40 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 43, NO.
1, JANUARY/FEBRUARY 2007
Five-Phase Interior Permanent-Magnet Motors
With Low Torque Pulsation
Leila Parsa, Member, IEEE, Hamid A. Toliyat, Senior Member, IEEE, and Abas Goodarzi, Senior Member, IEEE
Abstract—High torque pulsation is a major disadvantage of
most interior permanent-magnet (IPM) motor configurations.
Choosing the proper number of stator slots and winding distribu-
tion as well as increasing number of phases are among the possible
solutions for reducing torque pulsation. In this paper, five-phase
IPM motor with fractional-slot stator is studied. It is shown that
despite other IPM motors, the new five-phase IPM motor with
fractional slot has a very low torque pulsation. For comparison
purposes, a five-phase IPM motor with common configuration
is also considered. It is shown that the torque pulsation of the
proposed fractional-slot five-phase IPM motor is much lower than
the conventional five-phase IPM motor. Nonlinear finite-element
method is used to analyze different machine configurations. A
prototype four-pole five-phase IPM motor with 15 stator slots has
been built and is used for experimental verification.
Index Terms—Cogging torque, finite-element analysis, five-
phase interior permanent-magnet (IPM) motor, torque pulsation.
I. I NTRODUCTION
W ITH ITS hybrid torque-producing mechanism, the in-
terior permanent-magnet (IPM) motor combines the
reluctance torque generated by rotor saliency and the magnetic
torque due to the permanent magnets. IPM motors enjoy an
extended flux-weakening region because of their reluctance
torque and ruggedness of the rotor, which is an important factor
in high-speed application. However, high torque pulsation is the
major drawback of most IPM configurations.
Reducing torque pulsation in permanent-magnet motors has
gained increasing attention in recent years. It is a very im-
portant factor in any application where high vibration and
noise are objectionable. Because of the smooth torque required
in a number of permanent-magnet motor applications, many
different techniques have been developed in previous years for
minimizing the torque pulsation. These techniques are mainly
Paper IPCSD-06-073, presented at the 2005 Industry Applications Society
Annual Meeting, Hong Kong, October 2–6, and approved for publication
in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Elec-
tric Machines Committee of the IEEE Industry Applications Society. Man-
uscript submitted for review October 15, 2005 and released for publication
August 15, 2006.
L. Parsa is with the Department of Electrical, Computer, and Systems
Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180-3590 USA
(e-mail: parsa@ecse.rpi.edu).
H. A. Toliyat is with the Electric Machines and Power Electronics Labo-
ratory, Department of Electrical Engineering, Texas A&M University, College
Station, TX 77843-3128 USA (e-mail: toliyat@ee.tamu.edu).
A. Goodarzi is with U.S. Hybrid Corporation, Torrance, CA 90505-6011
USA (e-mail: abas@ushybrid.com).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIA.2006.887235
0093-9994/$25.00 © 2007 IEEE
classified into two categories. The first category includes the
techniques for proper motor design [1]–[4], which makes the
motor as much as possible approach its ideal characteristics
and therefore produce smoother torque. The second category
includes the techniques for modifying the excitation currents
and therefore minimizing torque pulsation [5], [6]. This tech-
nique will penalize the inverter because of the fact that a larger
kilovolt–ampere rating for the inverter is needed.
Proper motor design is one of the best ways for minimizing
torque pulsation. There are several design considerations for
minimizing the torque pulsation. One of the most common
techniques is skewing, which can be done either on the stator
side or by the rotor magnets. Both of these techniques have
similar electromagnetic effects on reducing the cogging torque.
Skewing reduces reluctance variations, which are seen by the
rotor magnets. The cogging torque has its highest value when
the rotor and stator are unskewed and can reach zero with one
slot pitch skewing. Skewing improves the back-electromotive-
force (EMF) waveform as well; however, it penalizes the motor
by increasing its leakage inductance and stray losses and com-
plicates the stator structure.
The induced back EMF of the motor is a function of stator-
winding distribution and airgap flux, where airgap flux distrib-
ution depends on the magnet dimensions and stator structure.
Therefore, using different number of stator slots and different
winding distributions will lead to different cogging torques, and
it is of significant importance that proper number of stator slots
and winding distribution are chosen.
There are some techniques, which do not eliminate the torque
pulsation but leads to a reduction in amplitude and increase in
the frequency of torque pulsation such as bifurcation, where
dummy slots that carry no winding are added to the stator. In
this case, the frequency of cogging torque increases, and its
amplitude decreases.
Changing the direction of magnet magnetization can af-
fect the cogging torque. Varying the magnet arcs is also an
important factor since the magnet arc has a direct effect on
the airgap induction waveform. Therefore, the proper magnet
arc can reduce the harmonics content of back EMF. In some
motors, where the numbers of magnets are close to the number
of stator slots, cogging torque can be reduced by proper choice
of slot width or pole width [7]. In some methods, combina-
tion of several design parameters such as the magnet width,
and its position, winding pitch, and its skew angle have been
considered [8]. Slot openings can affect the cogging torque.
Increasing the number of phases is also another way for re-
ducing torque pulsation. Multiphase motor drives possess many
PARSA et al.: FIVE-PHASE INTERIOR PERMANENT-MAGNET MOTORS WITH LOW TORQUE PULSATION
other advantages over the traditional three-phase motor drives
such as reducing the amplitude and increasing the frequency of
torque pulsation, reducing the stator current per phase without
increasing the voltage per phase, lowering the dc-link current
harmonics, and higher reliability [9]–[12]. By increasing the
number of phases, it is also possible to increase the torque
per rms ampere for the same volume machine. The additional
degrees of freedom in a multiphase system also enable us to
supply multimotors from a single inverter [13]. The high-phase-
order drive is likely to remain limited to specialized applica-
tions where high reliability is demanded such as electric/hybrid
vehicles, aerospace applications, ship propulsion, and high-
power applications where a combination of several solid state
devices form one leg of the drive. Therefore, the requirement of
n separate drive units in a multiphase system is not oppressive
for large drives since many of the necessary components are
presented in the contemporary designs.
The other major class of techniques for torque pulsation
minimization deals with control methods, which modify the
excitation current and make it match as much as possible
to the back EMF using cancellation techniques. One of the
most common methods for minimizing the torque pulsation
in brushless dc (BLDC) motors is adjusting the width of the
crests of six step current. Some other methods take advantage of
harmonic injection for minimizing torque pulsation. The back-
EMF inversion method has also been used for this purpose.
In this paper, the combination of proper number of slots,
winding distribution, and increasing number of phases has been
used to minimize the torque pulsation of the IPM motor. A five-
phase IPM motor with fractional-slot stator is designed. It is
shown that despite other IPM motors, which have the disad-
vantage of high torque pulsation, the four-pole five-phase IPM
motor with 15 stator slots and double-layer windings has a very
low torque pulsation. This is due to the winding distribution
and also having more number of phases. To show the superior
performance of the 15-stator-slot five-phase IPM motor, a five-
phase IPM with 20 stator slots is considered. Having a stator
with 20 stator slots is a common structure for five-phase motors.
Again, for comparison purposes, a fractional-slot three-phase
motor is considered as well. It is shown that the torque pulsation
of the proposed four-pole five-phase IPM with 15 stator slots is
much lower than other configurations.
II. F RACTIONAL -S LOT F IVE -P HASE IPM M OTOR
Stator-winding distribution and number of stator slots have
significant effects on the back-EMF waveform, reluctance
torque, and, finally, on the total torque and torque pulsation
of the machine. On the other hand, increasing the number of
phases will increase the frequency and decrease the amplitude
of torque pulsation.
Similar to the three-phase case, it is possible to have a four-
pole five-phase fractional-slot stator. For a 15-slot stator, three
possible double-layer winding configuration with coil spans of
2, 3, and 4 can be designed. There are three coils for each
phase. The go and return of each coil can be determined in a
progressive manner. The axis of phase winding should be dis-
placed from each other by 72 electrical degrees. For a five-phase
41
motor in the case where phase “a” starts in slot 1, the start of
phase “b” should be in the slot
“1 + offset”
where
Offset = 2/5 × Number of slots/Number of poles
If the above number is not an integer, which is the case for
the 15-slot stator, then
Offset = 2/5 × Number of slots/Number of poles + k ×
Number of slots/Number of pole pairs
where k = 1, 2, 3, . . . ,
In the case of a 15-slot motor and considering k = 1, the
correct value will be: Offset = 9. Therefore, assuming that the
start of phase “a” is in slot 1, the start of phase “b” will be
in slot 10, and start of phases “c,” “d,” and “e” will be in
slots 4, 13, and 7, respectively. Placing the subsequent coils for
each winding will depend on the coil span and will follow the
progressive rule. Suppose, first coil of phase “a” starts in slot 1,
and the coil span is 2. The return slot of the first coil in phase “a”
will be slot 3. For this motor, the value of SF is 4 in case of
progressive winding. Therefore, the go slot of the second coil
of phase “a” is slot 7; the return of the second coil will be in
slot 5. The go slot of the third coil will be slot number 9, and
the return will be slot 11. Now, if the coil span is 3 and first
coil of phase “a” starts in slot 1, then the return slot of the
first coil in phase “a” will be slot 4; the go slot of the second
coil is slot 8; the return of the second coil will be in slot 5.
The go slot of the third coil will be slot number 9, and the return
will be slot 12. If the coil span is 4, then the go and return slots
of the first coil of phase “a” will be slots 1 and 5, respectively.
The go slot of the second coil of phase a is slot 9; the return of
the second coil will be in slot 5. The go slot of the third coil
will be slot number 9, and the return will be slot 13. Following
the same rule, the go and return slots of all the three coils for
phases B, C, D, and E can be defined.
Fig. 1 shows three possible winding distributions for the five-
phase IPM motor with 15 stator slots and coil span 2, 3, and 4.
The magnets are NdFeB of type 35EH with Br = 1.21 Tesla
and thickness of 3.5 mm. Stator outer diameter, inner diameter,
and stack length are 118, 65, and 80 mm, respectively. The
airgap is 0.5 mm.
III. F INITE -E LEMENT A NALYSIS
Nonlinear finite-element analysis is used to calculate the
back EMF, total static torque, cogging torque, tooth, and back-
iron flux densities of the machines.
The flux linking coil A is obtained from finite-element
method, and the following equation is used to find the back
EMF:
dφ dφ dθ dφ
e= = = ω (1)
dt dθ dt dθ
where φ is the flux linking the stator coil, θ is the rotor position,
and ω is the motor shaft speed.
Fig. 2 shows the back-EMF waveform of all configurations
at 1800 r/min. To consider the effect of the end winding, the
42 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 43, NO. 1, JANUARY/FEBRUARY 2007
Fig. 1. Cross section of five-phase IPM motors with 15 stator slots.
(a) Coil span = 2. (b) Coil span = 3. (c) Coil span = 4.
number of turns has been approximately adjusted for configu-
rations with different coil spans. As shown in the figures, the
back EMF of the motor with coil span of 2 has the narrowest
Fig. 2. Top to bottom: back-EMF waveform of the 15-slot five-phase IPM
motor with coil span 2, 3, and 4, respectively, at 1800 r/min.
crest while the one with coil span of 4 has the widest crest.
Therefore, for the same peak flux, the fundamental component
of back EMF in the one with coil span of 4 is the highest, and
that of the one with coil span of 2 is the smallest. The back EMF
of the configuration with coil span 3 is closest to the sinusoid.
The system uses virtual work principles to compute the
torque on an object
 H  
 
∂Wco ∂  
T = = B · dH  dV  . (2)
∂θrm ∂θrm
V 0
The motors with coil spans of 2 and 3 are supplied with
sinusoidal current. The one with coil span 4, which has a quasi-
trapezoidal back EMF, is supplied with both sinusoidal current
and current pulses of 144◦ . The same amount of copper, iron,
and magnet has been used in all designs. In order to maintain
the same copper losses, the rms value of the current in case of
sinusoidal excitation is equal to the rms value for current pulses
of 144◦ , which means that the following relation is valid for the
peak values of the currents:
√
2 2
Ipeak_ sin = √ Ipeak_144◦ . (3)
5
The electromagnetic torque of these motors when excited with
rated ideal currents is shown in Fig. 3. The torque of the motor
with coil span of 2 has an average of 7.5 N·m with the pulsation
of 3.5%. The motor with coil span 3 has an average torque of
8.6 N·m and torque pulsation of 2.1%. The configuration with
coil span 4 when supplied sinusoidally has an average torque
of 8.9 N·m and torque pulsation of 2.6%. When supplied with
144◦ current pulses, the average torque of this configuration
is 9.4 N·m, and the torque pulsation will be 5.7%. It can be
understood that the torque pulsations are very low in all the
cases. The average torque of the motors with coil spans of
3 and 4 is bigger than the one with coil span of 2.
To verify the superior performance of the 15-stator-slot five-
phase IPM from the torque-pulsation point of view, a five-phase
PARSA et al.: FIVE-PHASE INTERIOR PERMANENT-MAGNET MOTORS WITH LOW TORQUE PULSATION 43

Fig. 3. Top to bottom: electromagnetic torque of the 15-slot five-phase IPM

motor with coil span 2, 3, and 4 when supplied sinusoidally and the one with
coil span 4 when supplied with current pulses of 144◦ .

IPM motor with 20 stator slots [Fig. 4(a)], which is a common

configuration for four-pole five-phase motor has been designed.
Similarly, for comparison purposes, a three-phase motor with
15 stator slots [Fig. 4(b)] has been designed. The number of
turns and the slot width have been adjusted to guarantee the
same amount of copper and iron in all the cases. The back-EMF
waveforms of both configurations are shown in Fig. 5. The five-
phase motor with 20 stator slots will have a quasi-rectangular
back EMF. In this paper, this machine is supplied with both
sinusoidal current and current pulses of 144◦ . Fig. 6 shows
the electromagnetic torque for the five-phase IPM motor with
20 stator slots supplied with both type of currents as well as the
electromagnetic torque of three-phase IPM with 15 stator slots
when supplied sinusoidally. The torque pulsation for the five-
phase motor with 20 stator slots with sinusoidal excitation is
26.4%. This machine if supplied with 144◦ current pulses will Fig. 4. (a) Cross section of five-phase IPM motors with 20 stator slots.
have a torque pulsation of 23%. The three-phase motor with (b) Cross section of three-phase IPM motor with 15 stator slots.
15 slots has a torque pulsation of 8%. As shown, the torque
pulsation for both machines, especially that of the five-phase
20-slot motor, is much higher than the five-phase motors with
15 stator slots. It should be mentioned that the total amper-turns
for the three-phase and five-phase machines are kept constant.
Therefore, the amper-turn per phase of a three-phase machine
will be 5/3 times of the amper-turn per phase of the five-phase
machine.
Cogging torque, which is the interaction between the rotor
magnets and stator slots in case that the stator is unexcited, is
shown in Fig. 7. As it is clear from Fig. 7, the amplitude of the
cogging torque for 15-slot motor is less than one third of that
of the 20-slot motor. Considering that the waveforms shown in
Fig. 6 are for the 90◦ of rotor position, it is understood that
the frequency of cogging torque is 20 for the 20-slot motor,
whereas it is 60 for the 15-slot motor. The frequency is basically
the smallest common multiplier of number of poles and number
of slots. Analysis of the cogging torque is also another reason,
confirming the low-torque pulsation of the proposed design. Fig. 5. Top to bottom: back-EMF waveform of the 20-slot five-phase IPM and
Tooth flux density and back-iron flux density when different 15-slot three-phase IPM, respectively, at 1800 r/min.
44 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 43, NO. 1, JANUARY/FEBRUARY 2007
Fig. 6. Top to bottom: electromagnetic torque of the 20-slot five-phase IPM
motor (supplied sinusoidally and with current pulses of 144◦ ) and 15-slot three-
phase motor supplied sinusoidally.
Fig. 7. Top to bottom: cogging torque of the 20- and 15-slot motors,
respectively.
five-phase configurations are supplied with rated currents are
shown in Figs. 8 and 9.
A summary of the finite-element-simulation results is shown
in Table I. As shown in the table, the five-phase IPM motors
with 15 stator slots when supplied sinusoidally have much
lower torque pulsation compared to the five-phase IPM with
20 stator slots and the three-phase IPM with sinusoidal excita-
tion. On the other hand, the five-phase IPM motor with 15 stator
slots and coil span 4 when supplied with current pulses of 144◦
has much lower torque pulsation compared to the five-phase
20-slot motor with the same excitation current. The maximum
values of tooth and back-iron flux densities for all cases are in
acceptable range.
IV. P ROTOTYPE M OTOR
The five-phase IPM motor with 15 stator slots and coil span
of 3 has been built in the laboratory. The five-leg IGBT-based
Fig. 8. Tooth flux density of the five-phase motors. Top to bottom: 15-slot
motor with coil span 2 supplied sinusoidally, 15-slot motor with coil span 3
supplied sinusoidal, 15-slot motor with coil span 4 supplied sinusoidally,
15-slot motor with coil span 4 supplied with current pulses of 144◦ , 20-slot
motor supplied sinusoidally, and 20-slot motor supplied with current pulses
of 144◦ .
Fig. 9. Back-iron flux density of the five-phase motors. Top to bottom: 15-slot
motor with coil span 2 supplied sinusoidally, 15-slot motor with coil span 3 sup-
plied sinusoidal, 15-slot motor with coil span 4 supplied sinusoidally, 15-slot
motor with coil span 4 supplied with current pulses of 144◦ , 20-slot motor
supplied sinusoidally, and 20-slot motor supplied with current pulses of 144◦ .
inverter is used to supply the motor. The back EMF of the
motor at 750 r/min for phases “a,” “b,” and “c” of the motor
is shown in Fig. 10. The back EMF at 750 r/min from finite-
element analysis is shown in Fig. 11. As shown in the figure,
the experimental back-EMF waveforms are in good agreement
with the one from finite element.
V. C ONCLUSION
The design of fractional-slot five-phase IPM motor was
studied. Three possible configurations were considered for a
PARSA et al.: FIVE-PHASE INTERIOR PERMANENT-MAGNET MOTORS WITH LOW TORQUE PULSATION
TABLE I
SUMMARY OF RESULTS
Fig. 10. Experimental back EMF for phases a, b, and c at 750 r/min.
Fig. 11. Back EMF for phases a, b, and c at 750 r/min from finite-element
analysis.
five-phase IPM motor with 15 stator slots. Through finite-
element analysis, it was shown that despite other IPM con-
figuration, the fractional-slot five-phase IPM motor designed
in this paper has a very low-torque pulsation. For comparison
purposes, a five-phase IPM motor with 20 stator slots, which is
a common configuration for four-pole five-phase motors, and a
45
fractional-slot three-phase motor were also considered. It was
shown that the torque pulsation of the proposed fractional-slot
five-phase IPM motor is much lower than the five-phase IPM
motor with 20 stator slots and also of a similar fractional-
slot three-phase IPM motor. The five-phase IPM motor with
15 stator slots and coil span of 3 has been built in the laboratory
to be used for experimental verification.
ACKNOWLEDGMENT
The authors would like to thank the assistance provided by
Ansoft Corporation for the finite-element package.
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46 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 43, NO. 1, JANUARY/FEBRUARY 2007

Leila Parsa (S’00–M’04) received the Ph.D. degree Abas Goodarzi (S’82–SM’93) received the B.S.
in electrical engineering from Texas A&M Univer- degree from California State University, Sacramento,
sity, College Station, TX, in 2005. and the M.S. and Ph.D. degrees in power electronics
Currently, she is an Assistant Professor with the from the University of Missouri, Columbia, in 1986.
Department of Electrical, Computer, and Systems He was an Associate Professor with California
Engineering at Rensselaer Polytechnic Institute, State University, San Francisco, and a Project Engi-
Troy, NY. Her research interests are the design of neer, Variable-Speed Induction Wind Generator, U.S.
special-purpose electric machines and their advanced Windpower. He was a Senior Scientist, Hughes Air
control systems. Craft Company, and Technical Director for General
Motors at Electric Vehicle Power Trains. He is cur-
rently CEO, Chief Engineer, and Founder of U.S.
Hybrid Corporation, Torrance, CA, and is involved in the development of high-
performance power conversion and drive systems for electric, hybrid, fuel cell,
Hamid A. Toliyat (S’87–M’91–SM’96) received the and renewable energy applications.
B.S. degree from Sharif University of Technology,
Tehran, Iran, in 1982, the M.S. degree from West
Virginia University, Morgantown, in 1986, and the
Ph.D. degree from the University of Wisconsin,
Madison, in 1991, all in electrical engineering.
Following receipt of the Ph.D. degree, he joined
the faculty of Ferdowsi University of Mashhad,
Mashhad, Iran, as an Assistant Professor of elec-
trical engineering. In March 1994, he joined the
Department of Electrical Engineering, Texas A&M
University, College Station, where he is currently the E.D. Brockett Professor
of Electrical Engineering. He has supervised more than 35 graduate students,
published over 265 technical papers, raised over $3.4 M in research funding,
presented more than 35 invited lectures all over the world, and is the holder of
ten issued and pending U.S. patents in these fields. He is the author of DSP-
Based Electromechanical Motion Control (CRC Press, 2003) and the Coeditor
of Handbook of Electric Motors—2nd Edition (Marcel Dekker, 2004). His
main research interests and experience include analysis and design of electrical
machines, variable-speed drives for traction and propulsion applications, fault
diagnosis of electric machinery, and sensorless variable-speed drives.
Dr. Toliyat received the prestigious Cyrill Veinott Award in electromechan-
ical energy conversion from the IEEE Power Engineering Society in 2004,
Outstanding Professor Award in 2005 from Texas A&M, Texas Engineering
Experiment Station (TEES) Fellow Award in 2004, Distinguished Teaching
Award in 2003, E.D. Brockett Professorship Award in 2002, Eugene Webb
Faculty Fellow Award in 2000, and Texas A&M Select Young Investigator
Award in 1999 from Texas A&M University. He also received the Space Act
Award from NASA in 1999 and the Schlumberger Foundation Technical Award
in 2000 and 2001. He is an Editor of the IEEE TRANSACTIONS ON ENERGY
CONVERSION and was an Associate Editor of the IEEE TRANSACTIONS ON
POWER ELECTRONICS. He is also the Papers Review Chair of the Electric
Machines Committee of the Industrial Power Conversion Systems Department
of the IEEE Industry Applications Society, and is a member of Sigma Xi. He
is a senior member of the Power Engineering, Industry Applications, Industrial
Electronics, and Power Electronics Societies of the IEEE and the recipient of
the 1996 IEEE Power Engineering Society Prize Paper Award for his paper
on the Analysis of Concentrated Winding Induction Machines for Adjustable
Speed Drive Applications—Experimental Results. He was the General Chair of
the 2005 IEEE International Electric Machines and Drives Conference held in
San Antonio, TX.