   , 
                                   
                                     2 
                                     · 
                                     p 
                                   
                                 
                                 ) 
                               
                             
                           
                           ) 
                         
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   3 
                   ) 
                 
               
             
           
         
       
     
         [0000]    where m denotes a magnet number of the permanent magnets  9 , which are staggered within one magnet pole  10 . 
         [0034]    The third measure of the skew or staggering of the permanent magnets is illustrated in more detail in  FIG. 2 . The Figure shows a detail of an unrolled surface of the rotor  3 . The illustration essentially reproduces one magnet pole  12 . The adjacent magnet poles shown only partially are indicated by dashed lines. 
         [0035]    If a skew is provided as the suppression means, the magnet pole  12  contains only a single permanent magnet  13  in the form of a parallelogram. The second skew angle α sch2  is illustrated. It corresponds to a section of the circumferential angle α, which results from a distance between the left-hand, lower corner and a vertical of the left-hand upper corner onto the connecting line between the two lower corners. When i=1, n=12 and p=4, the second skew angle α sch2  in accordance with equation (2) in the exemplary embodiment of 15° results. 
         [0036]    As an alternative to this skew, a staggering can also be used. In this case, the parallelogram of the permanent magnets  13  is approximated by a plurality of, in the exemplary embodiment shown by in total five, rectangular permanent magnets  14 ,  15 ,  16 ,  17  and  18  of equal length. The permanent magnets  14  to  18  are staggered and are in each case offset with respect to the adjacent one of the permanent magnets  14  to  18  by the second staggering angle α st2  in the circumferential direction. When m=5, the second staggering angle α st2  is calculated as 3° in accordance with equation (3). 
         [0037]    The two alternatives shown in  FIG. 2  each counteract the cogging, the skew bringing about suppression of the fundamental and all multiples of the cogging. On the other hand, the staggering does not ensure any suppression of harmonics with an ordinal number corresponding to the magnet number m and its multiples. In order to suppress the lower-order harmonics, which are generally only slightly attenuated, a magnet number m of at least three, preferably of at least four, is therefore provided. In the example, m=5. The rectangular permanent magnets  14  to  18  can be produced more easily, for which purpose the permanent magnet  13  in the form of a parallelogram provides suppression of all harmonics of the cogging. 
         [0038]    In a further exemplary embodiment of a permanent-magnet synchronous machine, the slots  5  in the rotor  3  do not have a skew, but run essentially parallel to the axis of rotation  4 . All of the measures for suppressing the three main causes of the torque ripple are then provided on the rotor  3 . Such exemplary embodiments are illustrated in  FIGS. 3 to 7 . 
         [0039]    In  FIG. 3 , a detail, which comprises a magnet pole  19 , of an unrolled surface of the rotor  3  with double staggering is shown. The starting point is the single staggering provided in the exemplary embodiment in  FIG. 2  with the five permanent magnets  14  to  18 . If the five permanent magnets  14  to  18  are halved in the direction of the axis of rotation  4  and in each case the lower half is displaced with respect to the associated upper halves in the circumferential direction through a first staggering angle α st1 , the arrangement shown in  FIG. 3  results. The lower halves, which have been displaced towards the left, are illustrated by hatching for reasons of clarity. The magnet pole  19  then comprises in total ten rectangular permanent magnets  20  to  29 , which are arranged with double staggering at the first staggering angle α st1  and the second staggering angle α st2 . The first staggering angle α st1  is calculated as follows: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       α 
                       
                         st 
                          
                         
                             
                         
                          
                         1 
                       
                     
                     = 
                     
                       
                         
                            
                           · 
                           180 
                         
                          
                         ° 
                       
                       
                         k 
                         · 
                         p 
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   4 
                   ) 
                 
               
             
           
         
       
     
         [0000]    and the second staggering angle α st2  is calculated in accordance with equation (3). When i=1, the pole pair number p=4, the ordinal number of the harmonic to be suppressed k=7, the magnet number m=5 and the slot number n=12, the first staggering angle α st1  of 6.43° and the second staggering angle α st2  of 3° result. The first staggering angle α st1  counteracts the seventh harmonic, the second staggering angle α st2  counteracts the cogging, and the pole coverage (not shown in any more detail in  FIG. 3 ) x=4/5 counteracts the fifth harmonic. Overall, the torque ripple is thereby considerably reduced. 
         [0040]    The exemplary embodiment in  FIG. 4  with a magnet pole  30  illustrated is modified in comparison with the exemplary embodiment in  FIG. 3  insofar as the permanent magnets  20  to  29  are reordered such that their respective offset of the circumferential angle in relation to the first permanent magnet  29  increases in the direction of the axis of rotation  4 . The respective offsets of the circumferential angle are included in  FIG. 4 . 
         [0041]      FIG. 5  shows a side view of an associated rotor  31 , on which the permanent magnets  20  to  29  of the magnet pole  30  are arranged in a reordered sequence as magnet shells. In addition to a corresponding pole coverage, the rotor  31  therefore also contains a double staggering in order to minimize the torque ripple. 
         [0042]    Instead of a double staggering, a combination of a skew and a staggering is also possible. Exemplary embodiments in this regard are shown in  FIGS. 6 and 7 . 
         [0043]    The exemplary embodiment shown in  FIG. 6  contains a magnet pole  32  and is based on the skew shown in  FIG. 2  with the permanent magnet  13  in the form of a parallelogram. An upper and a lower permanent magnet  33  and  34 , respectively, which are in the form of parallelograms and are arranged such that they are offset with respect to one another through the first staggering angle α st1  in accordance with equation (4), result by means of the permanent magnets being split in two. Each of the two permanent magnets  33  and  34  has a second skew angle α sch2 , which has been calculated in accordance with equation (2). 
         [0044]    The exemplary embodiment shown in  FIG. 7  contains a magnet pole  35  with an in principle comparable design. Instead of the permanent magnets  33  and  34  in the form of parallelograms, in this exemplary embodiment two arrow-shaped permanent magnets  36  and  37  are provided, which are in turn arranged such that they are offset with respect to one another through the first staggering angle α st1 . As can be seen in  FIG. 7 , the second skew angle α sch2  is determined by the projection of the arrow tip at the front end or by the depth of the notch at the rear end of the permanent magnets  36  and  37 . 
         [0045]    In principle, an arrow-like skew, such as is provided in the case of the permanent magnet  36  or  37 , can also be used in the case of the slots  5  in the stator  2 . 
         [0046]    On the basis of the exemplary embodiment in  FIG. 4  or  FIG. 6 , a further exemplary embodiment can be specified with a magnet pole  38 , which contains a permanent magnet  39  having a double skew. Said permanent magnet  39  comprises three magnet subregions  40 ,  41  and  42  in the form of parallelograms. In each case a first skew angle α sch3  is assigned to the first and the third magnet subregion  40  and  42 , respectively, a second skew angle α sc4  being assigned to the second magnet subregion  41 , however. 
         [0047]    The first skew angle α sch3  is calculated as follows: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       α 
                       
                         sch 
                          
                         
                             
                         
                          
                         3 
                       
                     
                     = 
                     
                       
                         360 
                          
                         ° 
                       
                       
                         k 
                         · 
                         4 
                         · 
                         p 
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   5 
                   ) 
                 
               
             
           
         
       
     
         [0000]    and the second skew angle α sch4  is calculated as follows: 
         [0000]      α sch4 =α sch2 −α sch3   (6), 
         [0000]    where the further skew angle α sch2  is based on the equation (2). The first and the third magnet subregions  40  and  42  each have a subregion length l 1 , in the direction of the axis of rotation  4 , of: 
         [0000]    
       
         
           
             
               
                 
                   
                     
                       l 
                       1 
                     
                     = 
                     
                       
                         1 
                         2 
                       
                       · 
                       
                         l 
                         T 
                       
                       · 
                       
                         
                           α 
                           
                             sch 
                              
                             
                                 
                             
                              
                             3 
                           
                         
                         
                           α 
                           
                             sch 
                              
                             
                                 
                             
                              
                             2 
                           
                         
                       
                     
                   
                   , 
                 
               
               
                 
                   ( 
                   7 
                   ) 
                 
               
             
           
         
       
     
         [0000]    where l T  denotes the total length of the permanent magnet  39  in the direction of the axis of rotation  4 . The second magnet subregion  41  has a subregion length l 2  of: 
         [0000]        l   2 = l   T −2· l   1   (8). 
         [0048]    By means of the double skew in accordance with the exemplary embodiment in  FIG. 8 , the influence of a harmonic and the cogging is suppressed. 
         [0049]    The permanent magnet  39  can be designed integrally, as shown in  FIG. 8 , or else designed to comprise a plurality of parts, for example corresponding to it being split into the three magnet subregions  40  to  42 . In addition, the double skew, which is illustrated in  FIG. 8  for the fitting of a permanent magnet  39  to a rotor (which is not illustrated in any more detail), can also be used in principle for the slots  5  of the stator  2 . 
         [0050]    Overall, very efficient suppression of the torque ripple can be achieved using the described combinations of in each case three measures. 
         [0051]    What is claimed as new and desired to be protected by Letters Patent is set forth in the appended claims and includes equivalents of the elements recited therein: