Nonlinear EMC Modeling and Analysis of Permanent-Magnet Slotted Limited-Angle Torque Motor

In this article, a high-precision equivalent magnetic circuit (EMC) model is first proposed for slotted permanent-magnet (PM) limited-angle torque motor (LATM) with nonuniform teeth, which leads to potential application in swing system substituting a lower torque density of the slotless structure. By the proposed relatively fine division method of magnetic reluctance in the stator tooth-tip segments, air-gap regions, and PM poles, the proposed EMC model can fully consider armature reaction and magnetic saturation problem. Subsequently, a multiobjective optimization method based on the EMC model is proposed to improve torque performance. Finite-element analysis is employed to validate the EMC model and optimization results. Following that, a curved nonwounded tooth shape is carried out and further optimized to decrease magnetic saturation of stator teeth and significantly improve symmetry of torque profile about stable equilibrium point, compared with the traditional straight tooth shape. Finally, the slotted LATM with curved teeth is prototyped, and its experimental results are presented and discussed. The simulation and experimental data show better accuracy of torque profile improvement.