electronics

Article
The Analysis of Permanent Magnet Vernier Synchronous
Machine Vibration and Noise
Fan Yang * , Daolu Li, Yi Zhang, Lijing Wang , Bitian Ye and Fang Zhang

School of Electrical and Electronic Engineering, Harbin University of Science and Technology,
Harbin 150080, China; [email protected] (D.L.); [email protected] (Y.Z.); [email protected] (L.W.);
[email protected] (B.Y.); [email protected] (F.Z.)
* Correspondence: [email protected]; Tel.: +86-451-15253992907

Abstract: The permanent magnet vernier synchronous machine (PMVSM) has the characteristics of
high torque density and high power density and has advantages in the field of low-speed and high-
torque applications. The PMVSM utilizes rich harmonics for torque enhancement, but it can also cause
an increase in radial electromagnetic force and vibration noise. In this paper, we take a 12-slot 10-pole
PMVSM as an example to analyze the source of radial electromagnetic force, vibration and noise.
The electromagnetic finite-element model and structural finite-element model of the PMVSM are
established for calculation. Through the analysis and calculation of two-dimensional electromagnetic
fields, the radial electromagnetic force distribution of the PMVSM is obtained. We derive the radial
electromagnetic force formula of the PMVSM and verify the correctness of the formula through
harmonic analysis of the radial electromagnetic force. The sources of radial electromagnetic forces
at various orders and frequencies within the PMVSM are analyzed and summarized by coupling
the radial electromagnetic force obtained from the electromagnetic finite-element model to the
structural finite-element model and conducting electromagnetic vibration harmonic response analysis
on the PMVSM. The measured acceleration spectrum of the prototype is compared with the finite-
element method (FEM) results, verifying the correctness of the finite-element simulation results for
electromagnetic vibration.

Citation: Yang, F.; Li, D.; Zhang, Y.;

Keywords: permanent magnet vernier synchronous machine; radial electromagnetic force; vibration;
Wang, L.; Ye, B.; Zhang, F. The
noise; modal; finite-element method
Analysis of Permanent Magnet
Vernier Synchronous Machine
Vibration and Noise. Electronics 2023,
12, 4341. https://doi.org/10.3390/
electronics12204341 1. Introduction
With the widespread research and application of rare earth materials, the permanent
Academic Editors: Gaoliang Fang,
magnet synchronous motor (PMSM) plays an important role in industrial production and
Wei Liu, Filipe Pinarello Scalcon
and Xiaokang Zhang
transportation. For a PMSM, electromechanical energy conversion and stable output torque
can only be carried out when the number of pole pairs of the stator and rotor magnetic fields
Received: 14 September 2023 is equal. This feature makes the permanent magnet vernier synchronous machine (PMVSM)
Revised: 9 October 2023 easy to design and analyze, and machine design and optimization can be achieved through
Accepted: 18 October 2023 magnetic path and field operations. However, for low-speed and high-torque direct drive
Published: 19 October 2023
applications, the number of stator slots in a PMSM becomes very large, resulting in a larger
machine volume and a decrease in power density and torque density. A PMVSM based on
the principle of magnetic field modulation can achieve low-speed and high-torque output
Copyright: © 2023 by the authors.
with fewer stator slots [1–3]. Due to the unequal number of pole pairs in the stator and rotor
Licensee MDPI, Basel, Switzerland. magnetic fields of the PMVSM, magnetic field modulation is carried out by adjusting the
This article is an open access article number of magnetic modulation teeth, which makes the structure of the PMVSM flexible and
distributed under the terms and diverse [4]. Due to the unequal number of pole pairs between the stator and rotor magnetic
conditions of the Creative Commons field of a PMVSM, it differs from a PMSM in terms of electromagnetic characteristics.
Attribution (CC BY) license (https:// In practical applications, there are strict restrictions on the vibration and noise of
creativecommons.org/licenses/by/ PMSMs. Excessive noise can cause health damage to users. The study of PMSM vibration
4.0/). and noise is currently a research hotspot. Radial electromagnetic force can cause periodic

Electronics 2023, 12, 4341. https://doi.org/10.3390/electronics12204341 https://www.mdpi.com/journal/electronics

Electronics 2023, 12, 4341 2 of 16

deformation and vibration of the stator core, and the radial electromagnetic force wave that
varies with time and space is the main cause of machine noise [5]. Rotor step skewing can
effectively reduce the vibration noise of the PMSM. By establishing an analytical formula
for radial electromagnetic force waves, the impact of the number of skewing segments on
vibration noise can be analyzed [6]. The stator current has harmonic components, which
can affect the vibration and noise of the PMSM. By studying the amplitude variation in the
lowest-order spatial radial electromagnetic force wave caused by current harmonics and
the direct axis current component of the stator input current, the relationship between noise
and the vibration peak can be analyzed and the radial electromagnetic force of the machine
can be reduced [7,8]. In addition, the current harmonics of the inverter can also have an
impact on electromagnetic noise [9]. The variable speed transmission of the machine can
also cause the stator core vibration of the permanent magnet synchronous machine. By
analyzing the model and electromechanical pulse response, the relationship between stator
current and stator acceleration is established [10]. The shape of the stator teeth can influence
the distribution of the radial electromagnetic force higher-order harmonics, causing the
machine to enter low-mode vibration, thereby optimizing the vibration reduction in the
PMSM [11]. For machines with built-in permanent magnets, the geometric shape of the
magnetic isolation bridge affects the distribution of the magnetic field and has an impact
on the spatial–temporal distribution of radial electromagnetic force. Optimizing the design
of the magnetic isolation bridge for the built-in permanent magnet machine can reduce
low-order radial electromagnetic forces and vibration noise. [12,13]. A mathematical model
for analyzing the radial electromagnetic force density of surface-mounted permanent
magnet machines can be established to obtain the amplitude frequency and order and
further determine the resonance situation, revealing the influence of PMSM parameters
on vibration noise [14,15]. Structurally, the vibration noise of a machine is related to the
shape of the permanent magnet poles. The pole arc coefficient of permanent magnets
affects the amplitude of radial electromagnetic force. By establishing a permanent magnet
shape function and adjusting the structure of the permanent magnet, reductions in the
vibration and noise of the machine can be achieved. This method is suitable for surface-
mounted and built-in permanent magnet machines [16]. The length of the air gap of a
PMSM has a significant impact on its performance. When the length of the air gap of
the PMSM undergoes deformation, both the radial electromagnetic force and vibration
noise of the machine change, and the low-frequency radial electromagnetic force content
increases, resulting in an increase in vibration noise [17]. The harmonic content of stator
current affects the distribution of non-sinusoidal magnetic field flux, and controlling stator
current can reduce PMSM vibration noise [18]. By using analytical methods to obtain the
air gap flux density and radial electromagnetic force density of the PMSM and then using
the method of continuously segmented variable pole width, the radial electromagnetic
force and bending moment of the PMSM can be reduced [19]. Taking into account the
anisotropy of stator materials during machine modal analysis can improve the accuracy of
finite-element calculations. Through analysis of current harmonic types, it is found that
(6k ± 1) times the fundamental frequency can affect the vibration and noise peaks [20]. In
addition, for an external rotor PMSM, adjusting the slot width can play a role in vibration
reduction and noise reduction, as verified through finite-element method calculation [21].
At present, PMSM vibration noise is believed to be related to the stator structure and input
current. Adjusting the stator structure and current of the PMSM can reduce vibration noise.
Using control methods to reduce the harmonic content of low-order radial electromagnetic
force can also achieve reductions in the vibration and noise of a PMSM.
Due to the magnetic tooth structure of the PMVSM, the uneven degree of the air gap
is exacerbated by the concave convex geometric structure, and the harmonic content in the
air gap flux density becomes more abundant. The interaction of harmonic magnetic fields
in the air gap generates radial electromagnetic forces of different orders and frequencies.
This paper focuses on the influence of the magnetic field modulation principle of the
PMVSM on the radial electromagnetic force and vibration noise. By deriving the radial
 saliency effects, the harmonic decomposition of the radial electromagnetic fo
tained to determine the source of its harmonic magnetic field, and the influenc
magnetic teeth on the radial electromagnetic force is studied. The low-orde
quency radial electromagnetic force has a significant impact on the vibration o
Electronics 2023, 12, 4341 3 of 16
chine, while the high-frequency magnetic field has a significant impact on the
noise. The FEM is used to simulate the modal and vibration noise of the PMVS
the vibration mode
electromagnetic and natural
force formula of a PMVSMfrequency
consideringof the machine
stator androtor
slotting and compare
saliencyit with
effects, the harmonic
electromagnetic decomposition
force to determine of thetheradial electromagnetic
resonance force is
situation ofobtained to
the machine. F
determine the source of its harmonic magnetic field, and the influence of stator magnetic
accuracy of the finite-element calculation is confirmed through prototype exper
teeth on the radial electromagnetic force is studied. The low-order low-frequency radial
In Sectionforce
electromagnetic 2 ofhas
the paper, we
a significant establish
impact a two-dimensional
on the vibration of the machine,finite-element
while the m
PMVSM. In Section
high-frequency magnetic3,field
we has
derive the radial
a significant electromagnetic
impact forceThe
on the machine noise. formula
FEM of th
is used
and to simulatethe
determine thespatiotemporal
modal and vibration noise of the of
distribution PMVSM, obtainelectromagnetic
the radial the vibration fo
mode and natural frequency of the machine and compare it with the radial electromagnetic
machine. In Section 4, we analyze the radial electromagnetic force of the PM
force to determine the resonance situation of the machine. Finally, the accuracy of the
correctness
finite-element of the radial
calculation electromagnetic
is confirmed forceexperiments.
through prototype formula in Section 3 is verified
harmonic decomposition;
In Section 2 of the paper, weusing modal
establish analysis and
a two-dimensional the FEM to
finite-element evaluate
model of a vibr
PMVSM. In Section 3, we derive the radial electromagnetic force
noise, the vibration modes of the machine at different frequencies and the noisformula of the PMVSM
and determine the spatiotemporal distribution of the radial electromagnetic force of the
speed
machine. areInobtained.
Section 4, weAnd in Section
analyze the radial5,electromagnetic
the vibrationforce andofnoise of theThe
the PMVSM. machine
mined through
correctness of the experiments to verify
radial electromagnetic forcethe correctness
formula of 3the
in Section FEM analysis.
is verified through
harmonic decomposition; using modal analysis and the FEM to evaluate vibration and
2.noise,
Thethe vibration modes
Structure of theofPMVSM
the machine at different frequencies and the noise at rated
speed are obtained. And in Section 5, the vibration and noise of the machine are determined
Theexperiments
through pole pairstoof the the
verify magnetic field
correctness of FEM
of the the stator and rotor of a PMVSM are
analysis.
By matching the pole pairs of the magnetic field with a reasonable number of m
2. The Structure of the PMVSM
teeth, a stable rotating air gap magnetic field is generated. The PMVSM in this
The pole pairs of the magnetic field of the stator and rotor of a PMVSM are not equal.
anBy external rotor
matching the polestructure;
pairs of thethe statorfield
magnetic is fixed
with a by a fixednumber
reasonable shaft, ofand the rotor of th
modulation
rotates stably
teeth, a stable through
rotating themagnetic
air gap casing fieldbearing and theThe
is generated. stator
PMVSM fixed shaft
in this bearing.
paper has In t
an external rotor structure; the stator is fixed by a fixed shaft, and the
a 12-slot 10-pole PMVSM is built, and the number of pole pairs in the rotor mag rotor of the machine
rotates stably through the casing bearing and the stator fixed shaft bearing. In this paper, a
is12-slot
19. The permanent magnet is built into the external rotor. The PMVSM st
10-pole PMVSM is built, and the number of pole pairs in the rotor magnetic field is
shown in Figuremagnet
19. The permanent 1. is built into the external rotor. The PMVSM structure is shown
in Figure 1.

Figure 1. The structure of 2D PMVSM model.

Figure 1. The structure of 2D PMVSM model.
The simulation model and prototype machine are made based on the PMVSM design
parameters. The speed ofmodel
The simulation the machine
and at a fundamental
prototype frequency
machine areofmade
95 Hz based
is 300 rpm
onand
the PMVS
the rated power is 750 W. The structural parameters of the PMVSM are shown in Table 1.
parameters. The speed of the machine at a fundamental frequency of 95 Hz i
and the rated power is 750 W. The structural parameters of the PMVSM are
Table 1.
Electronics 2023, 12, 4341 4 of 16

Table 1. The parameters of the PMVSM.

Item Value Unit

Diameter of rotor 220 mm
Diameter of stator 180.8 mm
Inner diameter of rotor 183 mm
Inner diameter of stator 50 mm
Diameter of stator auxiliary slot bottom 160.4 mm
Air gap length 1.1 mm
Core length 100 mm
The depth of SPM 10 mm
Angle of short side of SPM 4 ◦
Angle of long side of SPM 8 ◦
Length of VPM 13.1 mm
Width of VPM 3 mm

3. The Calculation of Radial Electromagnetic Force

There is a significant difference in structure between a PMVSM and a traditional
PMSM, as the number of pole pairs of the stator and rotor of the PMVSM is not equal. The
stator and rotor magnetic field in the PMVSM are set by adjusting the magnetic modulation
teeth so that the air gap can produce a stable rotating magnetic field and output torque. The
number of pole pairs in the stator and rotor of a PMVSM meets the principle of magnetic
field modulation, and the specific quantity relationship is

Pt = Pr + Ps (1)
where the Pt is the number of the modulation teeth, Pr is the number of the rotor pole pairs,
and Ps is the number of stator winding pole pairs.
The magnetomotive force of the PMVSM rotor can be calculated as follows:

4BPM h PM µα p π
Fµ = sin( ) (2)
µ0 µπ 2

where the BPM is the remanence of the permanent magnet, h PM is the thickness of the
permanent magnet, µ0 is the relative permeability of air, α p is the pole arc coefficient of the
permanent magnet, and µ is the harmonic coefficient of rotor magnetomotive force.
For a fractional slot concentrated winding PMVSM, the magnetomotive force of the
stator winding can be calculated as follows:
( √
Fν = 1ν 2 πP
2Nk ων
Iφ
r (3)
k ων = sin(ν 2πPt )

where the N is the number of series turns per phase of stator winding, k ων is the winding
factor of the νth harmonic coefficient of stator magnetomotive force, and Iφ is the effective
value of the current. υ is the harmonic coefficient of the stator magnetomotive force.
Considering the slotted stator, the air gap permeance is

Λ ( θ ) = Λ0 + ∑ Λk cos(kPt θ ) (4)
k =1,2,3,...

where Λ0 is the DC component of air gap permeance, Λk is the kth harmonic air gap perme-
ance amplitude. θ is the angle between the centerline of the rotor permanent magnet and the
centerline of the stator teeth, which is the relative position angle of the stator and rotor.
Considering the rotor saliency effect caused by the built-in permanent magnet, the air
gap relative permeability is

λ ( θ ) = λ0 + ∑ λm cos(2mω − 2mPr θ ) (5)

m=1,2,3,...
Electronics 2023, 12, 4341 5 of 16

where the λ0 is the DC component of air gap relative permeability, λm is the amplitude of
the mth harmonic relative permeability generated by the rotor salient pole, and ω is the
mechanical angular frequency of the PMVSM.
Generally speaking, the larger the air gap flux density, the higher the torque and
efficiency of the machine. However, excessive air gap flux density can increase the vibration
noise of the machine. The PMVSM radial component of air gap flux density can be
calculated as follows:

Br (θ, t) = [ ∑ Fµ cos(µωt − µPr θ ) + ∑ Fν cos(ωt − νPr θ + φ)]

µ=1,3,5,... ν=1,−5,7,...
(6)
·[Λ0 + ∑ Λk cos(kPt θ )][λ0 + ∑ λm cos(2mω − 2mPr θ )]
k =1,2,3,... m=1,2,3,...

According to the Maxwell tensor method, the radial electromagnetic force density of
the machine is
1 2 2 1 2
f r (θ, t) = 2µ0 ( Br ( θ, t ) − Bt ( θ, t )) ≈ 2µ0 Br ( θ, t )
1
= 2µ0 {[ ∑ Fµ cos(µωt − µPr θ ) + ∑ Fν cos(ωt − νPr θ + φ)]
µ=1,3,5,... ν=1,−5,7,... (7)
2
·[Λ0 + ∑ Λk cos(kPt θ )][λ0 + ∑ λm cos(2mω − 2mPr θ )]}
k=1,2,3,... m=1,2,3,...

4. The Vibration and Noise of the PMVSM

The vibration of a PMVSM is influenced by two factors: one is the inherent parameters
of the machine itself, and the other is the excitation force. The excitation force of the
machine is also affected by two aspects: on the one hand, it is mechanical, such as machine
balance issues, torque ripple of load type prime movers, machining accuracy, etc.; on the
other hand, it is electromagnetic, mainly radial electromagnetic force. When the frequency
of the radial electromagnetic force is consistent with the natural frequency of the machine,
the machine will resonate and the noise will increase. To avoid resonance, it is necessary to
make the frequency of radial electromagnetic force different from the natural frequency of
the machine.

4.1. The Radial Electromagnetic Force of the PMVSM

The deformation of the machine stator is affected by the radial electromagnetic force,
which is the main reason electromagnetic vibration noise is generated by the machine.
Studying the radial electromagnetic force of a machine is the foundation for studying the
vibration and noise of the machine.
The magnitude of electromagnetic vibration caused by the radial electromagnetic
force on the stator is directly proportional to the amplitude of the radial electromagnetic
force and inversely proportional to the fourth power of the electromagnetic force order.
Therefore, the higher the spatial order, the less likely it is to cause vibration.
A 2D simulation model of the PMVSM is established to obtain the radial electromag-
netic force via FEM analysis. The spatiotemporal distribution of radial electromagnetic
force is shown in Figure 2.
Electronics 2023, 12, x FOR PEER REVIEW 6 of 17
Electronics 2023, 12, 4341 6 of 16

Figure 2. The spatial–temporal distribution of radial electromagnetic force.

Figure
Figure2.2.The
Thespatial–temporal
spatial–temporaldistribution
distributionofof
radial electromagnetic
radial force.
electromagnetic force.
The spatial–temporal distribution of the radial electromagnetic force is obtain
The spatial–temporal
The
through spatial–temporal
harmonic distributionofIn
distribution
decomposition. ofthe
theradial
the radial
Figure electromagnetic
electromagnetic
3 (A, Bf), A forceforce is obtained
is obtained
represents the spatial ord
through
through harmonic
harmonic decomposition.
decomposition. InIn the
the Figure
Figure 3 3
(A,(A, Bf),
Bf), A A represents
represents thethe spatial
spatial order
order
and B represents the temporal order. The harmonic content of the radial electromagne
andBBrepresents
and representsthethetemporal
temporalorder.
order.The
Theharmonic
harmonic content
content of of
thethe radial
radial electromagnetic
electromagnetic
force isshown
shown
forceisisshown
force
in Figure 3.
ininFigure
Figure3.3.

Figure 3. The spatial–temporal harmonic decomposition of radial electromagnetic force density.

The
Figure The spatial–temporal
3. harmonic content ofharmonic decomposition of
radial electromagnetic radial
force electromagnetic
in Figure force
3 is higher density.
than that
of traditional PMSMs. It can be seen that the magnetic field modulation effect
Figure 3. The spatial–temporal harmonic decomposition of radial electromagnetic force density introduces
more The harmonic
harmonics intocontent of radialresulting
the PMVSM, electromagnetic
in a rich force in Figureharmonic
and complex 3 is highercontent
than that
of of
traditional
radial PMSMs. It can
electromagnetic beThe
force. seensmaller
that thethemagnetic
spatial field modulation
and temporal effectthe
orders, introduces
greater themore
The
harmonics harmonic
into the content
PMVSM, of radial
resulting in electromagnetic
a rich and complex force in
harmonic
impact on machine vibration. Therefore, the radial electromagnetic force harmonics of the
Figure
content3 is
ofhigher
radial than t
of traditional
electromagnetic
PMVSM, PMSMs.
(−2, 2f),force. TheIt(−4,
(10, 2f), can4f),
smallerbetheseen
(8, 4f),that
spatial thetemporal
(6, and
6f), magnetic
(8, 8f) and field
orders, modulation
(−12, the greater
12f), are the effect
impactintrodu
themain
on machine vibration. Therefore, the radial electromagnetic force
more harmonics into the PMVSM, resulting in a rich and complex harmonic content harmonics of the PMVSM,
(−2, 2f),
radial (10, 2f), (−4, 4f),force.
electromagnetic (8, 4f),The
(6, 6f), (8, 8f)the
smaller and (−12, 12f),
spatial are the main
and temporal harmonics
orders, the greater
causing machine vibration. The source of the radial electromagnetic force density harmonic
impact on machine vibration. Therefore, the radial electromagnetic force harmonics of
PMVSM, (−2, 2f), (10, 2f), (−4, 4f), (8, 4f), (6, 6f), (8, 8f) and (−12, 12f), are the m
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Electronics 2023, 12, 4341 7 of 16

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4.2. The 4.2. The
Modal Modal Analysis
Analysis and and Vibration
Vibration and Noise and of Noise
the PMVSM of the PMVSM
4.2. The 4.2. The
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Analysis
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and and Vibration
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and Vibration
and Noise and
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PMVSM
force harmonics is the
close to the natu
When theWhenfrequency
frequencythe of
frequency
of radial
radial electromagnetic
of radial
electromagneticelectromagnetic force
force harmonics
force harmonics
harmonics is
harmonics
is close
close to
is close
to close
the natural
to the
natural the natunatu
When
When frequency
When frequency When
the
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theoffrequency the
frequency
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of
frequency frequency
the of
frequency radial
machine
of
of radial radial of
of radial
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stator, electromagnetic
electromagnetic
electromagnetic
resonance
electromagnetic
electromagnetic force force
will
force force
harmonics
force
occur
harmonics
harmonics in the is
harmonics
is
is close close
stator,
closeto theis
to
is
to the
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natural
to
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will natu
caus
frequency
frequency of the
the machine
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machine the stator,
machine
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stator,
resonance will
resonance
will occur
occur will in
in the
occur
the stator,
in
stator, the which
stator,
which will
which
will cause
cause will aa caus
frequency
frequency frequency
more of vibration
frequency
of the
serious
the of
of the
machine
machine the machine
vibration stator,
machine
stator, stator,
resonance
response. resonance
stator, Therefore,
resonance will
resonance
will occur
occur will
modal
will inoccur
in the
analysis
occur
the in
stator,
in the
theis stator,
which
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stator, which
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which cause
in will
atheaacause
studying
will causet
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more of
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more the machine
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response. will occur
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Therefore, in the
analysis
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analysis key which which
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studying
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response.
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response.
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Therefore,
Therefore,
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Therefore,
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ofmodal
the machine.
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modal analysis,
modal
analysis, the
analysis,
the modal the mod
theshapes electromagnetic
electromagnetic
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shapes
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electromagnetic and vibration
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noise
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order Through
machine. of the machine
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modal modal
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modal modal
analysis,
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stator
analysis,
analysis, analysis,
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analysis,
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clea
shapes and
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and natural
natural and frequencies
natural frequencies
frequencies of
frequencies
of each
each order
of
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the machine
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the machine
machine
stator structure can
stator structure
structure structure
can be
be clearly
can be
clearly be clear
clea
shapes
shapes
shapes and shapes
and
understood,
shapes
and
natural and
natural
and
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frequencies
and
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frequencies
frequencies the of
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of of
each each
possibility
eachorder of
order
of
of
ordereach
each
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of
the order
the
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the
machine of
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in
of
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the stator
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structure
can
stator
structure
structure be can can
analyzed.
structure
can
be be
be can
clearly
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can
clearly
clearly this
be pap
clea
understood,
understood, and
understood,
and the
the possibility
and the
possibility of
the possibility
of resonance
possibility
resonance in
of resonance
resonance
in the
the machine
in the
machine can
the machine
machine
can be
be analyzed.
can be
analyzed. In
be analyzed.
analyzed.
In this
this paper,
In this
paper, this pappap
understood,
understood,
understood, understood,
understood,
we and and
use
and the thethe
the and
possibility
and
modal the
possibility
possibility of
possibility
calculation
ofof resonance
resonance
resonance of
of
method in
resonance
in
in the
under
the in
machine
in
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the can
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free
cancan be
state
be be can
analyzed.
can
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analyzed. be
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analyzed.
stator
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this
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paper,
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solve
paper,
this this pap
this.
we
we use the we use modal
use thecalculation
modal calculation method
calculation under
method theunderfree state
the freeof the
the stator
state of theto solve
stator this.
to solve In this.
we use
we
paper,
Table use
use
we 2,
the
we
theuse
Table
we
the
use
the
modal
modal
2,in
modal
the
M
the
the
the
modal
calculation
the
modal
calculation
Morder
modal in the
calculation
method
method
order
calculation
calculation method
column method
(M,
under
method
columnunder
method
under
N) (M,
under
theunder
the N)
under
the
represents
free
free
free
the
state
the
state
represents
the
state
free
the
free
free
of
ofstate
of
state
radial the
state
the
stator
of
of the
stator
radial
stator
ofvibration
the the
to
to
to
stator
solve
stator
solve
vibration
stator
solve
mode,
tothis.
solve
this.
mode,
tothis.
to solve andsolve
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In this.
In
N and
this.
Table 2, Table
the
Table M 2,
2, in the
the the MM in
order
in the
the order
column
order column
(M,
column N) (M,
represents
(M, N)
N) represents
the
represents radial the
the radial
vibration
radial vibration
mode,
vibration mode,
and
mode, N and
and
Table
Table
this. 2,
In Table
represents the
2,Table
represents
the 2,
theMM
the in
2,axial
inthe
Mthethe
the
in order
Morder in the
axial
the
vibration column
order
vibration
column
order column
mode. (M,
column
(M,mode.
Before N) represents
(M,
Before
N) represents
(M, N) N) represents
the the
represents the
modal radial the
the analysis,
radial radial vibration
radial
vibration the
vibration mode,
vibration
PMVSM
mode, mode,and
mode,
and N
N and
stator win
represents represents
the
represents axial the
the axial vibration
vibration
axial vibration
mode. mode.the
Before
mode. the
Before
modal
Beforemodal theanalysis,
the modal analysis,
analysis,
modal
the
analysis,
the PMVSM
PMVSM the PMVSM
the
stator
PMVSM
stator wind-stator win
wind-
stator win
represents
anding ing
N represents
represents
is equivalent the
represents
is
the axial
equivalent
the
axialto the
axialvibration
axial to
vibration
vibration
aa mass a mode.
vibration
mass
mode. mode. Before
mode.
point
Before added
Before the
Before
the modal
theto
modal the
the
modal analysis,
modal
stator
analysis, core.
analysis, the
analysis,
the ThePMVSM
the
PMVSM the
stator
PMVSM stator
PMVSM core
stator wind-
and
stator stator
wind- casing win
ing ing is is equivalent topoint
a mass
mass addedpointto the
added stator
to the
the core.
stator The stator
core. The core
stator and casing
core andare casing
ing is
winding
ing isis
is
analyzed
equivalent
ing
equivalent
analyzed
ing
equivalent is equivalent
equivalent
together;
to
toto
together;
equivalent
to the
mass
aa amass
mass
massto
stator
point
aapoint
thepoint
to point
added
stator
mass
modal
point
added
added
point
added modal
shapes
to
to the
added
the
tothe
added
to the
and
stator
to
stator
stator
shapes
stator theand
tonatural
core.
stator
core.
core.
stator
core.
The
The
The
natural
The core.
core.
frequencies
stator
statorThe
stator
stator
core
Thecore
of
stator
core
core
frequenciesstator
the
and
and
and corecasing
ofcasing
core
PMVSM theand
casing
and
are
casing
casing aa
are
PMVSM
are
are
analyzed analyzed
together; together;
the stator themodal
statorshapes modal and shapes natural and natural
natural
frequencies frequencies of the PMVSM PMVSM
areshown
analyzed
analyzed in
analyzed
together;
together;
analyzed
shown
Table in
2.
together;
thestator
the
together;
Table
the stator
2.
stator the
the stator
modal
modal
statorshapes
modal modal
shapes
modaland
shapes shapes
and
and natural
shapes naturaland
natural frequencies
andfrequencies
natural
frequencies of of of the
frequencies
the
frequencies
of the
PMVSM
the
PMVSM
of
of the
PMVSM
PMVSM theare
are
are
PMVSM
are aa
shown shown
in
shownTable in
in2. Table
Table 2.
2.
shownshownin in
Table
shown
shown in Table 2. Table
2. in 2. Table 2.
Table 2. Table
The 2. The
stator stator
modal modal
shape andshape and natural frequency
natural of according
PMVSM according to the FEM.
Table
Table 2. 2.
The Table
The
stator 2.
statorThe
modal stator
modal modal
shape
shape and shape
and andfrequency
natural
natural natural
frequency
frequency of
of
of PMVSM
frequency
PMVSM of PMVSM
PMVSM PMVSM
according
according to
to
to
the
the
according
the
FEM.
FEM.
to the
FEM. the FEM.
Table 2. The stator modal shape and natural frequency of PMVSM according to the FEM.the FEM.
Table 2. Table
The
Table 2.
2. The
stator
The stator
modal
stator modal
shape
modal shape
and
shape and
natural
and natural
frequency
natural frequency
of of
PMVSM
frequency of according
PMVSM according
to the
according to
FEM.
to FEM.
Modes Modes Modal Modal and
Shapes Shapes and Natural
Natural Frequencies
Frequencies
Modes Modes
Modes Modal Modal Shapes
Shapes
Modal Shapes
and and Natural
Natural
and Natural Frequencies
Frequencies
Frequencies
Modes
Modes
Modes Modes Modal Shapes
Modal
Modal and
Shapes Natural
and
Shapes Frequencies
Natural
and Frequencies
Natural Frequencies
Modal Shapes and Natural Frequencies

(2, 0) (2, (2, 0)

(2, 0)
(2, 0)
(2, (2,
(2, 0)
0)(2, 0)
0) 0)

822.4 822.4 Hz
Hz822.4 838.3 Hz838.3 Hz
822.4 Hz 838.3 Hz
822.4 Hz
822.4 822.4
Hz
822.4
Hz Hz
822.4 Hz
Hz
838.3
838.3 Hz
838.3Hz
838.3 838.3
838.3 Hz
Hz
Hz Hz

(2, 1) (2, (2, 1)

(2, 1)
(2, 1)
(2, (2,
(2, 1)
1)(2, 1)
1) 1)

1298.7 Hz1298.7 Hz 1331.5 1331.5 Hz

Hz
1298.7 1298.7 Hz 1331.5 Hz
1298.7 Hz
1298.7
1298.7 Hz
1298.7
1298.7 Hz
Hz
Hz Hz
1331.5
1331.5
1331.5
Hz
1331.5 Hz
1331.5
1331.5 Hz
Hz
Hz Hz

(3, 0) (3, 0)
(3, 0) (3, 0)
(3, 0)
(3, 0)
(3, 0)
(3, 0) (3, 0)

2097.8 Hz2097.8 Hz 2156.6 2156.6 Hz

Hz
2097.8 2097.8 Hz 2156.6 Hz
2097.8 Hz
2097.8 2097.8 Hz
2097.8
Hz
2097.8
Hz Hz
Hz
2156.6
2156.6
2156.6
Hz
2156.6 Hz
2156.6
2156.6 Hz
Hz
Hz Hz

(3, (3, 1)
1) (3, 1)
(3, (3, 1)
(3, 1)
(3, 1) (3,
1) (3, 1)
1)

2404.4 Hz
2404.4 Hz 2491.6 Hz
2491.6 Hz
2404.4
2404.4 Hz2404.4 Hz
Hz Hz 2491.6
2491.6 Hz
2491.6 Hz
2404.4 2404.4
2404.4 Hz
Hz
2404.4 Hz 2491.6 Hz
2491.6 2491.6
2491.6 Hz
Hz
Hz Hz
Electronics 2023, 12, 4341 8 of 16

Electronics Electronics
2023, 12, x2023,
FOR PEER
12, x FOR
REVIEW
PEER REVIEW 8 of 17 8 of
ElectronicsElectronics
2023, 12, x2023,
FOR 12,
PEER REVIEW
x FOR PEER REVIEW 8 of 17 8 of
Table 2. Cont.

Modes Modal Shapes and Natural Frequencies

Electronics 2023, 12, x FOR PEER REVIEW 8 of 17

(4, 0) (4, 0)
(4, 0) (4, (4,
0) 0)

(4, 0)
3936.1 Hz
3936.1 Hz
3936.1 Hz 3988.3 Hz
3988.3 Hz
3988.3 Hz
3936.1 Hz
3936.1 Hz 3988.3 Hz
3988.3 Hz

3936.1 Hz 3988.3 Hz

(4, 1) (4, 1)
(4, 1)
(4, 1) (4, 1)
(4, 1)

4253.5 Hz4253.5 Hz
4253.5 Hz 4310.5 Hz
4310.5 Hz
4310.5 Hz
4253.5 Hz
4253.5 Hz 4310.5 Hz4310.5 Hz
4253.5 Hz 4310.5 Hz
TheThe
The
frequencies
frequencies The frequencies
frequencies of theof the
of the
The frequencies
radial
radial of the
radial
electromagnetic
radial electromagnetic
ofelectromagnetic
theelectromagnetic force
radial electromagnetic
force
force
harmonics
harmonicsforce are
harmonics
harmonics
are mainly
mainly
are
force harmonics mainly
are=2f
2f
are
mainly
= 190
190
2f
Hz,
2f = 190 H
Hz,2f
= 190
mainly Hz,= 190 H
4f380
4f =The= frequencies
380
Hz, Hz,
4f6f= =6f
380 = the
of Hz,
570 Hz,
6f8f= =8f
radial 570= Hz,
760 Hz
8fand
electromagnetic =and
760 12f
Hz
force =and
114012fHz,
harmonics =are
1140
which Hz,
areare
mainly which
2f =not
190consistent
are not consistent
Hz, with
thethe with t
4f = 380 Hz,
4f 6f570
= 380 =Hz, Hz,
570 Hz,
6f = 5708f760
=Hz, Hz8f
760 Hz = and
76012f = 1140
12f
Hz = 1140
and Hz,
12f =which
Hz, which
1140 Hz, not
are
which consistent
not are not with
consistent with
consistent thewith t
natural
4fnatural
= 380 Hz, 6ffrequencies
natural
= 570 Hz,frequencies
frequencies =of760
8f the
of the Hz
PMVSM,PMVSM,
of the
and 12f
soPMVSM,
so
=the
1140the PMVSM
Hz,
PMVSM so the
which doesPMVSM
does
are notnot
not does
resonate.
consistent
resonate. notwithresonate.
the
natural
natural frequencies
natural
frequencies of the of the PMVSM,
frequencies
PMVSM, ofthe
so thePMVSM so thedoes
PMVSM, PMVSM
sonot does notdoes
theresonate.
PMVSM resonate.
not resonate.
Figure
Figure 4 4Figure
shows shows the 4the
showsvibration
vibration the vibration
displacement,
displacement, displacement,
vibration
vibration vibration
velocity
velocity and velocity
and vibration
vibration and vibration
acceler- accel
Figure Figure
4 shows 4Figure
shows
the of 4the
shows
vibration vibration displacement,
the vibration
displacement, vibration
displacement,
vibration velocity and velocityvelocity
vibration
vibration and
acceler- andaccelera-
vibration acceler- accele
vibration
ation
tion wave wave ation
form formwave
of the the
form PMVSM,
of the PMVSM,
which are
which
mainly are concentrated
mainly concentrated
at 4f = 380at Hz,
4f = 8f
380
= 760
Hz, Hz
8f = 760
ationation
wave wave
form ofform
ation wave
the of PMVSM,
PMVSM, the PMVSM,
form of the
which
which which
PMVSM,
are
are mainly
mainlyare mainly
which concentrated
concentratedare concentrated
mainly
at 4f = 380
at 4fat=4f
concentrated 380
Hz, 8f = 760
Hz,
= 380
at 4f
Hz
8f==380
Hz, 8f760 Hz8f
= Hz,
760 Hz= 760 H
and and
12f 12f =
= 1140and
1140 12f
Hz. Hz.= 1140
Due Hz.
to the
Due low to order
the low and order
large and
amplitude
large amplitude
of the radial
of theelectromagnetic
radial electromagne
and and
12f 12f
= 1140 =Hz.
and114012fHz.
Due =Due Due
to1140
the toHz.
low the low
toorder
the
Due loworder
to
and order
the
largeand
low andlarge
large
order
amplitude amplitude
ofamplitude
and large
the radialofelectromagnetic
the radial
of the
amplitude ofelectromagnetic
radialtheelectromagnetic
radial electromagne
force
force harmonic
harmonic
forceforce
harmonic force harmonic
components
components
components of 4f components
of of
4f
= 380 =4f =
380 380
of
Hz, 4f
Hz,
8f= =380
8f =
760 Hz,
760
Hz 8f
Hz =
and and
760
12f 12f
Hz
= =
and
1140 114012fHz,
Hz, = 1140
the the harmonic
Hz, the harmo
harmonic
harmonic
force components
harmonic ofHz,
components 4f =8f380= 760
of Hz,
4f Hz 8fand
= 380 12f 8f
=Hz,
760 =Hz1140
= and
760 Hz, theand
12f
Hz =harmonic
114012fHz, the
= 1140 harmonic
Hz, the harmon
content
content
content of of
of the
the content
the vibration
of
vibration
vibration thedisplacement,
vibration
displacement,displacement, displacement,
vibration vibration
vibration
velocity vibration
velocity
velocity
and vibrationandvelocity
and vibration
vibration
accelerationandacceleration
vibration
at acceleration
the acceleration
at the at t
at the
content content
of the vibration displacement,
of the vibration vibration
displacement, velocityvelocity
vibration and vibration acceleration
and vibration at the at t
acceleration
corresponding
corresponding
corresponding corresponding
frequency
frequency
frequency frequency
increases.
increases.
increases. increases.
The
The maximum The maximum
maximumnoiseThe maximum
noise
of the noise
PMVSM of at
of the noise
the
PMVSMPMVSM
rated ofspeed
theat PMVSM
at rated
rated
is at
speed
speed rated
is is speed
corresponding frequency
corresponding increases.
frequency The maximum
increases. The maximum noise ofnoise the PMVSM
of the PMVSMat rated atspeed
ratedisspeed
73.79773.797
73.797dB,dB,
anddB,73.797
the
and and dB,
the
maximum
the maximum
andnoise
maximum the noise
maximum
noise
point point
occurs
point noise
in occurs
the
occurs point inoccurs
the
high-frequency
in the high-frequency
inregion.
the high-frequency
high-frequency region. region.
region.
73.797 dB, and dB,
73.797 the andmaximumthe maximumnoise point noise occurs
pointin the high-frequency
occurs in the high-frequency region. region.

(a) (b)

(a) (a) (b) (b)

(a) (a) (b) (b)

(c) (d)
Figure
Figure4. The vibration
4. The and noise
vibration of the of
and noise PMVSM: (a) the vibration
the PMVSM: displacement;
(a) the vibration (b) the vibration
displacement; (b) the vibration
velocity; (c) the vibration acceleration; (d) sound pressure level of the PMVSM.
velocity; (c) the vibration acceleration; (d) sound pressure level of the PMVSM.
(c) (c) (d) (d)
(c) (c) (d) (d)
Figure 4. Figure
The vibration
4. The vibration
and noiseand
of the
noise
PMVSM:
of the PMVSM:
(a) the vibration
(a) the vibration
displacement;
displacement;
(b) the vibration
(b) the vibrat
Figure 4.Figure
The vibration and noiseand
4. The vibration of the PMVSM:
noise (a) the vibration
of the PMVSM: displacement;
(a) the vibration (b) the vibration
displacement; (b) the vibrati
velocity; (c)
velocity;
the vibration
(c) the vibration
acceleration;
acceleration;
(d) sound(d)
pressure
sound pressure
level of thelevel
PMVSM.
of the PMVSM.
velocity; velocity;
(c) the vibration acceleration;
(c) the vibration (d) sound(d)
acceleration; pressure level of the
sound pressure PMVSM.
level of the PMVSM.
Electronics
Electronics2023,
2023,12,
12,x4341
FOR PEER REVIEW 9 9ofof17
16

5.5.PMVSM
PMVSMModal
Modaland andNoise
NoiseExperiment
Experiment
We designed a prototype based
We designed a prototype based on on
thethe
structural parameters
structural of the
parameters ofPMVSM. The ma-
the PMVSM. The
chine structure is an external rotor structure, and the output shaft is connected with
machine structure is an external rotor structure, and the output shaft is connected with the
experimental platform
the experimental through
platform a coupling.
through TheThe
a coupling. main
maincomponents
components ofofthe
thePMVSM
PMVSMareare
shown
shownin inFigure
Figure5.5.

(a) (b)

(c) (d)

(e) (f)
Figure
Figure5.5.The
Themain
maincomponents
componentsofofPMVSM:
PMVSM:(a) (a)the
thechassis
chassisofofPMVSM;
PMVSM;(b) (b)the
therotor
rotorcore
coreofofPMVSM;
PMVSM;
(c)
(c)the
thestator
statorof
ofPMVSM;
PMVSM;(d) (d)the
therotor
rotorintegration
integrationofofPMVSM;
PMVSM;(e) (e)the
thestator
statorend
endcover;
cover;(f)
(f)the
thestator
stator
fixed shaft and fastening screws.
fixed shaft and fastening screws.

The
Theprototype
prototypePMVSM
PMVSMisisdragged
draggedwith
withaasix-pole
six-polerated
ratedpower
powerofof3 3kW
kWprime
primemover,
mover,
and
andthe
theno-load
no-loadback-EMF
back-EMFofofthe
theprototype
prototypePMVSM
PMVSMatataarated
ratedspeed
speedofof300
300rpm
rpmisisob-
ob-
tained. The no-load back-EMF of PMVSM has good sinusoidal characteristics.
tained. The no-load back-EMF of PMVSM has good sinusoidal characteristics. Through Through
comparison,
comparison,ititisisfound
foundthat
thatthe
thesimulation
simulationresults
resultsare
areconsistent
consistentwith
withthetheexperimental
experimental
Electronics 2023, 12, x FOR PEER REVIEW 10 of 17

Electronics 2023, 12, x FOR PEER REVIEW 10 of 17

Electronics 2023, 12, 4341 10 of 16
results, proving that the actual performance of the machine is consistent with the design
performance. The no-load experiment of the PMVSM is shown in Figure 6.
results, proving that the actual performance of the machine is consistent with the design
results, proving that the actual performance of the machine is consistent with the design
performance. The no-load experiment of the PMVSM is shown in Figure 6.
performance. The no-load experiment of the PMVSM is shown in Figure 6.

(a) (b)
(a) of the PMVSM: (a) no-load experiment platform;
Figure 6. The no-load experiment (b) (b) no-load back-
EMF comparison
Figure
Figure 6.6.The between
Theno-load
no-load the FEM of
experiment and
experiment of experiment.
the PMVSM:
the (a) no-load
PMVSM: experiment
(a) no-load platform;
experiment (b) no-load
platform; back-
(b) no-load
EMF comparison
back-EMF between
comparison the FEM
between the and
FEMexperiment.
and experiment.
We used the hammer method to conduct modal experiments on the prototype
PMVSM. WeThe
We used
used the
thehammer
force hammer
hammer method
strikes
method to
theconduct
PMVSM
to modal
conduct experiments
to modal
vibrate, on theanprototype
inputting
experiments excitation
on PMVSM.
signal
the prototype
The
eachforce
at PMVSM. hammer
specific
The strikes
position.
force hammerThethe PMVSM
response
strikes to vibrate,
thesignal
PMVSM to inputting
is collected an
theexcitation
vibrate,byinputting
machine, signal atsignal
allowing
an excitation each
the
specific
sensor to position.
obtain the The response
machine modal signal is
vibration collected
mode by
and the machine,
natural
at each specific position. The response signal is collected by the machine, allowing the allowing
frequencies. the
The sensor
PMVSM to
obtain
casing
sensor the
is dividedmachine
to obtaininto the 36 modal vibration
areas (vibration
machine mode
modal vibration and
point) mode natural
in both and frequencies.
thenatural
axial and The PMVSM
radial directions,
frequencies. casing
The PMVSM and
is divided
a hammer
casing is is into 36
used
divided to areas
intoevenly (vibration
strike
36 areas eachpoint)
(vibration area inthree
point)both the the
times
in both axial andand
toaxial
obtainradial
the directions,
natural
radial and
frequency
directions, a
and
and hammer
a hammer is
modal shape used
is used to
of toevenly
theevenlystrike
machine. each
strikeThe area three
vibration
each area threetimes
points to
times obtain
need the natural
to be evenly
to obtain frequency
distributed
the natural and
frequencyon
modal
theand
surface shape
modal of
of shape the
the casing, machine.
of theand The vibration
there should
machine. points
be as many
The vibration need
points to
asneed be evenly
possible distributed
to betoevenly
ensuredistributedon
the accuracythe
on
surface of the casing, and there should be as many as possible to ensure the accuracy of
of the
the surface of the casing,
measurement. Figureand7b there
showsshould be as many
the internal softwareas possible to ensure the accuracy
of the measurement system.
the measurement. Figure 7b shows the internal software of the measurement system. The
Theof model
the measurement.
only displays Figure 7b shows the
the distribution internal
of the software
vibration of the
points measurement
on the system.
surface of the cas-
model only displays the distribution of the vibration points on the surface of the casing and
ingTheandmodel
does only displays the
not represent thedistribution of the vibration
specific structure points onobject.
of the measured the surface of the test
The modal cas-
does not represent the specific structure of the measured object. The modal test platform is
ing
platformand does not represent
is shown in Figure 7. the specific structure of the measured object. The modal test
shown in Figure 7.
platform is shown in Figure 7.

(a) (b)
(a) (b)
Figure 7. The
Figure modal
7. The experiment
modal ofof
experiment the
thePMVSM:
PMVSM:(a)
(a)the
themodal
modalexperiment
experimentplatform;
platform; (b)
(b) PMVSM
Figure 7. The modal experiment of the PMVSM: (a) the modal experiment platform; (b) PMVSM
tapping point.
tapping point.
tapping point.
The stable frequency response curve of the PMVSM is obtained after conducting
multiple sets of tapping tests on the machine’s tapping points. The stable frequency
response curve is shown in Figure 8.
 The stable frequency response curve of the PMVSM is obtained after cond
Electronics 2023, 12, 4341 tiple sets of tapping tests on the machine’s tapping points. The stable
11 of 16frequen

Electronics 2023, 12,2023,

Electronics x FOR12,PEER
curve
REVIEW
x FOR
is shown in Figure 8.
PEER REVIEW 11 of 1711 of 1

The stable
The frequency response
stable frequency curve of
response the PMVSM
curve is obtained
of the PMVSM after conducting
is obtained mul- mul
after conducting
tiple sets of sets
tiple tapping tests on
of tapping the on
tests machine’s tapping
the machine’s points.points.
tapping The stable frequency
The stable response
frequency respons
curve is shown
curve in Figure
is shown 8.
in Figure 8.

Figure 8. Frequency
Figure response
8. Frequency
Figure curve.
response
8. Frequency curve. curve.
response
Figure 8. Frequency response curve.
Through
Through thethe
PMVSM
Through PMVSM modal
the PMVSMmodal experiments,
experiments,
modal the
themodes
experiments, the of
modes ofthe
modes themachines,
machines, (2,
(2, 0),
of the machines, (2,
0), (2, 1),
(2, 1),
0),(3,
(2, 1), (3
(3, 0), Through
0), (3,
(3, 1), (4,
1), (3,
0), 0)
(4, 1), the
and
0) and PMVSM
(4,
(4, 0)(4, 1), are
1), are
and modal
obtained,
obtained,
(4, 1), experiments,
and
and
are obtained, the
the
and corresponding
corresponding the modes
the corresponding of the
frequencies
frequencies machines,
obtained
obtained
frequencies are are
obtained (2
areshown
shown in inFigure
shown Figure
in 8. 8.Through
Figure Through
8. Throughcomparison
comparison with
comparison with Table
Table
with 2, it
Table 2,isit is
found
2, it found
is that
found that
the the
modal
that themodal
experi-
modal experi
0), (3, 1), (4, 0) and (4, 1), are obtained, and the corresponding frequencies
experimental
mentalmental results
results are are
results basically
basically consistent
consistent withwith
the the simulation
simulation results.
results. The The machine
machine modalmoda
shown
modal in
experimentFigure 8.are
verifies
basically
Through
the
consistent
comparison
correctness of
with the
with
finite-element
simulation
Table
calculation. 2,results.
itThe The machine
is experimental
found that the m
experiment verifiesverifies
experiment the correctness of finite-element
the correctness calculation.
of finite-element The experimental
calculation. The experimentalresultsresult
mental
results
for the results
forfor
thethe
modal modal are
shapes
shapes
modal basically
andand
shapes natural
and consistent
natural frequencies
frequencies
natural with
are
frequencies are
showntheshown
shown
are simulation
in in Table
Tablein 3. 3.The
TableTheresults.
modes
3.modes The
ofof
The modes the ofma the
the modal
experiment
modalmodal shapes and
shapesverifies natural
and natural
shapes andthe frequencies,
correctness
frequencies,
natural as shown
as shown
frequencies, in the
of finite-element
in the left
as shown left
in the row,
row,leftare are (2,
calculation.
(2, are
row, 0),
0), (3, (3, 0)
0),The
(2, 0) andand experim
(4,
(3, 0) 0) (4, 0
and
(4, respectively.
0) respectively.
respectively.
for the modal shapes and natural frequencies are shown in Table 3. The m
modal
Table 3. The
Table shapes
stator
3.Table
The and
modal
stator
3. The natural
shape
modal
stator andand
shape
modal frequencies,
natural frequency
natural
shape and asPMVSM
of
frequency
natural ofshown
PMVSM
frequency in thebyleft
ofbyPMVSM
experiment. row, are (2, 0), (3,
by experiment.
experiment.
respectively. Modes Modal Shapes and Natural Frequencies
ModesModes ModalModal
ShapesShapes
and Natural Frequencies
and Natural Frequencies

Table 3. The stator modal shape and natural frequency of PMVSM by experiment.

Modes
(2, 0) (2, 0)
Modal Shapes and Natural Frequencies
(2, 0)
andandand
(2, 1)(2, (2,
1) 1)

(2, 0) 831 Hz
831 Hz831 Hz 1303.4 1303.4
1303.4 Hz
Hz Hz
and
(2, 1)

831 Hz 1303.4 Hz
Electronics 2023, 12, x FOR PEER REVIEW

Electronics 2023, 12, 4341 12 of 16

Electronics
Electronics
2023, 12,2023,
Electronics x FOR
2023, 12,
12,PEER
xx FOR
REVIEW
FOR PEER REVIEW
PEER3.
REVIEW 12 of 1712
12 of
of 11
Table Cont.
(3, 0)
Modes Modal Shapes and Natural Frequencies
and
(3, 1)

(3, 0) (3, 0)
(3, 0)
andandand 2120.2 Hz 2477.1 Hz
(3, 1)(3, (3,
1) 1)

2120.2 Hz
2120.2 2120.2
Hz Hz 2477.1 2477.1
2477.1 Hz
Hz Hz
(4, 0)
and
(4,
(4, 1)
0) (4, 0)
(4, 0)
andandand
(4, 1)(4, (4,
1) 1)
3950.3 Hz 4278.3 Hz
3950.3 3950.3
Hz Hz
3950.3 Hz 4278.3
4278.3 4278.3
Hz Hz
Hz
The PMVSM is connected to the controller, the frequency is set to 95 H
PMVSMTheThe speed
PMVSMPMVSM isisconnected
The PMVSM isset to
connected 300 rpm.
is connected
to to
the the to The vibration
controller,
the controller,
controller, thethe theacceleration
frequency
frequency frequency
is set
is set to ofHz,
is set
to 95 95
Hz, tothe
95
and PMVSM
and
Hz,the
the and the
PMVSM PMVSM
throughspeed
PMVSM speed
sensors speed
is
is set onset to
is
to 300 300
set
therpm.to
rpm.
300
surface The
rpm. vibration
The vibration
of the casing,
The vibration acceleration
acceleration
and
acceleration of
of the the of
PMVSM
the
noise of
the PMVSM PMVSM
is obtained
is
the PMVSM a
is obtained obtained
through
through through
sensors
sensors onsensors
on
the the on
surface
surface theofsurface
of the
the of
casing,
casing,theand
casing,
and
thethe
and
noise
noisethe
of of
noise
the the of
PMVSM
PMVSM the PMVSM
at at the
the at
rated
rated the rated
speed of 300 rpm is obtained through sound sensors. Theplatform
noise test platform i
speed of 300 rpm is obtained through sound sensors. The noise test platform is shown in
speed speed
of 300 of
rpm 300 is rpm
obtained
is obtained
through through
sound sound
sensors.
sensors.
The noise
The test
noise test platform
is shownis shown in
Figure
Figure9.
in Figure Figure
9.
9. 9.

Figure Figure
9. The noise
9. Theexperiment
noise experiment
of the PMVSM.
of the PMVSM.

The noise
The of
noise
the of
motor
the motor
at the rated
at the speed
rated speed
of 300 of
rpm300obtained
rpm obtained
through through
experiments
experiment
is 76 dB.
is 76
ThedB.
error
Thebetween
error between
noise experimental
noise experimental
data and
datasimulation
and simulation
is 2.2 dB,
is 2.2
with
dB,an
with
error
an erro
rate ofrate
2.9%.ofThe
2.9%.machine
The machine
noise isnoise
shown
is shown
in Figure
in Figure
10. 10.
Figure The
Figure9. 9. noise
The experiment
noise of the PMVSM.
experiment of the PMVSM.

The noise of the motor at the rated speed of 300 rpm obtained through e
is 76 dB. The error between noise experimental data and simulation is 2.2 dB, w
rate of 2.9%. The machine noise is shown in Figure 10.
 Electronics 2023, 12, 4341 13 of 16

Electronics 2023, 12, x FOR PEER REVIEWThe noise of the motor at the rated speed of 300 rpm obtained through experiments is
76 dB. The error between noise experimental data and simulation is 2.2 dB, with an error
rate of 2.9%. The machine noise is shown in Figure 10.

Figure10.10.
Figure TheThe noise
noise ofPMVSM.
of the the PMVSM.
6. Conclusions
6. Conclusions
In this paper, we study the radial electromagnetic force and vibration noise of a
PMVSM In and
thisderive
paper, we study
a formula for thethe radial
radial electromagnetic
electromagnetic force and
force considering the vibration
effects no
of stator slotting and rotor saliency. The spatiotemporal distribution
PMVSM and derive a formula for the radial electromagnetic force considering the characteristics of the
radial electromagnetic force are obtained through the FEM, and the source of the radial
of stator slotting and rotor saliency. The spatiotemporal distribution characteristic
electromagnetic force is analyzed. The stator magnetic modulation teeth of the PMVSM
radial
have electromagnetic
a significant effect onforce
magneticare field
obtained through
modulation, andthe
theFEM, and the
main source source of th
of radial
electromagnetic
electromagnetic force
force in theismachine
analyzed. The the
includes stator
toothmagnetic
harmonic modulation
magnetic field,teeth
whichof the P
have a significant
increases effect
the possibility on magnetic
of machine vibration.field
Then,modulation,
finite-element and the main
simulation source of rad
is conducted
on the modal and
tromagnetic vibration
force in the noise of the PMVSM
machine includes to obtain the vibration
the tooth harmonicmodemagnetic
and naturalfield, w
frequency. Due to the low-order and high-amplitude harmonic components of radial
creases the possibility of machine vibration. Then, finite-element simulation is con
electromagnetic force being consistent with the frequency distribution of machine vibration
on the modalthe
characteristics, and vibration
harmonic noise
content of the PMVSM
of corresponding to obtain
vibration the vibration
displacement, mode and
vibration
frequency.
velocity Due to the
and vibration low-order
acceleration and high-amplitude
increases at 4f, 8f and 12f. Theharmonic
vibrationcomponents
modes (2, 0) of rad
and (2, 1) do not coincide with the radial electromagnetic
tromagnetic force being consistent with the frequency distribution force frequency of the machine in
of machine vi
frequency, so the machine does not resonate. Finally, the vibration mode, frequency and
characteristics, the harmonic content of corresponding vibration displacement, vi
noise measured in the experiment are consistent with the finite-element results, verifying
velocity
the accuracy and vibration
of the acceleration
finite-element increases at 4f, 8f and 12f. The vibration mod
calculation.
and (2, 1) do not coincide with the radial electromagnetic force frequency of the m
Author Contributions:
in frequency, Conceptualization,
so the machine does F.Y.;not
methodology,
resonate.F.Y., D.L., Y.Z.,
Finally, theL.W., B.Y. and F.Z.;
vibration mode, fre
software, F.Y., D.L. and Y.Z.; validation, F.Y.; formal analysis, F.Y. investigation, F.Y. and D.L.; resources,
and noise measured in the experiment are consistent with the finite-element resul
F.Y.; data curation, F.Y.; writing—original draft preparation, F.Y. and D.L.; writing—review and
fying the
editing, accuracy
F.Y. and of the finite-element
D.L.; visualization, calculation.
F.Y., D.L. and Y.Z.; supervision, L.W., B.Y. and F.Z.; project
administration, F.Y. All authors have read and agreed to the published version of the manuscript.
Author Contributions:
Funding: Conceptualization,
This research received no external funding.F.Y.; methodology, F.Y., D.L., Y.Z., L.W., B.Y. a
software, F.Y., D.L. and Y.Z.; validation, F.Y.; formal analysis, F.Y. investigation, F.Y. and
Data Availability Statement: Data are not available in a publicly accessible repository and they
sources, F.Y.; data curation, F.Y.; writing—original draft preparation, F.Y. and D.L.; writing—
cannot be shared under request.
and editing, F.Y. and D.L.; visualization, F.Y., D.L. and Y.Z.; supervision, L.W., B.Y. and F.Z
Conflicts of Interest: The authors declare no conflict of interest.
administration, F.Y. All authors have read and agreed to the published version of the manu
Funding: This research received no external funding.
Data Availability Statement: Data are not available in a publicly accessible repository and t
not be shared under request.
Conflicts of Interest: The authors declare no conflict of interest.

Appendix A
By expanding Equation (7), we can obtain the various components of radial
magnetic force. Negative harmonic order in the radial electromagnetic force spa
Electronics 2023, 12, 4341 14 of 16

Appendix A
By expanding Equation (7), we can obtain the various components of radial electromag-
netic force. Negative harmonic order in the radial electromagnetic force space indicates that
the direction of radial electromagnetic force is opposite to the direction of machine rotation.

Fµ1 Fµ2 Λ20 λ20
∑ ∑ cos[(µ1 ± µ2 )ωt − (µ1 ± µ2 ) Pr θ ]

4µ0



Fµ1 Fµ2 Λ0 Λk λ20

∑∑∑

cos{( µ1 ± µ2 )ωt − [(µ1 ± µ2 ) Pr ± kPt ]θ }



 4µ0
Λ 2

 F F λ
µ1 µ2 0 m 0λ
 ∑∑∑ cos{[( µ1 ± µ2 ) ± 2m]ωt



 4µ0
−[(µ1 ± µ2 ) ± 2m] Pr θ }




Fµ1 Fµ2 Λk1 Λk2 λ20

∑∑∑∑ 16µ0 cos{( µ1 ± µ2 )ωt (A1)
−[( ± ) P ± ( k ± k ) P ] }



 µ 1 µ 2 r 1 2 t θ
Fµ1 Fµ2 Λ0 Λk λ0 λm

∑ ∑ ∑ ∑ {[( µ1 ± µ2 ) ± 2m]ωt




 8µ0 cos
 −[(µ1 ± µ2 ) Pr ± 2mPr ± kPt ]θ }



Fµ1 Fµ2 λm1 λm2 Λ20


∑∑∑∑ cos{[( µ1 ± µ2 ) ± 2(m1 ± m2 )]ωt


 16µ
 −[(µ ± µ ) ± 2(0m ± m )] P θ }


1 2 1 2 r

F Fν2 Λ20 λ20
 ∑ ∑ ν1 4µ
 cos[2ωt − (ν1 + ν2 ) Pr θ + 2φ]

 0
Fν1 Fν2 Λ0 Λk λ20

∑∑∑ cos{2 ωt − [(ν1 ± ν2 ) Pr ± kPt ]θ + 2φ}


4µ0



F F Λ 2
 λ λ
ν2 0 m 0
∑ ∑ ∑ ν1 4µ0 cos{[(1 ± 1) ± 2m]ωt − [(ν1 ± ν2 ) + 2m] Pr θ + 2φ}





Fν1 Fν2 Λk1 Λk2 λ20

∑∑∑∑ 16µ0 cos{2 ωt − [(ν1 ± ν2 ) Pr ± (k1 ± k2 ) Pt ]θ + 2φ} (A2)
F F Λ Λ
∑∑∑∑
 λ λ m




ν1 ν2 0 k 0
8µ0 cos {[( 1 ± 1 ) ± 2m ] ωt

 −[(ν1 ± ν2 ) Pr +2mPr ± kPt ]θ }


F Fν2 λm1 λm2 Λ20


∑ ∑ ∑ ∑ ν1 16µ cos{[(1 ± 1) ± 2(m1 ± m2 )]ωt



 0

−[(ν1 ± ν2 ) ± 2(m1 ± m2 )] Pr θ + 2φ}


Fµ Fν Λ20 λ20

 ∑ ∑ 4µ0 cos[(µ ± 1)ωt − (µ ± ν) Pr θ + φ]


 ∑ ∑ ∑ Fµ Fν Λ0 Λk λ0 cos{( µ ± 1)ωt − [(µ ± ν) Pr ± kPt ]θ ± φ}
2




 4µ 0
Fµ Fν λ0 λm Λ20


∑ ∑ ∑ cos{[( µ ± 1) ± 2m]ωt − [(µ ± ν) ± 2m] Pr θ ± φ}



 4µ0
Fµ Fν Λk1 Λk2 λ20


∑∑∑∑ 8µ0 cos{( µ ± 1)ωt − [(µ ± ν) Pr ± (k1 ± k2 ) Pt ]θ ± φ} (A3)
F F Λ Λ λ λ m
 ∑∑∑∑
0 k 0
 µ ν
cos{[( µ ± 1) ± 2m]ωt



 8µ0


 −[( µ ± ν ) P r ± 2mP r ± kPt ]θ ± φ}
Λ 2λ λ

 F µ Fν m1 m2
∑∑∑∑ cos{[( µ ± 1) ± 2(m1 ± m2 )]ωt

 0
8µ0



−[(µ ± ν) ± 2(m1 ± m2 )] Pr θ + φ}


Equations (A1)–(A3) show the radial electromagnetic force generated by the rotor
permanent magnet magnetic field, stator winding magnetic field and interaction between
rotor permanent magnet magnetic field and stator winding magnetic field, respectively.
The time invariant radial electromagnetic force generates static deformation and does not
cause machine vibration, so the time invariant part is ignored in the calculation of the
radial electromagnetic force expansion. Neglecting the radial electromagnetic force of the
time-invariance part, the sources of radial electromagnetic force in machines can be divided
into three categories: radial electromagnetic force generated by the rotor permanent magnet
magnetic field, radial electromagnetic force generated by the stator winding magnetic field,
and radial electromagnetic force generated by the interaction between the rotor permanent
magnet magnetic field and stator winding magnetic field.
The radial electromagnetic force component generated by the fundamental magnetic
field of the stator and rotor is the main component of the radial electromagnetic force, and
the radial electromagnetic force generated by tooth harmonics has the most significant
Electronics 2023, 12, 4341 15 of 16

impact on machine vibration. Thus, the main sources of harmonic content in radial electro-
magnetic force analyzed in this paper are the fundamental magnetic field of the stator and
rotor and the tooth harmonic magnetic field. The main source of the radial electromagnetic
force density harmonic content is shown in Table A1.

Table A1. The main source of the radial electromagnetic force density.

Spatiotemporal Distribution The Main Source of Radial Electromagnetic Force Density

Mainly generated by (1) the fundamental and the 13th stator magnetic field and the 11th
tooth harmonic; (2) the fundamental and the 11th stator magnetic field and the 8th tooth
(−2, 2f) harmonic; (3) the fundamental and the 13th stator magnetic field and the 8th tooth
harmonic; (4) the fundamental rotor magnetic field and the 13th stator magnetic field and
the 11th tooth harmonic.
Mainly generated by (1) the fundamental rotor magnetic field and the second tooth
harmonic; (2) the fundamental rotor magnetic field and the first tooth harmonic; (3) the
(10, 2f) fundamental stator magnetic field and the first tooth harmonic; (4) the fundamental stator
magnetic field and the second tooth harmonic; (5) the fundamental rotor magnetic field and
the fundamental stator magnetic field and the second tooth harmonic.
Mainly generated by (1) the fundamental and third rotor magnetic field and the third tooth
harmonic; (2) the fundamental stator magnetic field and the third tooth harmonic; (3) the
third rotor magnetic field and the fundamental stator magnetic field and third tooth
(−4, 4f)
harmonic; (4) the fifth rotor magnetic field and the fundamental stator magnetic field and
third tooth harmonic; (5) the fundamental rotor magnetic field and the fundamental stator
magnetic field and the third tooth harmonic.
Mainly generated by (1) the fundamental and 3rd stator magnetic field and the 13th tooth
harmonic; (2) the fundamental and 5th stator magnetic field and the 10th tooth harmonic; (3)
(8, 4f)
the fundamental rotor magnetic field and 13th stator magnetic field and 13th
tooth harmonic.
Mainly generated by (1) the fundamental and fifth rotor magnetic field and the fifth tooth
harmonic; (2) the fundamental stator magnetic field and the fifth tooth harmonic; (3) the
(6, 6f)
fundamental rotor magnetic field and the fundamental stator magnetic field and fifth
tooth harmonic.
Mainly generated by (1) the third and fifth rotor magnetic field and the sixth tooth harmonic;
(2) the fundamental and seventh rotor magnetic field and the sixth tooth harmonic; (3) the
fundamental rotor magnetic field and sixth tooth harmonic; (4) the fundamental stator
(−8, 8f)
magnetic field and the sixth tooth harmonic; (5) the seventh rotor magnetic field and
fundamental stator magnetic field and the sixth tooth harmonic; (6) the fundamental rotor
magnetic field and fundamental stator magnetic field and sixth tooth harmonic.
Mainly generated by (1) the fundamental and 11th rotor magnetic field and the 9th tooth
harmonic; (2) the 5th and 7th rotor magnetic field and the 9th tooth harmonic; (3) the 3rd
and 5th rotor magnetic field and 9th tooth harmonic; (4) the fundamental and 7th rotor
magnetic field and 9th tooth harmonic; (5) the fundamental stator magnetic field and the 9th
(−12, 12f)
tooth harmonic; (6) the 11th rotor magnetic field and fundamental stator magnetic field and
9th tooth harmonic; (7) the 5th rotor magnetic field and fundamental stator magnetic field
and 9th tooth harmonic; (8) the 7th rotor magnetic field and fundamental stator magnetic
field and 9th tooth harmonic.

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