The interaction between the permanent magnets and the armature teeth of the PMSM generates cogging torque. It causes vibration and noise. Therefore, this paper establishes the analytical formula of the cogging torque of the motor with auxiliary slots on the surface of the rotor. It shows that reasonable slots can weaken the cogging torque. But it's essential to determine whether the air-gap flux density harmonics will increase appreciably by slotting. A V-type IPMSM with 8-pole, 48-slot is modeled to analyze the cogging torque. Two new rotor slot shapes-inwardly biased slots and outwardly biased slots-are proposed and researched to reduce the cogging torque of the V-type IPMSM. And they are compared with the traditional symmetrical auxiliary slots. Research shows that the inwardly biased slots and the symmetric auxiliary slots can obtain a better effect on the cogging torque than the outwardly biased slots. By the symmetrical auxiliary slots, the cogging torque is weakened by 75.88%, but the torque ripple increases from 22.36% to 29.60%. By the inwardly biased slots, the cogging torque is weakened by 75.64%, and the torque ripple drops from 22.36% to 12.95%. The inwardly biased slots could successfully suppress the torque ripple.INDEX TERMS Cogging torque, Interior V-type permanent magnet synchronous motor, Auxiliary slots.

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