中文摘要：

针对圆筒型永磁直线电机齿槽力解析计算不够准确的问题，提出了一种利用能量法解析研究齿槽力的方法。利用许-克变换计算出了该种结构的无槽和开槽后的基本气隙磁场强度，计算出气隙最小处的气隙磁场强度，最终得出整个电机的气隙磁场强度。根据得到的气隙磁场强度公式得出电机能量，结合电机能量和齿槽力的关系推导出齿槽力解析公式，并使用有限元法仿真和样机实验结果验证所提方法的有效性和准确性。结果表明：解析法、有限元法计算和实验测量的齿槽力规律完全一致，峰值分别为22.2、20.8、0.9 N，三者结果吻合较好。该方法是一种快捷、有效、计算精度高的方法。

英文摘要：

The analytical calculation for the cogging force of a tubular permanent magnet linear motor（TPMLM）is not accurate enough. To solve this problem,an approach for calculating the cogging force which is based on the en-ergy method is introduced. The basic air-gap magnetic field of the slotless and slotted motor is analytically calculat-ed using the the Schwarz-Christoffel transform,then the air-gap magnetic field in the minimum air gap is obtained, and finally the air-gap magnetic field of the whole slot motor is derived. The formula of the air gap magnetic field is used to obtain the motor energy,and in combination with the relations of the motor energy and the cogging force, the analytical formula of the cogging force is realized. The validity and accuracy of the proposed method were veri-fied through a finite element analysis and the test of the model machine. The results show that the cogging forces de-rived by the analytical method,FEM and experimental measurements are entirely consistent,and the peak of the cogging force is 22.2 ,20.8 and 20.9 N,respectively,and the three values agree well. This proposed method is a fast,efficient,and high-precision approach.