Linear Motors

Electromechanical
Electromechanical
Systems & Actuators
Systems & Actuators
LINEAR MOTORS
LINEAR MOTORS
Dr. Adel Gastli
Dr. Adel Gastli Linear Motors
2
CONTENT
Introduction
Types of Linear Motors
Applications
3
INTRODUCTION
Linear Motors are old motors which date from the 1970s.
Were not intensively used because of their difficult
control and low performance.
Advancements in Power Electronics and
Microprocessors have overcome the control difficulties
and have revived the use of the linear motors.
Linear motors are nowadays emerging as new
technologies.
4
Main Types of Linear Motors
Linear Synchronous Motor
Permanent Magnet
Wound Secondary Type
Linear Induction Motor
Single-Sided:
Long-primary & Short Secondary
Short-primary & Long-Secondary
Double-Sided or Sandwich
Linear Stepper Motor
5
Linear Synchronous Motor (LSM)
Field winding
Field Yoke
Armature winding
Passive rail truck
I
6
For an LSM to operate properly the control system must
accurately track the position of the moving element in order to
properly synchronize the moving field current in the stationary
frame (stator).
If synchronization is lost or interrupted the motor slips and loss of
propulsion can occur. This situation is likely to be encountered by
an LSM when external sensors are relied upon to handle motor
synchronization.
If a sensor becomes dirty or mis-aligned or if fog, smoke or other
airborne obstructions are present, the system will experience
problems.
LSM (Contd)
7
Linear Induction Motors (LIMs) are significantly different than
Linear Synchronous Motors (LSMs) in the way that they produce
electro-motive forces or motion.
In a LIM, the motor stator creates an Alternating Current (AC) field
that induces currents into the reaction plate, which is typically an
aluminum fin. This creates eddy currents in the moving element
which react with the moving field in the stator to produce thrust.
The induced currents in the aluminum plate manifest themselves in
the form of heat. In cases of high duty cycles or in locked rotor
conditions (where the moving element is not permitted to move)
overheating can occur. In several reported cases at amusement
parks, LIM fins have cracked and parts have melted.
LINEAR INDUCTION MOTOR (LIM)
8
LIM (Contd)
Secondary Secondary
Primary Primary
v v
v v
s s
x x
Stator Stator
Rotor Rotor
y y
3 3 winding winding
Aluminum Aluminum
sheet sheet
(conductor) (conductor)
Cut along Cut along xy xy and enroll and enroll
Traveling mmf
(or Flux Density)
Wave
9
Traveling mmf wave
LINEAR INDUCTION MOTOR
g g
F F
z z
Fundamental F Fundamental F
1 1
Ni/2 Ni/2
- -Ni/2 Ni/2
0 0
/2 /2

/2 /2
z z
Fundamental H Fundamental H
1 1
Ni/2g Ni/2g
- -Ni/2 Ni/2
0 0
/2 /2

/2 /2
z z
Fundamental F Fundamental F
1 1
Ni/2 Ni/2
- -Ni/2g Ni/2g
0 0
H H
F F
F: F: mmf mmf
H: Field H: Field
10
Traveling mmf wave
N N
ph ph
: Number of turns distributed over a length : Number of turns distributed over a length m m . .
k k
w w
: winding factor. : winding factor.
Same Analogy as that of Rotary Machines Same Analogy as that of Rotary Machines
i I t
i I t
i I t
z t
z
t
k
N I
m
a m
b m
b m
w
ph m
=
=
= +
=
cos
cos( )
cos( )
( , ) cos
max
max
120
120
3
2
2
4
2
F F
F
v
dz
dt
dz
d
d
dt
T f
p
= = = =

2
2
T T
p p
: Pole pitch : Pole pitch
f : Exciting frequency. f : Exciting frequency.
11
LIM Performance
LIM Performance
Slip Slip
s
v v
v
v T f
s
s
s p
=

= [m/ sec] 2
Thrust Thrust
F
P
v
I' R s
v
g
s s
=
air gap power,
synchronous velocity,
= [N]
3
2
2
2
' /
T
h
r
u
s
t
,

F
T
h
r
u
s
t
,

F
Speed, v Speed, v
v v
s s
l l
2 2
R R
2 2
/s /s
l l
1 1
R R
1 1
M M
12
Different Types of LIM
DOUBLE DOUBLE- -SIDED LIM (DLIM) SIDED LIM (DLIM)
Long Primary Long Primary
Short Secondary Short Secondary
SINGLE SINGLE- -SIDED LIM (SLIM) SIDED LIM (SLIM)
Short Primary Short Primary
Long Secondary Long Secondary
Primary Primary
Secondary Secondary
13
There is secondary current and secondary loss which is not
associated with a corresponding amount of useful thrust.
There are reactive volt-amperes drawn from the supply
which cannot be accounted for either as being due to
magnetization or leakage reactance.
The physical nature of this phenomena is thought to be due
to the continual removal of magnetic energy at the exit
edge of a machine.
The exit edge produces a backward thrust on the
secondary which subtracts from the thrust performance in
the region of a speed-thrust curve.
End Effect
14
End Effect on Speed-Thrust Curve
The LIM cannot run light
at the synchronous speed
v
s
=2pf.
Generally, the running light
speed is lower than v
s
.
T
h
r
u
s
t
,

F
T
h
r
u
s
t
,

F
Speed, v Speed, v
v v
s s
Short Short- -Primary Primary
LIM LIM
Equivalent Equivalent
Rotary Rotary
IM IM
Effect of the exit edge loss on the Effect of the exit edge loss on the
speed speed- -thrust curve of a LIM. thrust curve of a LIM.
15
APPLICATIONS
Transportation (Trains)
Robotics & Material Handling
Elevators
Compressors & Pumps
Catapults and Launchers
Sliding Doors Closer
Cartain pullers
etc...
16
Transportation (Trains)
J apan: Linear Chuo Shinkansen
17
The superconducting Magnetically-levitated
Linear Motor Car is a most promising high
speed transportation system in the 21st century.
It is a vehicle befitting the requirements of the
high speed and massive transportation age, as
it operates at a stunning 500 Kmph, and has the
transportation capacity equivalent to the
existing shinkansen.
It is a most advanced traffic system, which has
less noise and vibration and promises a safe
and comfortable ride.
Superconducting Magnetically Levitated
Linear Motor Car
18
Power converter Power conversion substation
Feeder
Feeding section
switchgears
Guideway
Test platform
Turnout switches
Control Center
Vehicle
Information cables
Via duct
Tunnel
Train Depot
19
Levitation and guidance coils
LCX (Leaky coaxial cable)
Panel-type
Side wall
Feeding cable
Propulsion coils
Cross-inductive cable
Power/
communication cables
20
What is Superconductivity?
When certain metals are cooled below a specific temperature, their
electric resistance vanishes. This phenomenon is known as
"superconductivity".
Once current is applied to a coil made of superconductive metal, it
continues to flow permanently and without loss. This coil can generate
dozens of times stronger magnetic field than that of permanent
magnets.
For the Maglev, a bundle of extremely fine niobium-titanium alloy
(superconductive metal) wire is embedded in a copper matrix in order
to improve the stability of superconductivity. This wire is cooled with
liquid helium (ca-269C) to be in a superconductive state.
21
How does it advance forwards? (Propulsion
System)
By passing current through propulsion coils on the ground,
a magnetic field (north and south poles) is produced, thus
the train is propelled forward by the force of attraction
between opposite poles and the repulsive force of same
poles acting between the ground coils and the
superconducting magnets built into the vehicles.
22
How is it levitated ? (Levitation System)
When the superconducting magnets on the vehicles pass
through at high speed current flows through levitation and
guidance coils on the ground producing electrodynamic
levitating force to the vehicles.
23
Why doesn't it collide with the wall?
(Guidance System)
The levitation and guidance coils on either side are
connected with electric power cables. They keep the vehicles
in the center of the guideway at all times by exerting an
attractive force on the further side of the vehicle and a
repulsive force on the nearer side should the train move off
center to either side.
24
Other Types of Levitation Systems
25
One
One
-
-
shaft Multicar Ropeless Elevators
shaft Multicar Ropeless Elevators
Elevator
car
Elevator
path
Elevator
Car
Moving part of linear
Synchronous motor
Stationary armature coil
of motor
Elevator
Hall
26
Means maximum operating time.
Each elevator controller can act as the
group controller.
If one controller is taken out of service
temporarily, the remaining controllers
continue to operate efficiently.
Decentralized Elevator Cars Group Control
27
Permanent magnets
Yoke
Armature coils
Rollers
Magnet holder
Suspension bar
Elevator car
28
A state-of-the-art linear motor system propels the ride to reach unprecedented
speeds of up to 160 km/hour, making it the most technologically-advanced ride in
the world. To generate these intense speeds, an incredible 2,200,000 watts (2.2
megawatts) of power, enough to power a small town, is applied for six or seven
seconds.
38-story tower of terror in Australia
Ramp
38-story tower of terror in Australia
29
A linear compressor is a positive displacement, piston-type
compressor in which the piston is driven directly by a linear motor,
rather than by a rotary motor coupled to a mechanical mechanism
as in a conventional reciprocating compressor.
Linear Compressor
Linear Compressor
30
Air Compressor and Vacuum Pumps -
Linear-motor-driven Free Piston System
This design makes these
pumps especially appropriate
as air sources or vacuum
units
for various pneumatically
operated equipment and
apparatus in advanced
industries.
31
Linear motor outperforms steam-piston
catapults
Replacement for naval-aircraft launch system offers host of
tactical and operational benefits.
In the rural Massachusetts town, engineers are developing
the world's highest-thrust linear motor.
For Naval aviation, it may mean the end of the age of steam.
By 2005, naval architects may begin replacing the enormous
steam catapults on aircraft carriers with EMALS--The
Electromagnetic Aircraft Launch System.
32
EMALS would bring a host of
improvements to ship design and
Naval aviation.
With a maximum design thrust of
132,000 kgf, EMALS offers 28%
more thrust than steam catapults.
Proposed EMALS could
accelerate 45,000-kg aircraft to 60
m/s
2
in 100m.
Linear motor outperforms steam-piston
catapults (Contd)
33
The Launch Loop: a low cost Earth-to-high
orbit launch system
A closed loop made of laminated iron ribbon is continuously launched to space by an
asynchronous linear motor.
The motor consists of high-frequency electromagnets producing an undulating magnetic
field. The field moves at 14 km/s -- only slightly faster than the loop. A 2600 km away
from the motor, the loop returns to the Earth, to be accelerated by another motor and
deflected by a magnet back to space. Cargo is transported by Maglev trains riding on
the loop.
80 km
Loop
Linear motor and
deflecting magnet
Maglev train
riding on the loop
34
Examples of applications
textile machinery
packaging machines
handling machinery
robot applications
laboratory automation
and others...
Small Power Linear Motors
35
MEGAmation has over 350 Linear XY stepper motor robot
heads in use throughout the world.
Linear Stepper Motors Applied in
Robotics
Pharmaceutical
Automation
Automotive drive
train assembly
Electronic PCB
Maker
Mechanical Pick & Place
Assembly
36
A wafer stepper is a high-
precision chip manufacturing
system. Modern wafer steppers
are confronted with more severe
demands on their performance,
due to the ongoing increase of
chip capacity, where performance
can be defined in terms of speed
and accuracy of the positioning
mechanism of the stepper.
A Wafer Linear Stepper Motor
37
Triple Blade shaving System
1 Hour Charge
Universal Voltage
12,000 Blade strokes a minute
Linear Motor Drive Men's shaver

Linear Motors

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