System design of a S1R2 PM motor

The S1R2 PM motor is a kind of permanent-magnet (PM) motor with a single stator and a dual counter-rotating rotor. The system of this PM motor, including motor design and its driving controller, is configured in order to replace the mechanical driving-device by an electrical one. This paper presents two significant designs regarding 1) pancake motor design, its features including brushless, direct-drive, PM, skew symmetry, gyro effect and start/kick coils are alluded and analysed 2) its driving circuits, i.e. a modified H-bridge servo amplifier and a speed controller, are employed to incorporate with the S1R2 PM motor, especially the Hall-based electronic commutation.