METHOD OF SIZING, SELECTION AND COMPARISON OF ELECTRICAL MACHINES

Abstract

The object of invention is the method of sizing, selection and comparison of linear and rotary electrical machines. According to the invention, the machines can be sized, selected and compared by new specific parameters: electromagnetic specific motor constant kEMS, specific motor constant kS, electromagnetic normal motor constant kEMN, normal motor constant kN, electromagnetic specific volume motor constant kEMSV, specific volume motor constant kSV, electromagnetic specific mass motor constant kEMSM specific mass motor constant kSM and relative continuous force FRC. These parameters slightly depend on machine overall dimensions but mostly depend on machine design.

Description

BACKGROUND OF THE INVENTION

For sizing the electrical machines the parameter called “motor constant” is widely used (see, for example, “A Practical Use Of The Motor Constant c” by George A. Beauchemin—Motion Control, Jul. 25, 2009; “How to speed up dc motor selection”—Machine Design, Oct. 5, 2000; “Snake-oil specs spell trouble for motor sizing” by William A. Flesher—Machine Design, Jun. 4, 1998). The methods of sizing base on motor constant which highly depends on electrical machine overall dimensions. Therefore, the choice of electrical machines depends on electrical machine envelope. For example, if overall dimensions of one electrical machine are less than another electrical machine, it will have smaller motor constant. However, small electrical machine may be much better design than larger one.

SUMMARY OF THE INVENTION

The invention provides a method of sizing, selection and comparison of electrical machines. The invented method use the new parameters called electromagnetic specific motor constant k_EMS, specific motor constant k_S, electromagnetic normal motor constant k_EMN, normal motor constant k_N, electromagnetic specific volume motor constant k_EMSV, specific volume motor constant k_SV, electromagnetic specific mass motor constant k_EMSM, specific mass motor constant k_SM and relative continuous force F_RC. These parameters slightly depend on electrical machine overall dimensions but mostly depend on machine design. Therefore, comparing the electrical machines with different specific parameters shows the difference in machine design. The method used new specific parameters has next main advantages:

1. Comparison of electrical machines. For two or more electrical machines with different overall dimensions new specific parameters show the difference in electrical machine design. If new specific parameters of one electrical machine more than other it is mean that electrical machine have better design. It is very useful for comparison of different electrical machines from various sources.

2. Selection of electrical machines. Selection of the source for electrical machine very often is not easy because each source provides data with different overall dimensions. It is very useful for engineers to solve this problem using new specific parameters that show the goodness of machine design for different electrical machines. To select source of electrical machine with better design the engineers can select source with better new specific parameters.

3. Electrical machines sizing. Very often the required motor constant does not meet any existing electrical machine from various sources or electrical machine overall dimensions do not fit the required envelope. The estimation of new motor constant or overall dimensions can be done using new specific parameters.

DESCRIPTION OF THE FIGURES

FIG. 1—is the partial case of slotless, brushless flat linear machine with three phase winding.

FIG. 2—is flat linear machine, forcer length less than magnet track length

FIG. 3—is flat linear machine, magnet track length less than forcer length

FIG. 4—is balanced linear machine

FIG. 5—is U-shape linear machine, forcer length less than magnet track length

FIG. 6—is U-shape linear machine, magnet track length less than forcer length

FIG. 7—is tube linear machine, forcer length less than magnet track length

FIG. 8—is tube linear machine, magnet track length less than forcer length

FIG. 9—is frameless rotary machine

FIG. 10—is housed rotary machine

DESCRIPTION OF THE PREFERRED EMBODIMENT

The motor constant is defined as

$\begin{array}{cc}{k}_M=\frac{F_C}{\sqrt{P}}& \left(1\right)\end{array}$

Where F_C is continuous force produced by linear machine, P is continuous heat dissipation.

Consider the partial case of linear machine (FIG. 1). The machine is slotless, brushless and flat with three phase winding. The following assumptions have been made:

• • Number of slots per pole and phase is 1 (q=1).
  • Magnetic field has only components on X and Z axis B_X and B_Z: B_Y=0
  • There is no magnetic field outside of interval from −w_mag/2 to w_mag/2 along Y axis
  • The B_Z is sinusoidal along X axis
  • The B_Z along Z axis inside of coil is not changed
  • The commutation is sinusoidal
  • Forcer length is less than magnet track length

Taking into account the assumptions above, one can get the analytical equation for motor constant at 25° C.:

$\begin{array}{cc}{k}_M=\frac{3}{\pi }\frac{1}{\sqrt{2}}·\frac{B_{\mathrm{MAX}}·\sqrt{k_{\mathrm{fil}}}·\sqrt{k_{\mathrm{Width}}}·\sqrt{k_{\mathrm{Height}}}}{\sqrt{{\rho }_{25}}·\sqrt{1+k_{\mathrm{epw}}}}·\sqrt{W·H·\tau ·N_{\mathrm{FPoles}}}& \left(2\right)\end{array}$

where B_MAX—maximum value of magnetic field inside coil,

$k_{\mathrm{Width}}=\frac{w_{\mathrm{mag}}}{W},w_{\mathrm{mag}}$

—magnet width (see FIG. 1),

$k_{\mathrm{Height}}=\frac{h_c}{H},$

h_c—coil height (see FIG. 1), ρ₂₅—conductors specific resistivity at 25° C., N_FPoles—number of forcer poles, H and W—linear machine overall dimensions, τ—motor pole pitch (see FIG. 1). The parameter k_fil in (2) is coefficient of filling factor. By definition,

$\begin{array}{cc}{k}_{\mathrm{fil}}=\frac{3N_0·S_c}{h_c·\tau }& \left(3\right)\end{array}$

where N₀ is number of coil turns per pole and phase, S_C is area of cross-section of conductor without insulation.

Another coefficient k_epw is called the coefficient of end parts and defined as

$\begin{array}{cc}{k}_{\mathrm{epw}}=\frac{l_{\mathrm{turn}}-2·w_{\mathrm{mag}}}{2·w_{\mathrm{mag}}}& \left(4\right)\end{array}$

Here l_turn is length of one turn.

So, for slotless brushless flat linear electrical machine the following relation between motor dimensions and motor constant:

k_M˜√{square root over (N_FPoles·τ·W·H)}  (5)

k_M˜√{square root over (N_FPoles·V_Pole)}  (6)

where V_Pole is the volume of machine per pole pitch length.

Linear Motors, Electromagnetic Specific Motor Constant

The specific parameter k_EMS is called “electromagnetic specific motor constant”. In contrast to motor constant, it does not depend on motor length, slightly depends on electrical machine dimension and reflects only the design of electrical machine. For electrical machines with forcer length less than magnet track length, electromagnetic specific motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{EMS}}=\frac{k_M}{\sqrt{N_{\mathrm{FPoles}}·\tau ·W·H}}& \left(7\right)\end{array}$

where k_M is motor constant, N_FPoles is number of forcer poles, τ is motor pole pitch, H and W are linear machine overall dimensions.

For electrical machines with magnet track length less than forcer length,

$k_{\mathrm{EMS}}=\frac{k_M}{k_{\mathrm{MT}F\mathrm{poles}}·\sqrt{N_{\mathrm{FPoles}}·\tau ·H·W}},$

where

$k_{\mathrm{MT}\_F\_\mathrm{poles}}=\frac{N_{\mathrm{MT}\mathrm{Poles}}}{N_{\mathrm{FPoles}}},$

N_MTPoles is number of magnet track poles.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Specific Motor Constant

The specific parameter k_S is called “specific motor constant”. In contrast to motor constant, it slightly depends on machine dimension and reflects only the design of electrical machine. For electrical machines with forcer length less than magnet track length, specific motor constant is defined as

$\begin{array}{cc}{k}_S=\frac{k_M}{\sqrt{L_F·W·H}}& \left(8\right)\end{array}$

Here k_M is motor constant, L_F is forcer length, H and W are linear machine overall dimensions. For machines with magnet track length less than forcer length,

$\begin{array}{cc}{k}_S=\frac{k_M}{k_{\mathrm{MT}\_F\_\mathrm{length}}·\sqrt{L_F·W·H}},& \end{array}$

where

$k_{\mathrm{MT}\_F\_\mathrm{length}}=\frac{L_{\mathrm{MT}}}{L_F},$

L_MT is magnet track length.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Electromagnetic Normal Motor Constant

The specific parameter k_EMN is called “electromagnetic normal motor constant”. In contrast to motor constant, it does not depend on motor length. For electrical machines with forcer length less than magnet track length, electromagnetic normal motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{EMN}}=\frac{k_M}{\sqrt{N_{\mathrm{FPoles}}·\tau }}& \left(9\right)\end{array}$

where k_M is motor constant, N_FPoles is number of forcer poles, τ is motor pole pitch.

For electrical machines with magnet track length less than forcer length,

$k_{\mathrm{EMN}}=\frac{k_M}{k_{\mathrm{MT}\_F\_\mathrm{poles}}·\sqrt{N_{\mathrm{FPoles}}·\tau }},$

where

$k_{\mathrm{MT}\_F\_\mathrm{poles}}=\frac{N_{\mathrm{MT}\mathrm{Poles}}}{N_{\mathrm{FPoles}}},$

N_MTPoles is number of magnet track poles.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Normal Motor Constant

The specific parameter k_N is called “normal motor constant”. In contrast to motor constant, it slightly depends on forcer length. For electrical machines with forcer length less than magnet track length, normal motor constant is defined as

$\begin{array}{cc}{k}_N=\frac{k_M}{\sqrt{L_F}}.& \left(10\right)\end{array}$

Here k_M is motor constant, L_F is forcer length. For machines with magnet track length less than forcer length,

$k_N=\frac{k_M}{k_{\mathrm{MT}\_F\_\mathrm{length}}·\sqrt{L_F}},$

where

$k_{\mathrm{MT}\_F\_\mathrm{length}}=\frac{L_{\mathrm{MT}}}{L_F},$

L_MT is magnet track length.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Electromagnetic specific volume motor constant

The specific parameter k_EMSV is called “electromagnetic specific volume motor constant”. For electrical machines with forcer length less than magnet track length, electromagnetic specific volume motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{EMSV}}=\frac{k_M}{\sqrt{N_{\mathrm{FPoles}}·V_{\mathrm{Pole}}}}& \left(11\right)\end{array}$

where k_M is motor constant, N_FPoles is number of forcer poles, V_Pole is volume of machine per pole pitch length. For machines with magnet track length less than forcer length,

$k_{\mathrm{EMSV}}=\frac{k_M}{k_{\mathrm{MT}\_F\_\mathrm{poles}}·\sqrt{N_{\mathrm{FPoles}}·V_{\mathrm{Pole}}}},$

where

$k_{\mathrm{MT}\_F\_\mathrm{poles}}=\frac{N_{\mathrm{MT}\mathrm{Poles}}}{N_{\mathrm{FPoles}}},$

N_MTPoles is number of magnet track poles.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Specific Volume Motor Constant

The specific parameter k_SV is called “specific volume motor constant”. For electrical machines with forcer length less than magnet track length, specific volume motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{SV}}=\frac{k_M}{\sqrt{V_{\mathrm{SF}}}}& \left(12\right)\end{array}$

where k_M is motor constant, V_SF is volume of machine reduced to forcer length. For machines with magnet track length less than forcer length,

$k_{\mathrm{SV}}=\frac{k_M}{\sqrt{k_{\mathrm{MT}\_F\_\mathrm{length}}·V_{\mathrm{SMT}}}},$

where

$k_{\mathrm{MT}\_F\_\mathrm{length}}=\frac{L_{\mathrm{MT}}}{L_F},$

L_MT is magnet track length, L_F is forcer length, V_SMT is volume of machine reduced to magnet track length.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Electromagnetic Specific Mass Motor Constant

The specific parameter k_EMSV called “electromagnetic specific mass motor constant”. For electrical machines with forcer length less than magnet track length, electromagnetic specific mass motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{EMSM}}=\frac{k_M}{\sqrt{N_{\mathrm{FPoles}}·M_{\mathrm{Pole}}}}& \left(13\right)\end{array}$

where k_M is motor constant, N_FPoles is number of forcer poles, M_Pole is machine mass per pole pitch length. For machines with magnet track length less than forcer length,

$k_{\mathrm{EMSM}}=\frac{k_M}{k_{\mathrm{MT\_F}\mathrm{\_poles}}·\sqrt{N_{\mathrm{FPoles}}·M_{\mathrm{Pole}}}},$

where

$k_{\mathrm{MT\_F}\mathrm{\_poles}}=\frac{N_{\mathrm{MTPoles}}}{N_{\mathrm{FPoles}}},$

N_MTPole is number of magnet track poles.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Specific Mass Motor Constant

The specific parameter k_SM is called “specific mass motor constant”. For electrical machines with forcer length less than magnet track length, specific mass motor constant is defined as

$\begin{array}{cc}{k}_{\mathrm{SM}}=\frac{k_M}{\sqrt{M_{\mathrm{SF}}}}& \left(14\right)\end{array}$

where k_M is motor constant, M_SF is machine mass reduced to forcer length. For machines with magnet track length less than forcer length,

$k_{\mathrm{SM}}=\frac{k_M}{\sqrt{k_{\mathrm{MT\_F}\mathrm{\_length}}·M_{\mathrm{SMT}}}}$

where

$k_{\mathrm{MT\_F}\mathrm{\_length}}=\frac{L_{\mathrm{MT}}}{L_F},$

L_MT is magnet track length, L_F is forcer length, M_SMT is machine mass reduced to magnet track length.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Linear Motors, Relative Continuous Force

For comparing the force characteristics of linear machines with different overall dimensions, the parameter F_RC called “relative continuous force” is introduced. For electrical machines with forcer length less than magnet track length, relative continuous force is defined as

$\begin{array}{cc}{F}_{\mathrm{RC}}=\frac{F_C}{L_F·W·\sqrt{H}}& \left(15\right)\end{array}$

where F_C is continuous force produced by linear machine, L_F is forcer length, H and W are linear machine overall dimensions. For machines with magnet track length less than forcer length,

$F_{\mathrm{RC}}=\frac{F_C}{L_{\mathrm{MT}}·W·\sqrt{H}},$

where L_MT is magnet track length.

Some examples of linear electrical machines are shown on FIG. 2 (flat linear machine, forcer length less than magnet track length); FIG. 3 (flat linear machine, magnet track length less than forcer length); FIG. 4 (balanced linear machine); FIG. 5 (U-shape linear machine, forcer length less than magnet track length); FIG. 6 (U-shape linear machine, magnet track length less than forcer length); FIG. 7 (tube linear machine, forcer length less than magnet track length) and FIG. 8 (tube linear machine, magnet track length less than forcer length).

Rotary Motors, Specific Motor Constant

For rotary machines, the specific parameter called “specific motor constant” is introduced. It is defined as

$\begin{array}{cc}{k}_S=\frac{k_M}{D·\sqrt{D·L}}& \left(16\right)\end{array}$

where k_M is motor constant, L is length of rotary machine or length of winding of frameless rotary machine, D is outside diameter or dimension of square side of rotary machine. Some examples of rotary electrical machines are shown on FIG. 9 (frameless rotary machines) and FIG. 10 (housed rotary machines).

Examples of Use

1. Linear motor, forcer is shorter than magnet track. The existing motor series is defined by height H, width W, different forcer lengths, poles numbers, and motor constants. We are going to keep existing cross-section and estimate k_M—new for required poles number N_FPoles—req or forcer length L_F—req other than existed; or estimate poles number N_FPoles—new or forcer length L_F—new for required k_M—req other than existed.

1.1. Estimation of motor constant k_M—new for required poles number: N_FPoles—req

Step 1—find electromagnetic specific motor constant k_EMS

Step 2—find

$k_{\mathrm{M\_new}}=k_{\mathrm{EMS}}·\sqrt{N_{\mathrm{FPoles\_req}}·\tau ·W·H}$

1.2. Estimation of poles number N_FPoles—new for required motor constant: k_M—req

Step 1—find electromagnetic specific motor constant k_EMS

Step 2—find

$N_{\mathrm{FPoles\_new}}=\mathrm{Integer}\left[{\left(\frac{k_{\mathrm{M\_req}}}{k_{\mathrm{EMS}}}\right)}^2·\frac{1}{\tau ·W·H}\right]+1$

1.3. Estimation of motor constant k_{M new} for required forcer length: L_{F req}

Step 1—find specific motor constant k_S

Step 2—find

$k_{\mathrm{M\_new}}=k_S·\sqrt{L_{\mathrm{F\_req}}·W·H}$

1.4. Estimation of forcer length L_F—new for required motor constant: k_M—req

Step 1—find specific motor constant k_S

Step 2—find

$L_{\mathrm{F\_new}}={\left(\frac{k_{\mathrm{M\_req}}}{k_S}\right)}^2·\frac{1}{W·H}$

2. Linear motor, forcer is shorter than magnet track. The existing motors have different heights, widths, forcer lengths and motor constants. We are going to estimate k_M—new for required overall dimensions L_F—req, W_req, H_req other than existed; or estimate overall dimensions L_F—new, W_new, H_new for required k_M—req other than existed.

2.1. Estimation of motor constant k_M—new for required overall dimensions L_F—req, W_req, H_req.

Step 1—find specific motor constant k_S

Step 2—find

$k_{\mathrm{M\_new}}=k_S·\sqrt{L_{\mathrm{F\_req}}·H_{\mathrm{req}}·W_{\mathrm{req}}}$

2.2. Estimation of overall dimensions L_F—new, W_new, H_new for required motor constant k_M—req.

Step 1—find specific motor constant k_S

Step 2—find

$L_{\mathrm{F\_new}}·W_{\mathrm{new}}·H_{\mathrm{new}}={\left(\frac{k_{\mathrm{M\_req}}}{k_S}\right)}^2$

2. Linear motor, forcer is shorter than magnet track. The existing motors have different heights, widths, forcer lengths, continuous forces. We are going to estimate F_C—new for required overall dimensions L_F—req, W_req, H_req other than existed; or estimate overall dimensions L_F—new, W_new, H_new for required F_C—req other than existed.

2.1. Estimation of continuous force F_C—new for required overall dimensions L_F—req, W_req, H_req.

Step 1—find relative continuous force F_RC

Step 2—find

$F_{C\_\mathrm{new}}=F_{\mathrm{RC}}·L_{F\_\mathrm{req}}·W_{\mathrm{req}}·\sqrt{H_{\mathrm{req}}}$

2.2. Estimation of overall dimensions L_F—new, W_new, H_new for required continuous force F_C—req

Step 1—find relative continuous force F_RC

Step 2—find

$L_{F\_\mathrm{New}}·W_{\mathrm{new}}·\sqrt{H_{\mathrm{new}}}=\frac{F_{C\_\mathrm{req}}}{F_{\mathrm{RC}}}$

3. Frameless radial rotary motors. The existing motors have different diameters, lengths and motor constants. We are going to estimate k_M—new for required overall dimensions D_req,L_req, other than existed; or estimate overall dimensions D_new,L_new for required k_M—req other than existed.

3.1. Estimation of motor constant k_M—new for required overall dimensions D_req,L_req.

Step 1—find specific motor constant k_S

Step 2—find

$k_{M\_\mathrm{new}}=k_s·D_{\mathrm{req}}·\sqrt{L_{\mathrm{req}}·D_{\mathrm{req}}}$

3.2. Estimation of overall dimensions D_new,L_new for required motor constant k_M—req

Step 1—find specific motor constant k_S

Step 2—find

$D_{\mathrm{new}}·\sqrt{L_{\mathrm{new}}·D_{\mathrm{new}}}=\frac{k_{M\_\mathrm{req}}}{k_S}$

Claims

1. The electromagnetic specific motor constant for the linear machines with forcer length less than magnet track length

2. The electromagnetic normal motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, multiplied by √{square root over (W□H)} (said motor height H, said motor width W),

3. The electromagnetic specific volume motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising volume of machine per pole pitch length VPoles instead of τ□W□H,

4. The electromagnetic specific mass motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising machine mass per pole pitch length MPole instead of τ□W□H,

5. The specific motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising forcer length LF instead of NFPoles□τ,

6. The normal motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising forcer length LF instead of NFPoles□τ□W□H,

7. The specific volume motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising volume of machine reduced to forcer length VSF instead of NFPoles□τ□W□H,

8. The specific mass motor constant, comprising said electromagnetic specific motor constant, according to the claim 1, further comprising machine mass reduced to forcer length MSF instead of NFPoles□τ□W□H,

9. The relative continuous force

10. The specific motor constant

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