IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO.

11, NOVEMBER 2011 5087

Overview of Stator-Permanent Magnet

Brushless Machines
Ming Cheng, Senior Member, IEEE, Wei Hua, Member, IEEE, Jianzhong Zhang, Member, IEEE, and
Wenxiang Zhao, Member, IEEE

Abstract—Permanent magnet (PM) brushless machines having

magnets and windings in stator (the so-called stator-PM machines)
have attracted more and more attention in the past decade due
to its definite advantages of robust structure, high power density,
high efficiency, etc. In this paper, an overview of the stator-PM ma-
chine is presented, with particular emphasis on concepts, opera-
tion principles, machine topologies, electromagnetic performance,
and control strategies. Both brushless ac and dc operation modes
are described. The key features of the machines, including the mer-
its and drawbacks of the machines, are summarized. Moreover, the
latest development of the machines is also discussed.
Index Terms—Doubly salient, flux reversal, flux switching,
overview, stator-permanent magnet (PM).
Fig. 1. Stator-PM alternator in 1955 [3].
I. I NTRODUCTION
machine having magnets on the stator, nominated as stator-PM
W ITH THE significant achievements of permanent mag-
net (PM) materials and power electronic devices, brush-
less machines excited by PMs are developing dramatically.
machines, has re-emerged and has been developed, which can
overcome the problems suffered by the rotor-PM counterparts.
Generally speaking, there are a total of four types of PM The purpose of this paper is to give an overview of the
machines which have magnets located on the rotor, and they are stator-PM machines. Thus, the state-of-the art technology of
the following: 1) surface mounted; 2) inset; 3) radial interior; the stator-PM machines, including machine topologies, opera-
and 4) circumferential interior. It should be emphasized that tion principles, characteristics, control strategies, torque ripple
all of the PM machines mentioned have magnets located on minimization, and latest developments will be reviewed and
the rotor, and they are referred to as “rotor-PM machines” in discussed.
this paper, which predominate in the industry applications due
to outstanding advantages [1], [2]. However, magnets usually II. C ONCEPTS OF S TATOR -PM M ACHINES
need to be protected from the centrifugal force by employing
a retaining sleeve, which is made of either stainless steel or The idea of stator-PM machines can be traced back to 1955
nonmetallic fiber. Rotor temperature rise may be a problem when Rauch and Johnson proposed probably the first stator-
due to poor thermal dissipation, which may cause irreversible PM topology, as shown in Fig. 1 [3], in which both the stator
demagnetization of magnets and may ultimately limit the power tooth and rotor poles are salient so as to transfer the fluxes
density of the machine. Recently, in contrast, a new type of PM created by the stator magnets from the stator to the rotor
across the air gap when the rotor poles face the stator teeth.
Manuscript received March 21, 2010; revised June 28, 2010, October 1,
Thus, the polarities of the flux linked in the coils in the stator
2010, and December 21, 2010; accepted February 16, 2011. Date of publication reverse as the rotor aligns the alternative pair of stator teeth.
March 7, 2011; date of current version September 7, 2011. This work was However, due to the limitation of the magnet property at that
supported in part by NSFC under Projects 59507001, 50377004, 50337030,
50729702, 50807007, 60974060, and 50907031; by the Specialized Research
time, the stator-PM machines were overwhelmed by wound-
Fund for the Doctoral Program of Higher Education of China under Projects field excitation machines, e.g., synchronous and dc machines.
20050286020, 200802861038, and 20090092110034; by the High Tech Re- Another origin of the stator-PM machine can be found from
search Program of Jiangsu Province, China, under Project BG2005035; and by
the Aeronautical Science Foundation of China under Projects 20080769007 and
the well-known Law’s relay actuator shown in Fig. 2 [4]. In
20100769004. addition, the doubly salient structure employed in electrical
M. Cheng, W. Hua, and J. Zhang are with the School of Electrical machines can also originate from an induction-type generator,
Engineering, Southeast University, Nanjing 210096, China (e-mail: mcheng@
seu.edu.cn; huawei1978@seu.edu.cn; seuzjz@seu.edu.cn). as shown in Fig. 3 [5], in which the stator assembly is a set of
W. Zhao is with the School of Electrical and Information Engineering, pieces arranged in a cylinder laminated iron, with the armature
Jiangsu University, Zhenjiang 212013, China (e-mail: zwx@ujs.edu.cn). windings wound. The special geometry allows the variation of
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. the magnet flux that is linked into the “C”-shaped stator pole
Digital Object Identifier 10.1109/TIE.2011.2123853 pieces to induce electromotive force (EMF).
0278-0046/$26.00 © 2011 IEEE
5088 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

Fig. 2. Law’s relay actuator [4].

Fig. 3. Flux-switch “C”-segmented inductor alternator in 1975 [5].

Fig. 4. Re-emerged stator-PM machines. (a) DSPM machine. (b) FRPM
machine [7]. (c) FSPM machine [8].
Conceptually, stator-PM machines employ the polarized re-
luctance principle, in which the torque and EMFs are the
resultant from the flux-switching action of rotor saliencies on
a unipolar flux produced by PMs in the stator, leading to an
exceptionally simple and robust rotor structure.

III. BASIC T OPOLOGIES , P RINCIPLES ,

AND P ERFORMANCES

Basically, there are three types of modern stator-PM ma-

chines, namely, doubly salient PM (DSPM) machine [6], flux-
reversal PM (FRPM) machine [7], and flux-switching PM
(FSPM) machine [8], as shown in Fig. 4. It should be noted that
Fig. 5. Operation principle of the DSPM machines. (a) Unskewed rotor.
the operation principle and electromagnetic performance of the (b) Skewed rotor.
three machines are distinct, although they are all classified as
stator-PM machines.

A. DSPM Machine
The DSPM machine can be considered as a combination of
switched-reluctance machine and stator magnets [6], in which
the magnets are insetted in the stator back-iron and the con-
centrated windings are employed, making the PM fluxes linked
in the coils unipolar. Furthermore, by specifically designing
the stator teeth and rotor pole arcs, the air-gap reluctance seen
by magnets are invariant [9], and consequently, the PM flux-
linkage linearly varies with the rotor position, as shown in
Fig. 5(a). Therefore, the ideal phase back-EMF waveform is
trapezoidal, and the conventional brushless dc (BLDC) opera- Fig. 6. Four/six-pole single-phase DSPM generator [12].
tion mode can be adopted [10].
On the other hand, a simple rotor-skewing method can be Except for the three-phase six/four-pole (six-stator-teeth/
used [11], and a quasi-sinusoidal back EMF can be obtained. four-rotor-pole) topology, other feasible slot/pole combinations
Consequently, the DSPM machine can also be run in the are presented, e.g., one-phase four/six-pole [12] (Fig. 6), two-
brushless ac (BLAC) mode, as shown in Fig. 5(b). phase four/six-pole with dual stator [13] (Fig. 7), three-phase
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5089

Fig. 7. Two-phase four/six-pole DSPM machine with dual stator [13].

Fig. 8. 12/8-pole DSPM machine [14].

Fig. 9. Eight/six-pole DSPM machine [15].

12/8-pole [14] (Fig. 8), and four-phase eight/six-pole configu-

rations [15] (Fig. 9), revealing the different characteristics and
Fig. 10. Schematic of the flux regulation in the DSPM machine [21]. (a) By a
the suitability for different applications. Additionally, power- movable magnetic shoring piece. (b) By moving magnets in the axial direction.
dimension equations were derived analytically [16]–[18], (c) By a magnetic/nonmagnetic collar.
which not only indicate that the output power is directly propor-
tional to the ratio of the rotor poles to the stator teeth but also
provide designers a practical way to make the initial calculation
of the motor dimensions. In [19], a nonlinear varying-network
magnetic circuit was built to analyze the electromagnetic per-
formance of the DSPM machines more efficiently with enough
accuracy.
Moreover, a nonuniform air gap is employed to reduce the
cogging torque [20]. To regulate the uncontrollable PM flux
and to extend the constant-power region, several schemes were
proposed in [21] (Fig. 10), although some of them are some-
what impractical in applications. Moreover, a new split-winding
configuration was proposed, as shown in Fig. 11 [22].

B. FRPM Machine
The FRPM machine has magnets located on the surface of Fig. 11. Schematic of the split winding for a four-phase DSPM machine [22].
the stator teeth and concentrated windings, as shown in Fig. 12.
Different from DSPM machines, the phase PM flux-linkage and the variation of the inductances versus rotor position is
of an FRPM machine is bipolar, as shown in Fig. 13. The small, which indicates that the reluctance torque is negligible
BLDC operation mode is also suitable for the FRPM machines. [7]. Similarly, the rotor-skewing method can also be used to
Additionally, it is found that the FRPM machine exhibits fault- improve the EMF waveform of a multipole FRPM machine
tolerance capability due to its natural isolation between phases, to be more sinusoidal and to reduce the cogging torque for
5090 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

Fig. 12. Stator magnets and winding configuration of the FRPM machine.

Fig. 15. Concave stator pole and flux barrier for the FRPM machines [26].

Fig. 13. Operation principle of the FRPM machines. (a) Unskewed rotor.
(b) Skewed rotor.

Fig. 16. Rotor-teeth-pairing technique for the FRPM machines [27].

Fig. 14. Different magnet configurations of the FRPM machines [24].

(a) Pole-PMs on stator. (b) Inset-PMs on stator.
Fig. 17. Rotor structure with a tapered air gap of a single-phase two/three-pole
FRPM machine [29].
an automotive generator [23] or low-speed servo drives, as
shown in Fig. 14 [24], respectively. However, the induced-eddy-
current losses in the magnets and the low power factor may be
the subject of further work, as addressed in [25].
In addition, the magnet thickness in the magnetized direction
increases the effective air-gap length between the stator teeth
and rotor poles. Therefore, the magnet thickness, as well as
rotor pole arc, air-gap length, etc., has significant effects on
the electromagnetic performance of the FRPM machine. Hence,
the optimal designs on various dimensions were investigated,
e.g., employing the concave stator poles and additional flux Fig. 18. Prototype of a 12/10-pole FSPM machine. (a) Configuration.
(b) Prototyped motor.
barriers, as shown in Fig. 15 [26], as well as a rotor-teeth-
pairing technique to reduce the cogging torque, as shown in
C. FSPM Machine
Fig. 16 [27]. Additionally, it is found that the PWM control
modes have an important influence on the performance of the Among the three stator-PM machines, the stator configura-
FRPM machine, as revealed in [28]. In [29], a single-phase tion of the FSPM machine is relatively complex, as shown in
two/three-pole FRPM was proposed, and to solve the starting Fig. 18. The stator contains 12 segments of “U”-shaped mag-
torque problem, the cogging torque was used as a solution by netic cores, between which 12 pieces of magnets are inset and
proposing a rotor with a tapered air-gap structure, as shown magnetized circumferentially in alternative opposite directions
in Fig. 17. Moreover, an axial flux and an outer-rotor FRPM [32]. As shown in Fig. 19, a concentrated coil is wound around
machine were proposed in [30] and [31], respectively. the adjacent stator teeth with a magnet sandwiched. Hence,
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5091

Fig. 19. Stator magnet and winding configuration of the FSPM machines.

Fig. 20. Coils and phase EMF waveforms of a 12/10-pole FSPM machine [33]. (a) Predicted. (b) Measured.

the polarity of the PM flux linkage in the coil reverses when

the rotor pole aligns the alternative stator tooth that belongs
to the same phase, i.e., realizing the “flux-switching” action.
It should be emphasized that, due to the magnetic reluctance
difference between the two pairs of coils composing a phase,
the resultant phase EMF waveforms are essentially sinusoidal
without any additional measures [33], which is also one of the
outstanding advantages of the FSPM machine over the other
two counterparts. In addition, it is found that the optimal rotor
pole arc is 1.4 times that of the stator teeth arc, and the resultant
phase EMF waveform exhibits negligible harmonics, as shown
in Fig. 20 [33].
Fig. 21. FSPM machines. (a) 12/14-pole three phase [44]. (b) Six/five-pole
The design procedure and a general power dimension equa- three phase [46].
tion were derived analytically for the design of the FSPM
machine with arbitrary slot/pole combinations in [34]. In addi-
tion, to predict electromagnetic performance with satisfied ac-
curacy, a nonlinear adaptive lumped parameter magnetic circuit
model, a magnetic network model considering saturation effect,
an alternative technique based on the harmonic or Fourier
model, and an analytical hybrid modeling technique combin-
ing the advantages of the magnetic equivalent circuit and the
Fourier analysis were proposed in [35]–[38], respectively.
It should be noted that, due to the stator-PM configuration,
the end-effect caused by the axial flux leakage is relatively
serious, and the predictions from a conventional 2-D model
Fig. 22. FSPM machines. (a) Eight/six-pole two phase [47]. (b) Four/two-pole
must be modified. Hence, a simple and effective method in one phase [48].
investigating the end-effect on the stator-PM machine was
proposed and verified by the experimental results [39], [40].
Moreover, a 3-D lumped model was built to predict the per-
formance in [41]. Furthermore, the eddy current loss in the
frame and magnets, iron loss, and proximity loss of the FSPM
machine were analyzed in [42] and [43], respectively.
The topology of the FSPM machine is not limited in the
three-phase 12/10-pole structure. Three-phase 12/14-pole and
6/5-pole FSPM machines were investigated in [44] and [45]
[Fig. 21(a)] and [46] [Fig. 21(b)], respectively. In addition,
eight/six-pole two-phase [47] and four/two-pole one-phase
FSPM machines are shown in Fig. 22, while the asymmetry
rotor pole is employed to improve the start torque [48]. Fig. 23 Fig. 23. Five-phase FSPM machines [49]. (a) All poles wound. (b) Alternator
shows the five-phase FSPM machines [49]. poles wound.
5092 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

D. Comparison and Summary

The comparisons between the three stator-PM machine them-
selves and the stator- and rotor-PM machines have drawn a
series of conclusions of significance [2], [54]–[58], which are
summarized as follows.
Similarities:
1) Doubly salient structures are employed.
2) The magnets are located on the stator, and conse-
quently, the temperature rise of the magnets is much
easier to control.
3) The rotor is identical to that of an SR machine,
namely, without windings or magnets, being mechan-
ically robust, and able to operate at high speed.
4) Concentrated windings are employed with shorter
end parts, resulting in low copper consumption and
winding resistance. Therefore, the stator-PM ma-
chines are of high efficiency compared with the con-
ventional overlapping winding machines.
5) The electromagnetic torque is dominated by the PM
Fig. 24. FSPM machines [50]. (a) Conventional FSPM. (b) Alternator poles excited torque, and the average reluctance torque is
wound-1. (c) Alternator poles wound-2. (d) Alternator poles wound-3. negligible.
Differences:
1) Due to different configurations of magnets, stator
poles, and windings, the phase flux linkage in both
FRPM and FSPM machines is bipolar, while in a
DSPM machine, it is unipolar.
2) The EMF per turn and the torque capability of an
FSPM machine are significantly higher than those
of the FRPM and DSPM machines due to the flux-
concentration effect.
3) The waveforms of the flux linkage and EMF of
an FSPM machine are essentially sinusoidal with
Fig. 25. Multitooth FSPM machines [52]. unskewed rotor, while in the DSPM and FRPM
machines, they are more trapezoidal. Therefore, the
DSPM and FRPM machines are more suitable for the
BLDC drive, and an FSPM machine is more suitable
for the BLAC drive.
4) Due to flux concentration, flux switching, and smaller
overlapping areas between the stator and rotor teeth
in an FSPM machine, the magnetic saturation level in
the teeth of the stator and rotor is very high, and it
can reach 2.5 T. Thus, the air-gap flux density in the
FSPM machine can exceed 2.2 T [57].
5) In the FSPM machine, the coils are wound over two
Fig. 26. Transverse flux FSPM machine [53].
stator teeth between which one magnet is inset, while
in the DSPM and FRPM machines, the coils are
In addition, the combinations of stator and rotor pole num- wound on each stator tooth. Hence, the end winding
bers, the winding connections, and the winding factors of the in an FSPM machine is slightly longer, while the
FSPM machines having all poles and alternate poles wound are amount of magnet materials is significantly higher.
analyzed in [50] and [51], as shown in Fig. 24. The multitooth However, since the stator winding is concentrated, it
topologies of the FSPM machine are proposed and investigated is still significantly shorter than that in a conventional
in [52] (Fig. 25). Recently, a novel flux-switching transverse overlapping winding PM machine. In addition, flux
flux PM generator for low-speed wind power applications is concentrating can be utilized, and a low-cost magnet
proposed and analyzed by a 3-D finite element method [53], as material, such as ferrite, can be used in an FSPM
shown in Fig. 26. machine.
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5093

TABLE I
Q UALITATIVE C OMPARISON OF THE T HREE S TATOR -PM M ACHINES

Fig. 27. Typical current waveforms of a DSPM machine at the BLDC

operation. (a) CCC mode. (b) APC mode.

6) Among the three typical stator-PM topologies, the

FSPM machine exhibits the highest torque capability
and power density as revealed in [54], in which the
electromagnetic torque of the FSPM machine is about
1.6 times that of the DSPM machine under the same
peak currents. However, the torque per magnets of Fig. 28. Measured current waveform of an FSPM machine at the BLAC
operation.
the FRPM machine is higher than that of the FSPM
machine [55]. In addition, the cogging torque of
the FSPM machine is the highest due to the flux-
concentrated effect.
7) In terms of demagnetization of the PM for the three
stator-PM machines, briefly, the FRPM machine ex-
hibits the weakest withstanding capability since the
magnets are mounted on the stator teeth, and con-
sequently, the MMF due to the armature currents
is in series with that of the magnets, whereas for
the FSPM and DSPM machines, since the armature
reaction flux does not pass through the magnets, the
irreversible demagnetization withstand capability is
Fig. 29. Stator interior PM topology [63]. (a) Cross section. (b) Prototype.
high, which makes it particularly suitable for flux-
weakening operations.
Table I summarizes the qualitative comparison among the measured current waveform of an FSPM motor drive under
key issues of the three stator-PM machines. vector control, showing a good sinusoidal phase current.

IV. BASIC C ONTROL S TRATEGIES V. T ORQUE R IPPLE M INIMIZATION

There are basically two types of operation modes for the Owing to the nature of salient poles in both stator and
stator-PM motor drives, namely, BLDC operation for the ma- rotor, the stator-PM machines suffer from higher torque ripple
chines with trapezoidal back EMF and BLAC operation for the than traditional rotor-PM machines. Hence, different measures
machines with sinusoidal back EMF. have been developed to minimize torque ripple in stator-PM
In the BLDC operation, the control strategy of the stator- machines.
PM motor drive consists of two basic schemes, namely, current
chopping control (CCC) and angle position control (APC),
A. Improved Machine Topology
for constant-torque operation at speeds below the base speed
and constant-power operation at speeds above the base speed, To minimize the torque ripple, a modified topology (namely,
respectively, which are similar to those in an SR machine. the stator interior PM machine) was proposed, as shown in
Fig. 27 shows the typical current waveforms of an eight/six- Fig. 29, in which the conventional stator tooth shoe is employed
pole DSPM motor [22]. and the magnets are inset [63]. The predicted and experimen-
In the BLAC operation, field orientation control, i.e., vector tal results verify that the cogging torque can be significantly
control, may be applicable to the stator-PM motor drive [59]. reduced.
Moreover, the current-hysteresis PWM, voltage space-vector In addition, due to the simple rotor structure, the dummy slots
PWM, and flux-weakening control were also adopted in the can also be introduced to reduce the cogging torque, as shown
FSPM motor drives, respectively [60]–[62]. Fig. 28 shows the in Fig. 30 for an FSPM machine [64].
5094 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

Fig. 30. Rotor dummy slots in the FSPM machine. (a) Rotor topology with dummy slots. (b) Comparison of the cogging torque with and without dummy slots.

Fig. 33. 12/8-pole SDFDS machine. (a) Configuration. (b) Prototype [68].

Fig. 31. Measured torque and current waveforms (25 ms/div, 2.2 Nm/div, and
3.33 A/div). (a) Unoptimized. (b) Optimized control.

Fig. 32. Measured torque (upper trace) and current (lower trace) waveforms Fig. 34. Six/four-pole HEDSPM machine. (a) Using ferrite magnets [69].
(5 ms/div, 2 Nm/div, and 2.4 A/div). (a) Voltage space-vector PWM. (b) Using NdFeB magnets [70].
(b) Proposed method.
VI. E MERGING T RENDS
B. Conduction Angle Control
In addition to the achievements earlier, new developments
In [65], the genetic algorithm was used to optimize the have been achieved on the stator-PM machines recently.
conduction angle proposed for the DSPM motor. Fig. 31 shows
the torque and current waveforms. The torque ripple factor is re- A. Wound-Field and Hybrid-Excitation Structures
duced from 81% to 21% by using the proposed control method.
Although the stator-PM machines offer unique advantages,
they cannot maintain a high efficiency or a constant output
C. Harmonic Current Injection Control
voltage over a wide speed range due to an uncontrollable PM
In [66] and [67], a new harmonic current injection method flux, which are crucial for some applications such as electric
was proposed to minimize the torque ripple of the DSPM and vehicles (EVs). To enable flux control, the idea of stator dou-
FSPM motors, respectively. In [67], based on the harmonic bly fed doubly salient (SDFDS) machine was proposed [68],
spectrum analysis of the cogging torque, a series of specific in which the dc field windings replace the PMs to facilitate
harmonic currents is added into the q-axis reference current, flux control and online efficiency optimization. Fig. 33 shows
resulting in additional torque components to counteract the the configuration and prototype of the SDFDS machine. The
fundamental and second-order harmonic components of the efficiency of the machine can be improved by about 10% by
cogging torque. Both simulations and experiments confirmed online efficiency optimizing.
the effectiveness of the proposed method. Fig. 32 shows the Nevertheless, the SDFDS machine inevitably produces the
measured torque and current waveforms. It can be seen that extra loss in field windings, hence degrading machine effi-
the proposed harmonic current injection method can reduce the ciency. To incorporate both magnets and dc field windings,
torque ripple by 50% as compared to the voltage space-vector hybrid excited DSPM (HEDSPM) machines were proposed in
PWM method. [69]–[72] (Figs. 34–36), in which the dc field windings work for
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5095

Fig. 35. 12/8-pole HEDSPM machine. (a) Cross section. (b) Efficiency–speed characteristic [71].

Fig. 36. Parallel configuration of an HEDSPM machine [72].

Fig. 38. Configurations of the HEFS motor [75].

Fig. 37. Field-excitation flux-switching machine [73].

flux control and efficiency optimization. The starting response

can be improved by supplying a positive dc field current to Fig. 39. Measured torque (trace 1) and coil-B1 and coil-C1 current
(traces 2–3) waveforms before and after coil-A1 fault (10 ms/div, 3 Nm/div,
strengthen the flux, while the constant-power operating range and 6 A/div).
can be extended by supplying a negative dc field current to
weaken the flux. the area. To achieve high reliability, redundant or conservative
In addition, a three-phase wound-field flux-switching ma- design techniques have been employed in many motor drives.
chine was proposed in [73] (Fig. 37). Recently, novel hybrid- Because of the magnetic independence between motor phases
excitation flux-switching (HEFS) machines were proposed in and the circuit independence of the converter phases, the stator-
[74]–[76], in which the field windings are accommodated in PM motor drives inherently possess a fault-tolerant character-
the room saved by the reduction of the magnets in the original istic. To improve the performance of the stator-PM motor drive
FSPM machine. As stated in [75], the HEFS machine (Fig. 38) with an open-circuited fault, fault compensation strategies were
exhibits excellent flux-regulation capability, in which the PM proposed [77], [78]. Fig. 39 shows the measured torque and
flux can be strengthened to twice that of the pure-PM topology healthy-coil current waveforms during the fault occurrence of
and can be weakened to almost zero, indicating an infinite an FSPM machine under fault-tolerant control. It can be seen
constant-power range. that the average torque can be maintained almost the same
by controlling the current in the healthy coils when an open-
circuit fault occurs in one coil. Moreover, redundant stator-PM
B. Redundant and Fault-Tolerant Structure
topologies were proposed to improve the fault-tolerant capabil-
In some applications such as steering and fuel pumps, where ity, especially in the vehicle motor drives, as shown in Fig. 40
a continuous operation must be ensured, reliability may be a [79]. In [80], a novel five-phase fault-tolerant doubly salient
critical requirement. Therefore, the need for a high degree of electromagnetic generator for directly driven wind turbine was
reliability in a motor drive system has inspired much research in proposed, as shown in Fig. 41.
5096 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

Fig. 40. Redundant stator-PM motor topologies. (a) Redundant DSPM motor. (b) Redundant FSPM motor.

drive systems, either the magnets or the armature windings,

which are both expensive, have to be set on the stator. Recently,
linear primary-PM machines, including the linear DSPM
(LDSPM) and linear FSPM (LFSPM) types, have been pro-
posed, which incorporate all of the merits of the rotary stator-
PM machines. In [82]–[84], LFSPM machines were proposed,
designed, and analyzed, such as feasible slot–pole number
combinations and alternative stator winding configuration. In
[85], a new structure of the LDSPM (Fig. 43) was proposed
and compared with the basic one. Three additional teeth and
one piece of magnet are set at each end part of the two motors
Fig. 41. Redundant stator-PM motor topologies [80].
in order to reduce the end effect. The results show that the
C. Memory PM Machine Topology proposed method can avoid the asymmetry of the back-EMF
waveforms and can reduce the cogging force and thrust force
Although the dc field winding in both SDFDS motor and ripple, as shown in Fig. 44.
hybrid excited stator-PM motors enables the controllable air-
gap flux, the use of dc field current inevitably causes additional
power loss and degrades the efficiency. With the advent of the E. Advanced Control
memory motors, the magnetization of PMs becomes online Due to its strong nonlinear characteristics, the stator-PM mo-
tunable. Hence, the concept of online-tunable flux-memory tors may not be exactly modeled. Hence, it is difficult to achieve
PMs was incorporated into the DSPM motor in such a way that high speed and torque performances by using the traditional
the resulting flux-memory DSPM motor can offer an effective control algorithm. Thus, some advanced control algorithms,
and efficient air-gap flux control [81]. As shown in Fig. 42(a), such as sensorless control, vector control, and online efficiency
the memory DSPM motor adopts two-layer inner stator and optimization control, have been developed for the stator-PM
outer rotor. In the stator, the armature windings are located in machines.
the outer layer, while both the PMs and magnetizing windings 1) Position Sensorless Control: Similar to rotor-PM motor
are placed in the inner layer, hence achieving a compact struc- control, to turn on or off the phase windings at the spe-
ture. Since the outer rotor is simply composed of salient poles cific rotor positions, the rotor position information, which is
without PMs or windings, it is very robust. The PM material traditionally measured by a physical sensor, is indispensable
used in the motor is an aluminum nickel cobalt (AlNiCo) for the proper operation of the stator-PM motor. In order to
alloy. Fig. 42(b) shows the measured back-EMF waveforms at avoid some difficulties resulting from the traditional sensor
different magnetization levels. It can be found that the back control method, the sensorless control of a DSPM motor drive
EMF can be effectively controlled for over four times. Due to was implemented [86]. Detecting the induced back-EMF zero-
the direct magnetization of PMs by a temporary current pulse crossing of unexcited winding was adopted. Fig. 45 shows the
in the magnetizing windings, the flux control is highly effective comparison of the position signals by physical sensor and by
and highly efficient. detecting circuits, illustrating that the real position signal lags
behind the zero-crossing of the back EMF. Fig. 46 compares
the speed rising process from standstill to the rated speed of
D. Linear PM Machine Topology
1500 r/min between sensor and sensorless controls, showing
The linear PM motor is widely used because of its rapid that the DSPM motor drive with sensorless control offers almost
dynamic response, high efficiency, and high power density. the same performance as that with sensor control. To start the
However, for long-stator applications such as underground train motor in sensorless control, the so-called “three-step startup
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5097

Fig. 42. Memory DSPM motor [81]. (a) Configuration. (b) Measured back-EMF waveforms at different PM magnetizations.

Fig. 43. LDSPM motor topology with additional teeth and PM.

Fig. 45. Position signals by (upper) sensor and (lower) sensorless controls.

Fig. 44. Comparison of static characteristics. (a) Back-EMF waveforms.

(b) Static PM force and cogging force waveforms.

method” is used, which includes positioning the rotor and Fig. 46. Speed comparison between sensor and sensorless controls. (Dashed
line) Sensorless control. (Solid line) Sensor control.
accelerating and changing the state. In some applications such
as traction drives for EVs, the torque control at standstill is
required. Due to the fact that three types of stator-PM machines proposed [87], in which the FSPM motor is considered as a con-
adopt a salient rotor, the saliency-based sensorless control can, ventional rotor-PM surface-mounted motor and an equivalent
in principle, be achieved by using the similar way in existing rotor-orientated dq-axes synchronous reference frame is built,
rotor-PM machines, although it has not been implemented in although there is actually no rotary magnetomotive force pro-
the available literature. duced by the stator magnets in the FSPM motor. Based on the
2) SFO Strategy: Moreover, a stator-flux orientation (SFO) proposed model, a vector-control strategy with current hystere-
strategy based on the current hysteresis for the FSPM motor was sis for the FSPM motor drive is investigated and implemented
5098 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 11, NOVEMBER 2011

Fig. 47. Schematic of the FSPM motor drive under vector control.

Fig. 48. SSC process for efficiency optimization [88].

Fig. 49. Block diagram of the online loss-model-based efficiency optimiza-

tion of the SDFDS motor drive.
on a dSPACE-based platform, and both the simulated and ex-
perimental results validate the effectiveness. Fig. 47 shows the Moreover, the authors in [89] developed a loss-model-based
schematic of the vector-controlled FSPM motor drive system online efficiency optimizing approach for the SDFDS motor to
with current hysteresis control based on the SFO model, in satisfy the demands of high efficiency and fast torque response
which a hysteresis band is used to force the actual currents in a wide range of velocity for EVs. The loss model of the
flowing into the motor to track the sinusoidal references. SDFDS motor is proposed and built, and the parameters are
3) Efficiency Optimization Control: In order to enable EVs identified by the least-squares algorithm with the measured
directly competing with gasoline vehicles, the aims of the EV data. Fig. 49 shows the block diagram of the loss-model-
motor drive are to pursue high efficiency over wide speed based online efficiency optimizing control. Both simulation
range, high power density, high controllability, high reliability, and experimental results demonstrated the effectiveness of the
and maintenance-free operation. As motors designed for EVs, proposed scheme on the improvement of motor efficiency and
the SDFDS and HEDSPM motors have the feature of regulat- fast torque response.
ing the field flux independently and effectively, which makes In addition, variable parameter PI control [90], self-tuning
the implementation of the flux weakening for expanding the fuzzy PI control [91], and extreme learning machine control
speed range and online efficiency optimization easier than other [92] have been also developed for the stator-PM machines.
motors.
In [88], a new self-searching control (SSC) approach was
VII. C ONCLUSION
proposed for the efficiency optimization of the HEDSPM ma-
chine. Fig. 48 shows the SSC process for efficiency optimiza- The concepts, developments, and potential trends of novel
tion of the HEDSPM machine under the given load and speed. stator-PM machines have been reviewed, with emphasis on
If the starting point is at the left-hand side of the minimum input the operation principles, machine topologies, electromagnetic
power point, the increment of the dc field current will reduce the performance, design and control strategy, etc. The merits and
input power. In contrast, if the starting point is at the right-hand drawbacks are highlighted. In general, stator-PM machines
side of the minimum input power point, the decrement of the dc have a bright potential in industry applications, including ro-
field current will reduce the input power. Therefore, if there is bots, automobiles, wind power generations, and so on, due to
a decrease in input power, the subsequent perturbation will be the high power (torque) density, high efficiency, and robust
kept unchanged until reaching the minimum input power point. structure. The future work for this kind of machines may be
Otherwise, the perturbation will be reversed. Thus, the input the novel machine topology, minimization of torque pulsation,
power at a given load and speed can be progressively minimized improvement of fault-tolerant operation, advanced control al-
by tuning the dc field current. gorithm, and more applications.
CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5099

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CHENG et al.: OVERVIEW OF STATOR-PERMANENT MAGNET BRUSHLESS MACHINES 5101

Ming Cheng (M’01–SM’02) received the B.Sc. and Jianzhong Zhang (M’08) received the M.Sc. and
M.Sc. degrees from the Department of Electrical Ph.D. degrees in electrical engineering from South-
Engineering, Southeast University, Nanjing, China, east University, Nanjing, China, in 2005 and 2008,
in 1982 and 1987, respectively, and the Ph.D. degree respectively.
from the Department of Electrical and Electronic From November 2006 to November 2007, he
Engineering, The University of Hong Kong, Hong was a Visiting Scholar with the Institute of Energy
Kong, in 2001. Technology, Aalborg University, Aalborg, Denmark,
Since 1987, he has been with Southeast Uni- where he worked on the permanent magnet generator
versity, where he is currently a Professor with the for wind power application. Since 2008, he has been
School of Electrical Engineering and the Director a Lecturer with the School of Electrical Engineering,
of the Research Center for Wind Power Genera- Southeast University. His research interests include
tion. From January to April 2011, he worked with WEMPEC, University of electric machines, power electronics, and wind power generation issues.
Wisconsin-Madison, as a Visiting Professor. He has authored or coauthored
over 250 technical papers and four books. He is the holder of 50 patents. His
teaching and research interests include electrical machines, motor drives for
electric vehicles, and renewable energy generation.
Dr. Cheng is a fellow of The Institution of Engineering and Technology. He
has served as chair and organizing committee member for many international
conferences.

Wenxiang Zhao (M’08) was born in Jilin, China,

Wei Hua (M’07) was born in Jiangsu, China, in
in 1976. He received the B.Sc. and M.Sc. degrees
1978. He received the B.Sc. (Eng.) and Ph.D. degrees in electrical engineering from Jiangsu University,
in electrical engineering from Southeast University,
Zhenjiang, China, in 1999 and 2003, respectively,
Nanjing, China, in 2001 and 2007, respectively.
and the Ph.D. degree in electrical engineering from
He is currently with Southeast University, where
Southeast University, Nanjing, China, in 2010.
he is an Associate Professor with the School of
Since 2003, he has been with Jiangsu University,
Electrical Engineering. He has authored more than
where he is currently an Associate Professor with
50 published papers. His areas of interests include
the School of Electrical Information Engineering.
design, analysis, and control of the novel permanent His areas of interest include electric machine design,
magnet machines.
modeling, fault analysis, and intelligent control.