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SEPTEMBER 1988
Abstract-This paper develops an analytical field approach to deter- tions during the 60” time (commutation period) are dem-
mine the permanent magnet field distribution in a flat air-core self- onstrated in Section 111. To maximize thrust per ampere
synchronouslinear motor with a permanent magnet mover. Then thrust
and normal forces are calculated for idealized rectangular current in-
and to minimize the thrust pulsations, at the same time
verter control. Notable thrust and normal force time pulsations are providing identical thrust performance for both directions
shown through a numerical example. Finally, the performance equa- of motion, the position transducer angle is chosen to be
tions with on-off current controller are developed with the motor fed 90”. So the stator MMF space phasor starts at 120” and
from a voltage source transistor inverter. The paper intends to offer a ends conduction at 60” with an average of 90” with re-
reliable analytical tool for refined design and control of permanent
magnet air-core linear self-synchronous motors.
spect to the PM-mover axis. However, it is shown in the
paper that in this case the normal force pulsations are high,
although the absolute value of normal force is rather low.
I. INTRODUCTION Finally, in Section IV, the current control through an
on-off current controller is simulated with the motor fed
T HE PERMANENT MAGNET (PM) linear self-syn-
chronous motor (PM-LSM) is the linear motion coun-
terpart of the rotary motion PM brushless motor. PM-
from a voltage source inverter. The general equations of
the motor performance presented are applied for steady
LSM’s are proposed for short-stroke linear motor actua- state. Numerical results with on-off current control are
tors in robotics and machine tools. In an effort to find given also in Section VI.
ways to reduce the actuator weightlthrust and to cancel
the cogging thrust associated with slotted stator cores, an 11. ANALYTICAL DETERMINATION OF THE FIELDOF
nonmagnetic frame
hp=1.27cm
I I
Fig. 1. PM-LSM configuration.
I
.si
7 I
-
-
I-
x
m
cally as
-.' I
1 3 5 7 9 11 13 IS 17 19
I = -241, 1x1 I - w --
wt
Order n s 2
(C)
Fig. 3. PM flux density distribution along the direction of motion (a) nor-
mal flux density ( E y l ( x ) ) ,(b) longitudinal flux density E , , ( x ) , (c) har-
monic spectrum of E , , ( x ) .
- - 2 1 f i f l , + 21( r -
-
1
w,
Wt) ,
1
- - ( r - WJ I x
2
TABLE I
PARAMETERS
OF PM-LSM
: I)
PM type: samarium cobalt Pole pitch r = 1.15 in
E,: 9000 G Air gap g = 0.04 in
H,:8700 Oe Slot height h, = 0.35 in
=+c-x - - r - w t ,
Magnet height h,: 0.5 in
2WnSz (
Slot pitch r, = r / 3
Magnet width rp: 1.O in Slot width W, = 0 . 7 ~ ~
Tooth width W,= r. - W.
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL 2197
F&) = 64L-
4 1
Ws m
c h,(2m4Brr21 ) a3sin (2m - 1 ) a2 7
= ~ -
--
TP
;3
23
2r FI 1
:
14-
A ngle Ikadians)
c _
DA'DB'
( e , - eb),, = so r/3
ed(w,t) 5:
3
- E m = Eo.
n
(13) Imposing tonand to* we may calculate the maximum and
minimum values of current- (I,,,, Imin
). Hence
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL 2199
where
where M , is the moving gravitational mass and Fd is the
drag force. rl = h,/2
Now if the tonand toff times are given and the initial kdl winding distribution factor
value of the current and speed are given, ( 1 3 ) , (16), and kpl pitch factor
(20) suffice to calculate both the steady-state and the tran- fi ratio of coil span to pole pitch
sient behavior of PM-LSM. To apply these equations to
a numerical example let us first derive the analytical
sin CY = ( W, + c )/ r , (25)
and
expressions of PM induced voltage E,, and of the phase
resistance R,, and inductance L,. c coil clearance.
Now for two phases connected in series we have to con-
V. INDUCEDVOLTAGEAND PARAMETERS sider twice the end connection inductance La,, and also
We consider here only the fundamental of the induced twice the Mi-,so in fact the equivalent phase inductance
voltage to simplify the analytical expressions. Thus L, is
1 7 r 2 L, = La, + Mi-. (26)
E, = -- uWlkWlrL- Byavl
J i T R We will apply the above formulas to calculate the induced
voltage and parameters through a numerical example in
where W , is the number of turns per phase, k,, is the the next section.
winding factor, and Byavlthe amplitude of the average
air-gap normal flux density fundamental. The line-induced VI. NUMERICAL EXAMPLE
voltage amplitude E = &E,. The stator phase resistance To illustrate the PM-LSM behavior for a given duty
R, is +
cycle ton/( to, toB) of the on-off controller for the cycle
lcoil WI
+
period T = ton to, = constant, we will present the val-
R, = Pco - ues of maximum, minimum, and average values of cur-
Aco rent as functions of ton/Tfor different speeds. The param-
where lColl is the coil length and A,,, is the copper conduc- eters of the PM-LSM under consideration are given in
tor cross section. Tables I and 11. For this example, applying the formulas
The phase inductance L, consists of two components: we derived earlier, we obtain R, = 4.2286 a, Ls = 4.415
one is referred to the end connections La, and the second mH. The values of maximum, minimum, and average
is due to the active part corresponding to a flat winding values of currents as a function of t,,,/T for zero speed w ,
= 0 and w, = 27r x 30 rad/s are presented in Figs. 1 1
considered distributed sinusoidally along the OX axis and
placed in air. Analytical field solutions suggest that such and 12, respectively.
a case is equivalent to a machine with an equivalent air As expected, the presence of significant induced volt-
gap of 2 r / a . So we may apply the known expression of age at w, = 20 x 30 rad/s allows higher duty cycle ratios
the magnetizing inductance M of a machine with an air for smaller currents. It becomes clear that the duty cycle
gap of 2 r / a [5] to produce given maximum and minimum currents in-
creases with speed. The on-off current control produces
additional high-frequency pulsations in the forces which,
however, do not have a noticeable impact on motor speed
due to rather large mechanical inertia.
Coil-end clearance c = 1 -
a2$m
+ -a2$m
=o.
1=1 ax2 ay2
K,, = 1
Referring to Fig. 2(b), the boundary conditions are
Cycle T = 3.5 x 1 0 - ~s
+mly=m = 0
W m
H, = 0 , - = 0, at y = 0, for all x
ax
and symmetry conditions are
a$, = 0,
B, = 0, H, = 0, - at x = 0, for all y
ax
a$m 1
By = 0, Hy = 0, - = 0, at x = - 7, for all y.
aY 2
(A2 )
At the interface between region I and region 11, we have
HXI = H
I11
Fig. 11. Maximum, minimum, and average current as functions of t,./T
at standstill ( w , = 0).
By1 = BylI.
to the PM field problem. The thrust and normal force Inside the magnet
expressions are developed and notable pulsations with
rectangular current are demonstrated. General equations
of the motor performance are written and used to calculate
220 1
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL
The magnetization vector M ( x ) can be expanded as Also, at y = h, (surface of the PM), we have
a
A m I e-(2m-l)(s/~)hm = AmIIsinh ( 2 m - 1 ) - h,. (A10)
r
m Furthermore, inside of the magnet, we have
= c [ ( C , cosh P,y
m=l
+ D, sinh P,y)
Byu = Po(HyII + W x))
(M,cos P,x + N, sin P,x)]. (A6) By1 = B ~ I I ,at Y = hm
Consequently so
m
In region I: a
Apply the symmetry conditions to this region - C
m=l
- ( 2 m - 1) -A,II cash (2m - 1 )
- - - 0,
a$mI a t x = 0, =>A',, =0 a a
ax e - h, cos (2m - 1 ) - x
r r
1 1 1
-' $ _, I - 0, atx = -7, = > - ~ , r = -(2m - 1 ) a 4 0 3 1
aY 2 2 2 =-M C
m=l (2m - 1)
= 0, at y = 00, = > ( C m I+ D m 1 ) / 2= 0
a
m
a * cos ( 2 m - 1 ) - x .
= C )Y (2m - 1) - x .
A , , ~ - ( ~ ~ - ' ) ( ~ I ~cos
r
m=l
Simplifying (A12), we obtain
(A8) r
In region ZI:
Apply the symmetry conditions to this region.
(2m - 1 ) -
:I ~,,~-(2m-l)(~/~)h~
all., II
-- - 0, at x = 0 = > NmII = 0 + AmIIcosh ( 2 m - 1)
ax
1 a 4M 1 a 7P
a$m 11
- - - 0, at x = - r = > P, = (2m - 1 ) - =-
aY 2 7 a ( 2 m - 1 ) sin (2m - 1 ) --.
2 7 (A13)
* ax
= 0,
m
a t y = 0 = > C,,, = 0 Solving (A10) and (A13) simultaneously, we obtain
r 1 sin (2m - 1 ) -
a-7P
a A,, = 4 M 3
= C A,], sinh ( 2 m - 1 ) - y a (2m - 1) 2 7
m=l
a
a
cos (202 - 1 ) - x. (A9) - sinh ( 2 m - 1 ) - h,. ('414)
7 r
2202 IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5 , SEPTEMBER 1988
W mI
4 1 = POHXI = 7.0,
m
1 n- 7P
BxI = 4B, sin (2m - 1) - -
m=l ~ ( 2 m- 1 ) 2 7
a
sin(2m - 1 ) - x 1 ” 1 .rr i-P
7 =4B,- C sin ( 2 m - 1) - -
h,m=1 ~ ( 2 m- 1) 2 7
W mI
By1 = P0HYI = -Po-
aY a a
* sinh (2m - l ) - h, sin (2m - l ) - x
m i- i-
1 n- TP
BYI= 4B, sin (2m - 1 ) - - hm + g + h,
m = ~n ( 2 m - 1) 2 7
e-(2m-1)(r/r)y d
* S,m+g Y
. sinh (2m - 1) !
!h m e - ( Z m - l ) ( * / T ) Y
7
1 ” 7 a i-P
n- = 4B, - C sin (2m - 1 ) - -
cos (2m - 1) - x . hsm=1 a2(2m - 1) 2 7
i-
(AW
sinh (2m - 1) !!h m e - ( 2 m - 1 ) ( r / ‘ ) ( h r n + g )
The fundamental components of B, and By are 7
4
BxIl = - B, sin
a
(i3) (: sinh
n-
h m ) e - ( r / r ) ysin - x
By,, = -
4 B, sin
a
(z 3) (: si& h m ) e-(r’T)y COS n- X.
-
REFERENCES
(A19)
B y ~ a v= -
h,
s hm + g + hs
hm+g
hm+g+hs
BYI(X3 Y ) dY
[2] N. Boules and H. Weh, “Machine constants and design consideration
for a high power, high speed, PM disk type synchronous machine,”
EME, vol. 5 , pp. 113-120, 1980.
131 H . Weh, H. Mosebach, and H. May, “Design concepts and force gen-
eration in inverter-fed synchronous machine with PM excitation,” IEEE
BxIav = 1
h,
j hm+g
B ~ I ( XY
, > dY
Trans. Magn., vol. MAG-20, no. 5, pp. 1756-1761, 1984.
141 B. V . Murty, “Fast response reversible brushless dc drive with re-
generative braking,” in Proc. IEEE-IAS Annual Meet. (Chicago, IL,
1984), pp. 445-450.
hrn + g + hs 151 P. L. Alger, The Nature ofPolyphase Induction Machines. New York,
-
By Iav - 2. j
h s hm+g
B,I(X? Y > dY NY: Wiley, 1951, p. 213.
[6] Z. Deng, I. Boldea, and S . A. Nasar, “Fields in permanent magnet
linear synchronous machines,” IEEE Trans. Magn., vol. MAG-22,
1 - 1 no. 2, pp. 107-1 12, 1986.
= 48,- C
hs m = l a ( 2 m - 1 )
sin ( 2 m - 1 ) -
n- -
i-P [7] -, “Forces and parameters of PM linear synchronous machines,”
2 7 IEEE Trans. M a g n . , vol. MAG-23, pp. 305-309, 1987.
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL 2203
Ion Boldea (SM’83) received the Ph.D. degree in electrical machines in sulting in electric machines for over 25 years. He is the author, or coauthor,
1973 from the Polytechnical Institute TR. VUIA, Timisoara, Romania. of twenty-one books and over 100 technical papers, and is the Editor of
He is now an Associate Professor of Electrical Engineering and an As- the monthly Electric Machines and Power Systems.
sociate Dean at the same university. He was an Exchange Scholar at the Dr. Nasar received the Aurel Vlaicu award of the Romanian Academy
University of Kentucky, Lexington, during 1973-1974 under Senior Ful- of Science in 1978 for his contributions of linear machines. He is a Fellow
bright-Hays Program. His research interests are in electric machines. He IEE (London) and is a member of Eta Kappa Nu and Sigma Xi.
has published extensively in this field, is a coauthor of three books on linear
machines (in English) and author of several books on electric machines (in
Romanian).