JP4694253B2 - Permanent magnet rotating electric machine - Google Patents

Description

  The present invention relates to a permanent magnet type rotating electrical machine such as a servo motor, and more particularly to a permanent magnet type rotating electrical machine for the purpose of downsizing, high output density and reduction of cogging torque.

In a general configuration of a permanent magnet type rotating electric machine, a rotor is disposed in a stator. The stator is provided with a plurality of stator windings on the inner periphery of a substantially cylindrical stator core having a plurality of convex poles protruding inward to form a plurality of magnetic poles. The rotor is provided with a rotor core so that it can rotate with the center of the stator as the center axis of rotation, and a permanent magnet is provided on or inside the rotor core, and the permanent magnet has N and S poles around it. Magnetized so as to be arranged alternately in the direction (rotation direction). In this rotating electrical machine, the rotor is rotated around the rotation center axis by appropriately energizing the stator windings to form a rotating magnetic field.
In the permanent magnet type rotating electrical machine as described above, even when the rotor is rotated in a state where no current is passed through the stator winding (no load state), a rotational torque variation called cogging torque occurs. To do. The cogging torque causes factors such as generation of vibration and noise, and deterioration of the control performance of the rotating electrical machine.
In order to reduce the cogging torque, it is known to provide a skew at the boundary line of the magnetic pole of the permanent magnet. In general, the distance between the N and S poles of the permanent magnet is a straight line oblique to the rotation center axis, and the theoretical skew angle α (mechanical angle) that can reduce the cogging torque most is 360 / (fixed) The number of magnetic poles (slot number) on the child side and the least common multiple of the number of magnetic poles) [degree] (see, for example, Patent Document 1).
When this is expressed in terms of electrical angle using the number of magnetic poles (number of poles) of the rotor and the number of magnetic poles (number of slots) of the stator, the theoretical skew angle θs that can most reduce the cogging torque is θs = 180 × (the rotor The number of magnetic poles) / (the least common multiple of the number of magnetic poles of the rotor and the number of magnetic poles of the stator) [degree].
However, when the theoretical skew angle θs (electrical angle) is theoretically determined as described above and applied to an actual rotating electrical machine, it is considered that the reduction of cogging torque is still insufficient. The reason is that the use of skew causes a leakage flux in the axial (rotation center axis) direction, but the effect of magnetic saturation due to this leakage flux is not taken into account. On the other hand, in a permanent magnet type rotating electrical machine, it is necessary to reduce the size and increase the output density, and it is necessary to reduce the size of the same output. In order to reduce the size of the body, it is necessary to increase the electrical load or magnetic load. However, if the electrical load is increased, heat generation in the windings becomes prominent, and there is a high possibility that the continuous rating condition will not be met in terms of temperature. It is difficult to reduce the size and increase the output density by increasing the load. For this reason, it is required to achieve a smaller and higher output density by increasing the magnetic loading, that is, the magnetic flux density.
Therefore, by setting the skew angle to a different angle from the theoretical angle, it is possible to increase the output density by increasing the magnetic flux density while reducing the cogging torque compared to the theoretical skew angle. It is described that a magnet-type rotating electrical machine is provided (for example, see Patent Document 2).

JP 2000-308286 A (page 3, FIG. 2 and FIG. 5) JP 2005-20930 A

  However, when the skew angle is determined in consideration of the influence of magnetic saturation as described above, it is necessary to optimize the skew angle. Further, depending on the situation of magnetic saturation, the optimized skew angle may be a skew angle that causes an increase in torque ripple.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a permanent magnet type rotating electrical machine that can reduce the cogging torque while setting the skew angle as the theoretical angle and suppressing the reduction in output as much as possible. It is what.

In the permanent magnet type rotating electrical machine according to the present invention, a permanent magnet having a plurality of magnetic poles in the circumferential direction is disposed, a rotor having a skew at the boundary line or boundary portion of the magnetic pole of the permanent magnet, and the rotor And a stator having a substantially cylindrical stator core formed with a plurality of projecting poles protruding inward, the axial length of the stator core being L, and the electrical steel sheet used for the stator core The sheet thickness is t, the number of used electromagnetic steel sheets is n, and the space factor P of the iron core that can be calculated by P = nt / L × 100 [%] is in the range of 97 to 99.4%, and is permanent. The skew angle of the magnet is 360 / (the least common multiple of the number of rotor magnetic poles and the number of stator magnetic poles) .

According to the present invention, a permanent magnet having a plurality of magnetic poles is arranged in the circumferential direction, a rotor having a skew in a boundary line between the magnetic poles of the permanent magnet, the rotor is arranged inside, and protrudes inward. And a stator having a substantially cylindrical stator core formed with a plurality of convex poles. The core space factor P is in the range of 97 to 99.4%, and the skew angle of the permanent magnet is 360. / (The least common multiple of the number of rotor magnetic poles and the number of stator magnetic poles), it is possible to obtain a permanent magnet type rotating electrical machine capable of reducing cogging torque while maintaining high output density.

となる。ただし、ａ≠ｃ およびｂ≠ｄとした。また、ａ＝ｃ もしくはｂ＝ｄの場合には、鉄心の占積率は１００％となる。
次に、高出力化を目的としてカシメ５を実施した場合のカシメ部での積層方向の断面図を図７に示す。図７に示すように、高出力化のため通常は、各電磁鋼板４間での隙間は出来るだけ低減させることを行う。そのため、図５におけるカシメ部寸法はａ＝ｃ、ｄ＝ｂとなるよう、つまり、鉄心の占積率Ｐは１００％となるように設定する。
次に、図２に示したような回転子磁極数が６個、固定子磁極数が９個の回転電機について、理論スキュー角度が２０度（機械角度３６０／１８＝２０度）の回転子スキューを施した場合について、３次元磁界解析を行い、鉄心の占積率Ｐの大きさを変化させた場合のコギングトルクおよび無負荷誘起電圧算出結果を図６に示す。図６は、鉄心の占積率Ｐが１００％の場合を基準として、コギングトルク比および無負荷誘起電圧比を示している。
図６より、鉄心の占積率Ｐが１００％から小さくなるに伴い、コギングトルクも小さくなっていることが分かる。これは、占積率Ｐを低くするに伴い、図１に示した軸方向漏洩磁束１３が減少したためと考えられる。つまり、理論スキュー角度でのコギングトルク低減のためには、軸方向漏洩磁束１３が低減することが必要となり、占積率Ｐは低くした方が良いものと考えられる。
一方、永久磁石式回転電機のトルク出力は、一般的に無負荷誘起電圧×通電電流で表すことができる。つまり、通電電流が一定である場合には、トルク出力を大きくするためには、出来るだけ無負荷誘起電圧を大きくすることが必要となる。図６では、鉄心の占積率Ｐの低下に伴い、無負荷誘起電圧が低下していることが分かる。これは、鉄心の占積率Ｐが低下したことより、等価的に固定子鉄心２１の鉄心幅が短くなったためである。
よって高トルク出力および低コギングトルクを達成するためには、鉄心の占積率Ｐの設定が非常に重要となり、この発明では、高トルク出力(低減率１％以下)および低コギングトルク(低減率５０％以下)を達成するために、鉄心の占積率Ｐは９７〜９９．４％の範囲となるように設定した。
次に、図５のカシメ５の寸法記号を用い、カシメ５実施時の占積率低減方法について述べる。
まず、カシメ５の形状として、図２および図３に示した丸形状について説明を行う。
図５において、電磁鋼板４を打ち抜き丸形カシメ時に発生するするカシメ部の凸凹形状の体積Ｖ1、Ｖ2は一定であると考えられることから、次式が成立する。

よって丸形カシメ時を使用した際の鉄心の占積率Ｐは（１）式より

と表すことができる。
よって、丸形カシメを使用した場合には、(２)式を用い、鉄心の占積率Ｐを９７〜９９．４の範囲となるように、カシメ形状寸法ａ、ｂ、ｃ、ｄを決定することより、高トルク出力および低コギングトルクが達成できるものと考えられる。
次に、カシメ形状として、図８の正方形カシメ６を用いた場合について述べる。ここで、ａは凹部の一辺の長さである。正方形カシメを用いた場合も、カシメ部の凸凹形状の体積は一定であることから次式が成り立つ。

よって、正方形カシメを使用した際の鉄心の占積率Ｐは（２）式と同様となり、丸形カシメを使用した場合と同様、カシメ形状寸法ａ、ｂ、ｃ、ｄを（２）式を用い決定することより、高トルク出力および低コギングトルクが達成できるものと考えられる。
次に、カシメ形状として、長方形カシメの場合について述べる。ここで、ａは凹部の短辺の長さ、ｅは凹部の長辺の長さである。長方形カシメの場合もカシメ部の凸凹部体積は一定であることから、次式が成立する。

よって長方形カシメを使用した場合の鉄心の占積率Ｐは、次式で表すことができる。

よって、長方形カシメを使用した場合には、カシメ形状寸法ａ、ｂ、ｃ、ｄを（３）式を用い、鉄心の占積率Ｐが９７〜９９．４％の範囲となるように設定することより、高トルク出力および低コギングトルクが達成できるものと考えられる。
なお、この実施の形態１は、丸形・長方形・正方形カシメの場合について述べたが、他のカシメ形状の場合でも同様に、カシメ部寸法を鉄心の占積率から決定することで、低コギングトルク化が行えるものと考えられる。
また、図２および図３では、１つのティース当たり１個のカシメを用いた場合について説明を行ったが、図１４に示すように１つのティース当たり複数のカシメを使用した場合についてもカシメ部寸法を鉄心の占積率から決定することで、低コギングトルク化を行うことができるものと考えられる。
さらに、図１５に示すようにカシメを実施したティースと実施しないティースを混合させた場合等についてもカシメ部寸法を鉄心の占積率から決定することで、低コギングトルク化を行うことができるものと考えられる。 Embodiment 1 FIG.
1 is a perspective view showing a permanent magnet type rotating electrical machine according to Embodiment 1 of the present invention, FIG. 2 is a plan view showing the permanent magnet type rotating electrical machine according to Embodiment 1 of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a cross-sectional view in the stacking direction of the caulking portion of FIG. 3, and FIG. 5 is a schematic dimensional diagram showing an enlarged part of the caulking portion of FIG. 4; FIG. 6 is a characteristic diagram showing the relationship between the space factor of the iron core, the cogging torque, and the no-load induced voltage based on the case where the space factor of the iron core is 100% obtained from the three-dimensional magnetic field analysis results. 3 is a cross-sectional view in the stacking direction at the caulking portion of FIG. 3 when the space factor is 100%, FIG. 8 is a view corresponding to FIG. 3 showing different caulking shapes of the teeth portion of the permanent magnet type rotating electrical machine, and FIG. FIG. 3 equivalent to another different caulking shape of the electric teeth portion It is.
As shown in FIGS. 1 and 2, in the rotor 3, permanent magnets 32 are arranged on the outer peripheral surface of a rotor core 31 fixed to the rotor shaft 33. The permanent magnet 32 is magnetized such that the magnetic poles 32a to 32f are alternately arranged in the circumferential direction (rotation direction) with the N pole and the S pole, and the magnetic poles 32a and 32b, 32b and 32c, 32c and 32d, and 32d and 32e. , 32e and 32f, and 32f and 32a are provided with a skew (a skew angle θ).
The stator 2 includes a plurality of stator windings 22 provided on the inner periphery of a cylindrical stator core 21 having a stator tooth 23 formed of a plurality of convex poles protruding inward. The magnetic pole is formed. In FIG. 2, the number of magnetic poles (number of slots) of the stator 2 is nine.
The rotor 3 is provided with a rotor core 31 so as to be able to rotate about the center of the stator 2 as a rotation center axis. By appropriately energizing the stator winding 22 and forming a rotating magnetic field, the rotor 3 is Rotates around the rotation center axis.
In FIG. 2, the number of magnetic poles of the rotor 3 is 6, and the number of magnetic poles of the stator 2 is 9. Therefore, the theoretical skew angle θ (mechanical angle) for reducing the cogging torque of this permanent magnet type rotating electric machine. Is 20 degrees (= 360 / the least common multiple of the number of rotor magnetic poles and the number of stator magnetic poles 18).
As shown in FIG. 4, a rotating electrical machine that requires a high power density generally uses a thin electromagnetic steel plate 4 (thickness 0.2 to 0.5 mm), which is a low iron loss material, and uses an iron core as a mold. At the same time as punching in, without using caulking 5, that is, without using an adhesive or the like, the magnetic steel sheet 4 is integrated by firmly fastening the joint by hitting or tightening a nail or metal fitting fitted into the joint with a tool. It is performed.
FIG. 5 is an enlarged schematic dimensional diagram showing a part of the caulking portion of FIG. 4, in which dimensional symbols of the caulking 5 are described. t is the thickness of the electromagnetic steel sheet 4, t ′ is the distance between the adjacent electromagnetic steel sheets in the crimped portion + the thickness of the electromagnetic steel sheet, a is the diameter of the concave portion, b is the depth of the concave portion, c is the diameter of the convex portion, d is The height of the convex part, V1 is the volume of the concave part, and V2 is the volume of the convex part.
In this invention, the thickness t of the used magnetic steel sheet 4 of the iron core × the number n used / the length L of the stator core 21 is defined as the space factor P of the iron core. That is, P = nt / L × 100 [%].
If the dimension symbol of the crimping part 5 shown in FIG. 5 is used, the space factor P of the iron core is

It becomes. However, a ≠ c and b ≠ d. When a = c or b = d, the space factor of the iron core is 100%.
Next, FIG. 7 shows a cross-sectional view in the stacking direction at the crimping portion when the crimping 5 is performed for the purpose of increasing the output. As shown in FIG. 7, the gap between the electromagnetic steel sheets 4 is usually reduced as much as possible for higher output. Therefore, the caulking portion dimensions in FIG. 5 are set to be a = c and d = b, that is, the space factor P of the iron core is set to 100%.
Next, for a rotating electrical machine having six rotor magnetic poles and nine stator magnetic poles as shown in FIG. 2, a rotor skew having a theoretical skew angle of 20 degrees (mechanical angle 360/18 = 20 degrees). FIG. 6 shows the cogging torque and no-load induced voltage calculation results when a three-dimensional magnetic field analysis is performed and the space factor P of the iron core is changed. FIG. 6 shows the cogging torque ratio and the no-load induced voltage ratio based on the case where the space factor P of the iron core is 100%.
From FIG. 6, it can be seen that the cogging torque decreases as the space factor P of the iron core decreases from 100%. This is presumably because the axial leakage magnetic flux 13 shown in FIG. 1 decreased as the space factor P was lowered. That is, in order to reduce the cogging torque at the theoretical skew angle, it is necessary to reduce the axial leakage magnetic flux 13, and it is considered that the space factor P should be lowered.
On the other hand, the torque output of a permanent magnet type rotating electrical machine can be generally expressed as no-load induced voltage × energization current. That is, when the energization current is constant, in order to increase the torque output, it is necessary to increase the no-load induced voltage as much as possible. In FIG. 6, it can be seen that as the space factor P of the iron core decreases, the no-load induced voltage decreases. This is because the core width of the stator core 21 is equivalently shortened from the fact that the space factor P of the iron core has decreased.
Therefore, in order to achieve a high torque output and a low cogging torque, the setting of the space factor P of the iron core is very important. In the present invention, a high torque output (a reduction rate of 1% or less) and a low cogging torque (a reduction rate). 50% or less), the space factor P of the iron core was set to be in a range of 97 to 99.4%.
Next, a method for reducing the space factor when the caulking 5 is carried out will be described using the dimension symbols of the caulking 5 in FIG.
First, the round shape shown in FIGS. 2 and 3 will be described as the shape of the crimp 5.
In FIG. 5, the convex and concave volumes V1 and V2 of the caulking portion generated when punching the electromagnetic steel sheet 4 and round caulking are considered to be constant.

Therefore, the space factor P of the iron core when using round caulking is calculated from the equation (1)

It can be expressed as.
Therefore, when round caulking is used, the caulking shape dimensions a, b, c, d are determined so that the space factor P of the iron core is in the range of 97 to 99.4 using equation (2). Thus, it is considered that high torque output and low cogging torque can be achieved.
Next, the case where the square caulking 6 in FIG. 8 is used as the caulking shape will be described. Here, a is the length of one side of the recess. Even when square caulking is used, the following equation holds because the volume of the irregular shape of the caulking portion is constant.

Therefore, the space factor P of the iron core when square caulking is used is the same as that in equation (2), and the caulking shape dimensions a, b, c, and d are expressed by equation (2) as in the case of using round caulking. It is considered that a high torque output and a low cogging torque can be achieved by determining the use.
Next, the case of rectangular caulking will be described as the caulking shape. Here, a is the length of the short side of the recess, and e is the length of the long side of the recess. In the case of rectangular caulking, since the convex and concave volume of the caulking portion is constant, the following equation is established.

Therefore, the space factor P of the iron core when the rectangular caulking is used can be expressed by the following equation.

Therefore, when rectangular caulking is used, caulking shape dimensions a, b, c, and d are set using equation (3) such that the space factor P of the iron core is in the range of 97 to 99.4%. Therefore, it is considered that high torque output and low cogging torque can be achieved.
In the first embodiment, the case of round, rectangular and square caulking has been described. Similarly, in the case of other caulking shapes, the size of the caulking portion is determined from the space factor of the iron core, thereby reducing low cogging. It is considered that torque can be achieved.
2 and 3, the case where one caulking is used per tooth has been described. However, as shown in FIG. 14, the caulking portion dimensions are also obtained when a plurality of caulking is used per one tooth. It is considered that the cogging torque can be reduced by determining from the space factor of the iron core.
Furthermore, as shown in FIG. 15, even when teeth that have been crimped and teeth that have not been crimped are mixed, the cogging torque can be reduced by determining the size of the crimped portion from the space factor of the iron core. it is conceivable that.

にて表すことができる。これにより、鉄心占積率Ｐを変化させることが可能となる。
また、図１１に示したように、板厚ｔｓ[mm]の磁性材料部１０と板厚ｙｓ[mm]の非磁性材部１１を接合させることで、ｔ[mm]の板厚とする鉄心材料をｎ枚を用いた場合には、鉄心の占積率Ｐは

にて表すことができる。よって、磁性材料部１０と非磁性材料部１１を接合させた電磁鋼板を用いた場合にも、鉄心の占積率Ｐを変化させることが可能となる。 Embodiment 2. FIG.
In Embodiment 1, in order to change the space factor P of an iron core, although the case where the uneven shape of the crimping part was changed was described, in this Embodiment 2, an adhesive steel plate etc. are used without using crimping. The case where the electromagnetic steel sheets are integrated will be described.
FIG. 10 is a cross-sectional view of the permanent magnet type rotating electric machine in the iron core lamination direction according to Embodiment 2 of the present invention. That is, as shown in FIG. 10, it is possible to control the equivalent space factor P of the iron core also by installing a nonmagnetic material 6 having a thickness y between the iron core laminates made of electromagnetic steel plates 4 having a thickness t. It becomes.
Note that the space factor P of the iron core when the nonmagnetic material 6 is used is the thickness y [mm] of the nonmagnetic material 6 and the number of sheets is m.

Can be expressed as Thereby, the iron core space factor P can be changed.
Further, as shown in FIG. 11, an iron core having a thickness of t [mm] is obtained by joining a magnetic material portion 10 having a thickness ts [mm] and a non-magnetic material portion 11 having a thickness ys [mm]. When n pieces of materials are used, the space factor P of the iron core is

Can be expressed as Therefore, even when an electromagnetic steel sheet in which the magnetic material part 10 and the nonmagnetic material part 11 are joined is used, the space factor P of the iron core can be changed.

Embodiment 3 FIG.
FIG. 12 is a cross-sectional view of the permanent magnet type rotating electrical machine in the iron core lamination direction according to Embodiment 3 of the present invention. In the third embodiment, the space factor P of the iron core is adjusted by providing a case where caulking is provided in the axial direction and a case where caulking is not provided.

Embodiment 4 FIG.
It is possible to change the space factor P of the iron core also by using the first to third embodiments.

Embodiment 5 FIG.
In order to reduce the size and increase the output density of a permanent magnet type rotating electric machine, it is common to design the magnetic flux density of the iron core to be high. However, in the case of a design in which the magnetic flux density of the iron core is high, the axial leakage magnetic flux 13 is also increased, and it is estimated that the influence of the space factor P of the iron core on the cogging torque and the like is increased. Therefore, FIG. 13 shows the result of three-dimensional analysis of the relationship between the space factor P of the iron core and the cogging torque ratio with the magnetic flux density at the center of the stator teeth 23 as a parameter. The cogging torque in the figure is based on the case where the magnetic flux density is 1.3 T and the space factor of the iron core is 100%.
FIG. 13 shows that the influence of the space factor of the iron core increases as the magnetic flux density increases. That is, in the case of a design with a high magnetic flux density, the cogging torque value increases as the magnetic energy increases. This is because the amount of magnetic flux leakage in the axial direction is large for permanent magnet type rotating electrical machines that are designed to have a high magnetic flux density, so the effect of reducing the magnetic flux leakage in the axial direction by reducing the space factor of the iron core is also greater. It seems that it is getting bigger. From FIG. 13, when the magnetic flux density of the stator teeth 23 part is approximately 1T or more, it is considered that the cogging torque reduction effect by setting the space factor of the iron core in the range of 97 to 99.4% is very high. .

Embodiment 6 FIG.
The permanent magnet type rotating electrical machine in which the ratio between the number of stator magnetic poles and the number of rotor magnetic poles is 2: 3 is designed to increase the magnetic flux density of the tooth portion, and therefore the space factor of the iron core is set to 97 to 99.99. The effect of reducing the cogging torque due to the range of 4% increases.

It is a perspective view which shows the permanent magnet type rotary electric machine in Embodiment 1 of this invention. It is a top view which shows the permanent magnet type rotary electric machine in Embodiment 1 of this invention. It is a teeth part enlarged view of the permanent magnet type rotary electric machine in Embodiment 1 of this invention. It is sectional drawing of the lamination direction in the crimping | crimped part of FIG. It is a schematic dimension drawing which expands and shows a part of crimping part of FIG. It is a characteristic view showing the relationship between the space factor of the iron core, the cogging torque and the no-load induced voltage based on the case where the space factor of the iron core is 100% obtained from the three-dimensional magnetic field analysis result. It is sectional drawing of the lamination direction in the crimping | crimped part of FIG. 3 in the case of 100% of space factor of an iron core. FIG. 4 is a view corresponding to FIG. 3 showing different caulking shapes of teeth portions of the permanent magnet type rotating electric machine. FIG. 6 is a view corresponding to FIG. 3 showing another different caulking shape of the teeth portion of the permanent magnet type rotating electric machine. It is sectional drawing of the iron core lamination direction of the permanent magnet type rotary electric machine in Embodiment 2 of this invention. It is sectional drawing from which the iron core lamination direction differs of the permanent-magnet-type rotary electric machine in Embodiment 2 of this invention. It is sectional drawing of the iron core lamination direction of the permanent magnet type rotary electric machine in Embodiment 3 of this invention. It is a characteristic view which shows the relationship between a core space factor and a cogging torque ratio at the time of setting the magnetic flux density of the stator teeth center part of the permanent magnet type rotary electric machine in Embodiment 5 of this invention as a parameter. It is a top view which shows the permanent-magnet-type rotary electric machine at the time of using the several crimping per teeth by Embodiment 1 of this invention. It is a top view which shows the permanent-magnet-type rotary electric machine at the time of mixing the tooth which implemented the crimping by Embodiment 1 of this invention, and the tooth which is not implemented.

Explanation of symbols

2 Stator 21 Stator core 22 Stator winding,
23 Stator Teeth 3 Rotor 31 Rotor Core 32 Permanent Magnets 32a to 32f Magnetic Pole 33 Rotor Shaft 4 Magnetic Steel Sheet (Magnetic Material)
5, 8 Caulking (round shape),
6 Square caulking,
7 Rectangular caulking,
9 Non-magnetic materials,
10 Magnetic material part,
11 Non-magnetic material part

Claims (7)

A permanent magnet having a plurality of magnetic poles in the circumferential direction is arranged, a rotor having a skew at the boundary line or boundary portion of the magnetic pole of the permanent magnet, and a plurality of the rotors arranged inside and projecting inward A stator having a substantially cylindrical stator core formed with convex poles, wherein the axial length of the stator core is L, the thickness of the electromagnetic steel sheet used for the stator core is t, The number of sheets is n, and the space factor P of the iron core that can be calculated by P = nt / L × 100 [%] is in the range of 97 to 99.4%, and the skew angle of the permanent magnet is 360 / (rotation) A permanent magnet type rotating electrical machine characterized by having the least common multiple of the number of child magnetic poles and the number of stator magnetic poles) . Dimensional shapes a, b, c, d of round or square caulking portions are set so that the space factor P of the iron core expressed by the following formula is in the range of 97 to 99.4. The permanent magnet type rotating electrical machine according to claim 1.

(Where a is the diameter of the concave portion or the length of one side, b is the depth of the concave portion, c is the diameter of the convex portion or the length of one side, and d is the height of the convex portion) Dimensional shapes a, b, c, d of rectangular crimping portions are set so that the space factor P of the iron core expressed by the following formula is in a range of 97 to 99.4%. Item 10. The permanent magnet type rotating electric machine according to Item 1.

(Where a is the length of one side of the concave portion, b is the depth of the concave portion, c is the length of one side of the convex portion, and d is the height of the convex portion) When a magnetic steel sheet and a nonmagnetic material are used in combination, and the thickness of the nonmagnetic material is y and the number of sheets is m, the space factor P of the iron core expressed by the following formula is in the range of 97 to 99.4%. The permanent magnet type rotating electrical machine according to any one of claims 1 to 3, wherein the plate thickness y and the number m of nonmagnetic materials are set.

Using an iron core material in which a magnetic material of ts [mm] and a non-magnetic material of ys [mm] are joined, the space factor P of the iron core expressed by the following formula is in the range of 97 to 99.4%. The permanent magnet type rotating electrical machine according to any one of claims 1 to 4, wherein the thicknesses of the magnetic material and nonmagnetic material portions are set.

  The permanent magnet type rotating electrical machine according to any one of claims 1 to 5, wherein the maximum value of the magnetic flux density in the center portion of the tooth portion when no load is applied is 1T or more.   The permanent magnet rotating electrical machine according to any one of claims 1 to 6, wherein the ratio of the number of magnetic poles of the rotor to the number of magnetic poles of the stator is 2: 3.

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