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

中文翻译：

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考虑分段定子铁芯装配缺陷的机器人执行器SPMSM稳健设计优化

要用作机器人执行器，表面安装的永磁同步电机 (SPMSM) 需要低齿槽转矩特性。本研究的目的是分析和减少由于 SPMSM 中广泛使用的分段定子的装配缺陷引起的齿槽转矩的变化。考虑到定子段的互连，介绍了一种具有装配缺陷的分段定子的等效建模方法。此外，由装配缺陷引起的齿槽转矩的变化在数学上进行了评估。然后，提出了结合敏感性分析和稳健设计优化的稳健设计过程。通过使用所提出的设计，建立了稳健的优化设计模型，并通过蒙特卡罗模拟和测试验证了其有效性。