keywords DESIGN Engineering Engineering, Multidisciplinary Nissan Leaf IPM machine Science & Technology Technology battery electric vehicle power-trains battery powered vehicles commercial automotive traction machine constant power field electric vehicles high speed high torque improved torque density interior permanent magnet rotor low speed low torque machine control machine theory permanent magnet machines permanent magnet motors rotors synchronous machines synchronous motors three-phase machine three-phase permanent magnet synchronous machine investigation torque traction typical traction operating points