“…Permanent magnet synchronous motor (PMSM) has been widely used in the fields of electric vehicle drive system, robot, CNC machine tools, and so on because of its advantages in small size, simple structure, high power, high torque density, and wide speed range (Garza-Alonso et al, 2021;Shi et al, 2020;Wu et al, 2020). With the spatial requirements of modern industry for permanent magnet motors, new permanent magnet motors with different spatial structures have developed rapidly, such as axial-flux permanent magnet motor (Taran et al, 2020), multiport magnetic gear permanent magnet motor (Zhu et al, 2018) and permanent magnet spherical motor (Li et al, 2020;Zhou et al, 2020). These new permanent magnet motors have compact structures and high spatial utilization.…”