Integrated motor propulsor magnet design with halbach array for torque ripple reduction

Recently, integrated motor propulsors (IMPs) have been under extensive research and development because of the numerous advantages of underwater propulsion for vehicles, such as a simple, quiet, lightweight, and small-size structure [1]. IMPs require minimized torque ripple for smooth and quiet operation when used in undersea vehicles or unmanned submarines. Thus, torque ripple reduction should be considered in the design stage.