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Design of Brushless Permanent-Magnet Motors
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This book, written by two world-leading experts. o.imbiiie:, practical and aca demic experience to produce the most comprcheniuvc and useful design manual for hrush less permanent-niaghei motors ever It is dcnigncd to sent the modern computer based generation of mo;or engineers, '['he book. uoe» hand-in-hand with modern software-based tedwiquer- for design und analysi*. Ij coven nil the topic* of interest to the motor design engineer and the systems engineer, incjtid- mg electrical and magnetic design, materials. control, and man> other topics.
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MAGNA PHYSICS PUBLICATIONS ■ OXFORD SCIENCE PUBLICATIONS
DESIGN OF BRUSHLESS
PERMANENT-MAGNET
MOTORS
j. R. HENDERSHOT Jr
and TJE MILLER

MONOGRAPHS IN ELECTRICAL AND ELECTRONIC ENGINEERING • 3?
ftru§h!e*5 permanem-mtfgnet moU*rs provide mmplc. law inpintemmcc, easily
controlled motive power New magnetic materials and digital power control
techniques continue to widen the scope of their applications: Increasing automa
tion is increasing demand.
This book, written by two world-leading experts. o.imbiiie:, practical and aca
demic experience to produce the most comprcheniuvc and useful design manual
for hrush less permanent-niaghei motors ever It is dcnigncd to se n t the modern
computer based generation of mo;or engineers, '['he book. uoe» hand-in-hand
with modern software-based tedwiquer- for design und analysi*. Ij coven nil the
topic* of interest to the motor design engineer and the systems engineer, incjtid-
mg electrical and magnetic design, materials. control, and man> other topics.
J. R. Hendershot ,|r is General Manager of the Magna Physic* Hi vision of
Trideha Industries. Hillsboro, Ohlu TJli Miller in I ,ucan Professor of Power
Engineering, University of Glasgow und Director of the SPE£i) Consortium
MONOGRAPHS IN KUiCTRICAI AND ELECTRONIC ENGINEERING
Series editors. P ll-inimond. TJE Miller, S Yamamura
Brushless permancnt-m agnet and reluctance m otor drives (I9K9)
TJE Miller
Switched reluctance motors anti their control (1993)
T J E M ille r
Numerical modelling of eddy currents (1993)
Andrzej Kruwczyk and John A Tegopoulos
Rectifiers, cycloconvertcrs. and a.c. controllers (1994)
Thornas H. Barton
Stepping motors and their m icroprocessor controls: Second edition (1994)
T. Kcmo und A Sugawaru
Inverse problem s and optimal design in electricity and m agnetism (1994)
P. Neittaanmaki, M Rudnmki. and A. Savim
Magna Physics Publications i* u division of Tridclta Industries and specializes in
books on electric motors- actuators. and controls Which focus on and emphasize
the acfual design techniques more limn the tlienreucal principles of operation.

Monographs in Electrical and Electronic Engineering
10. The theory of linear Liduction machinery (1980) Michel Poloujadoff
12. Energy methods in electromagnetism (1981) P. Hammond
15. Superconducting rotating electrical machines (1983) J. R. Bumby
16. Stepping motors and their microprocessor controls (1984) T. Kenjo
17. Machinery noise measurement (1985) S. J. Yang and A. J. Ellison
18. Permanent-magnet and brushless d.c. motors (1985) T. Kenjo and S. Nagamori
19. Metal-semiconductor contracts: Second edition (1988) E. H. Rhoderick and
R. H. Williams
20. Introduction to power electronics (1988) Eiichi Ohno
21. Brush less permanent-magnet and reluctance motor drives (1989) TJE Miller
22. Vector control ofa.c. machines (1990) Peter Vas
23. Brushless servomotors: fundamentals and applications (1990) Y. Dote and
S. Kinoshita
24. Semiconductor devices, circuits, and systems (1991) Albrecht Moschwitzer
25. Electrical machines and drives: a space-vector theory approach (1992) Peter Vas
26. Spiral vector theory o f a.c. circuits and machines (1992) Sakae Yamamura
27. Parameter estimation, condition monitoring, and diagnosis o f electrical machines
(1993) Peter Vas
28. An introduction to ultrasonic motors (1993) S. Sashida and T. Kenjo
29. Ultrasonic motors: theory and applications (1993) S. Ueha and Y. Tomikawa
30. Linear induction drives (1993) J. F. Gieras
31. Switched reluctance motors and their control (1993) TJE Miller
32. Numerical modelling of eddy currents (1993) Andrzej Krawczyk and John
A. Tegopoulos
33. Rectifiers, cycloconverters, and a.c. controllers (1994) Thomas H. Barton
34. Stepping motors arui their microprocessor controls: Second edition (1994)
T. Kenjo and A. Sugawara
35. Inverse problems and optimal design in electricity and magnetism (1994)
P.Neittaanmaki, M. Rudnicki, and A. Savini
36. Applications of electric drive systems (1994) Richard M. Crowder
37. Design o f Brushless Permanent-Magnet Motors (1994) J. R. Henderehot Jr,
and TJE Miller

Design of Brushless
Permanent-Magnet Motors
J.R. Hendershot Jr. TJE Miller
General Manager Lucas Professor in Power Electronics
Magna Physics Tridalta Director, SPEED Consortium
Hillsboro, OHIO 45133 University of Glasgow, UK
MAGNA PHYSICS PUBLISHING
AND
CLARENDON PRESS • OXFORD
1994

Magna Physics Publishing, Hillsboro, OH 45133
Magna Physics Div. Tridclta Industries Inc., Mentor, OH 44060
and
Oxford University Press, Walton Street, Oxford 0X2 6DP
Oxford New York Toronto
Delhi Bombay Calcutta Madras Karachi
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and associated companies in
' Berlin Ibadan
Oxford is a trade mark of Oxford University Press
Published in the United States
by Magna Physics Div. Tridelta Industries Inc., Hillsboro, Ohio
and Oxford University Press Inc., New York
® J. R. Hendershot Jr. and T. J. E Miller, 1994
All rights reserved. No part of this publication may be
reproduced, stored in a retrieval system, or transmitted, in
any form of by any means, without the prior permission in writing
of Magna Physics or Oxford University Press. Within the USA & UK,
exceptions are allowed in respect of any fair dealing for the purpose of research or private
study, or criticism or review, as permitted under the Copyright, Designs and Patents Act,
1938, or in the ease of reprographic reproduction in accordance with the terras of licenses
issued by the Copyright Licensing Agency. Enquiries concerning reproduction
outside those terms and in other countries should be sent
to Magna Physics or Oxford University Press,
at the addresses shown above.
Library of Congress Cataloging in Publication Data is Available
A catalogue record for this book is available from the British Library
Magna Physics ISBN 1-881855-03-1
OUP ISBN 0-19-859389-9
Typeset by the Authors
Printed in (he United States of America
by Book Craftcrs, Chelsea, Michigan 48118-0370
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