Low Voltage Interior Permanent Magnet Synchronous Motor (IPM PMSM) Design for Agricultural Robot Drive
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Abstract
The growing demand for autonomous agricultural robots requires compact, energy-efficient 12 V drives. This work designs a 12 V Interior Permanent Magnet Synchronous Motor (IPM PMSM) for field robots with targets of torque >0.8 Nm, speed >1000 rpm, and outer diameter <100 mm. Two rotor options—baselines 0° and 12° skew—were optimized and evaluated via finite-element analysis of torque, back-EMF, efficiency, and thermal behaviour. Compared with 0°, the 12° skew cut torque-ripple RMS from 0.2885 to 0.1390 Nm (−51.8%) and reduced cogging torque by >50%, while peak torque decreased only slightly (1.85 → 1.81 Nm; −2.4%). Efficiency remained high (~89%), power factor improved (0.95 → 0.964), and passive cooling kept temperatures ≤65 °C at 60 minutes. These results indicate that a 12° skew provides a practical design trade-off for low-voltage agricultural PMSMs, delivering smoother, more stable torque for precision tasks such as seeding and spraying without sacrificing overall efficiency.
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This work is licensed under a Creative Commons Attribution 4.0 International License.
Copyright (c): Ahmad Awaluddin Baiti, I Wayan Adiyasa, Muslikhin Muslikhin (2025)
How to Cite
Baiti, A., Adiyasa, I., & Muslikhin, M. (2025). Low Voltage Interior Permanent Magnet Synchronous Motor (IPM PMSM) Design for Agricultural Robot Drive. MOTIVECTION : Journal of Mechanical, Electrical and Industrial Engineering, 7(3), 333-346. https://doi.org/10.46574/motivection.v7i3.478
References
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[6] “Harmonic Suppression in Permanent Magnet Synchronous Motor Currents Based on Quasi-Proportional-Resonant Sliding Mode Control.” Accessed: Oct. 21, 2025. [Online]. Available: https://www.mdpi.com/2076-3417/14/16/7206?utm_source=chatgpt.com
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[9] P. Yi, W. Zheng, and X. Li, “Overview of Torque Ripple Minimization Methods for Permanent Magnet Synchronous Motors Based on Harmonic Injection,” Chinese Journal of Electrical Engineering, vol. 10, no. 2, pp. 16–29, 2024, doi: 10.23919/CJEE.2023.000045.
[10] S.-H. Lee, S.-W. Song, I.-J. Yang, J. Lee, and W.-H. Kim, “Optimal Rotor Design for Reducing Electromagnetic Vibration in Traction Motors Based on Numerical Analysis,” Energies (Basel), vol. 17, no. 23, p. 6206, 2024, doi: 10.3390/en17236206.
[11] G. V. Research, “Agricultural Robots Market Size, Share & Trends Analysis Report by Type (Automated Harvesting, Automated Irrigation), by Application (Seeding & Planting, Field Farming), by Region, and Segment Forecasts, 2024-2030,” Grand View Research, 2024, [Online]. Available: https://www.grandviewresearch.com/industry-analysis/agricultural-robots-market
[12] A. Elhaj and A. Mohamed, “Direct voltage MTPA control of interior permanent magnet synchronous motors,” Renewable and Sustainable Energy Reviews, vol. 133, pp. 110–122, 2025, doi: 10.1016/j.rser.2020.110356.
[13] Z. Yi and W. Wang, “Deep flux weakening control of IPMSM based on d-axis current error integral regulator,” Progress In Electromagnetics Research, vol. 172, pp. 1–10, 2025, doi: 10.2528/PIER23080101.
[14] Y. Ould Lahoucine and M. Benbouzid, “Line-start permanent magnet synchronous motors: Design and control,” MDPI Energies, vol. 18, no. 17, p. 4545, 2025, doi: 10.3390/en18174545.
[15] Z. Wu, “Analytical Modeling and Calculation of Electromagnetic Torque of Interior Permanent Magnet Synchronous Motor Considering Ripple Characteristics,” 2021. doi: 10.4271/2021-01-0769.
[16] S. Gradev, “Modeling and Control of a Dual-Voltage Synchronous Machine,” Technical University of Munich, 2021.
[17] T. Guo, “An IPMSM Control Structure Based on a Model Reference Adaptive Algorithm,” Machines, vol. 10, no. 7, p. 575, 2022, doi: 10.3390/machines10070575.
[18] A. Elhaj and others, “Direct-voltage MTPA control of interior permanent magnet synchronous motor,” Control Eng Pract, 2024, doi: 10.1016/j.conengprac.2024.105922.
[2] Q. Liu, R. Yu, H. Suo, Y. Cai, L. Chen, and H. Jiang, “Autonomous Driving in Agricultural Machinery: Advancing the Frontier of Precision Agriculture,” Actuators, vol. 14, no. 9, p. 464, 2025, doi: 10.3390/act14090464.
[3] E. Scolaro, M. Mattetti, and G. Molari, “Electrification of Agricultural Machinery: A Review,” Energies (Basel), vol. 14, no. 24, p. 8390, 2021, doi: 10.3390/en14248390.
[4] L. Manuguerra, F. Cappelletti, M. Rossi, and M. Germani, “Design of electric vehicles for Industry 4.0: the case of an autonomous mobile robot,” in Procedia CIRP, Elsevier, 2023, pp. 980–985. doi: 10.1016/j.procir.2023.05.165.
[5] Y. Dai and H.-J. Lee, “Torque Ripple and Electromagnetic Vibration Suppression by Rotor Notching and Skewing,” Energies (Basel), vol. 17, no. 19, p. 4964, 2024, doi: 10.3390/en17194964.
[6] “Harmonic Suppression in Permanent Magnet Synchronous Motor Currents Based on Quasi-Proportional-Resonant Sliding Mode Control.” Accessed: Oct. 21, 2025. [Online]. Available: https://www.mdpi.com/2076-3417/14/16/7206?utm_source=chatgpt.com
[7] M. Mehrasa, H. Gholinezhadomran, P. Tarassodi, E. M. G. Rodrigues, and H. Salehfar, “Robust model-based control and stability analysis of PMSM drive with DC-link voltage and parameter variations,” Results in Control and Optimization, vol. 17, p. 100469, Dec. 2024, doi: 10.1016/J.RICO.2024.100469.
[8] S. Hua et al., “Improved Skew Method in Permanent Magnet Motor with Segmented Rotors for Reducing Cogging Torque,” Progress In Electromagnetics Research C, vol. 141, pp. 185–193, 2024, doi: 10.2528/PIERC23101906.
[9] P. Yi, W. Zheng, and X. Li, “Overview of Torque Ripple Minimization Methods for Permanent Magnet Synchronous Motors Based on Harmonic Injection,” Chinese Journal of Electrical Engineering, vol. 10, no. 2, pp. 16–29, 2024, doi: 10.23919/CJEE.2023.000045.
[10] S.-H. Lee, S.-W. Song, I.-J. Yang, J. Lee, and W.-H. Kim, “Optimal Rotor Design for Reducing Electromagnetic Vibration in Traction Motors Based on Numerical Analysis,” Energies (Basel), vol. 17, no. 23, p. 6206, 2024, doi: 10.3390/en17236206.
[11] G. V. Research, “Agricultural Robots Market Size, Share & Trends Analysis Report by Type (Automated Harvesting, Automated Irrigation), by Application (Seeding & Planting, Field Farming), by Region, and Segment Forecasts, 2024-2030,” Grand View Research, 2024, [Online]. Available: https://www.grandviewresearch.com/industry-analysis/agricultural-robots-market
[12] A. Elhaj and A. Mohamed, “Direct voltage MTPA control of interior permanent magnet synchronous motors,” Renewable and Sustainable Energy Reviews, vol. 133, pp. 110–122, 2025, doi: 10.1016/j.rser.2020.110356.
[13] Z. Yi and W. Wang, “Deep flux weakening control of IPMSM based on d-axis current error integral regulator,” Progress In Electromagnetics Research, vol. 172, pp. 1–10, 2025, doi: 10.2528/PIER23080101.
[14] Y. Ould Lahoucine and M. Benbouzid, “Line-start permanent magnet synchronous motors: Design and control,” MDPI Energies, vol. 18, no. 17, p. 4545, 2025, doi: 10.3390/en18174545.
[15] Z. Wu, “Analytical Modeling and Calculation of Electromagnetic Torque of Interior Permanent Magnet Synchronous Motor Considering Ripple Characteristics,” 2021. doi: 10.4271/2021-01-0769.
[16] S. Gradev, “Modeling and Control of a Dual-Voltage Synchronous Machine,” Technical University of Munich, 2021.
[17] T. Guo, “An IPMSM Control Structure Based on a Model Reference Adaptive Algorithm,” Machines, vol. 10, no. 7, p. 575, 2022, doi: 10.3390/machines10070575.
[18] A. Elhaj and others, “Direct-voltage MTPA control of interior permanent magnet synchronous motor,” Control Eng Pract, 2024, doi: 10.1016/j.conengprac.2024.105922.