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N OMENCLATURE
1
2
Cu
Fe
0
Fe
e
r
s
g
e
a1
c
c2
d
dFe
fs
ge
gm
hb
hy
l
lav
m1
p
pe
q
s
sf
t1
t2
B
Bg
Cr
Cx
E
Fx
Fig. 1.
G
H
Ie
Ids
Iqs
Is
J
Klam
Kr
Kx
Kw1
Llr
Lls
Lm
Lm1
Lmc
Lr
Ls
P2
PFe
Q3
RFe
Rr
Rrc
Rs
SCu
Vs
W1
Structure of a SLIM.
Goodness factor.
Magnetic field intensity.
Field current in the T-model circuit.
Field current in two-axis circuits.
Thrust current in two-axis circuits.
Primary phase current.
Current density.
Silicon-steel stacking factor.
Longitudinal-end-effect coefficient to the secondary
resistance.
Longitudinal-end-effect coefficient to the mutual
inductance.
Primary winding coefficient.
Secondary leakage inductance.
Primary leakage inductance.
Mutual inductance in the two-axis circuit.
Mutual inductance in the per-phase circuit.
Rectified mutual inductance in the two-axis circuit.
Secondary inductance in the two-axis circuit.
Primary inductance in the two-axis circuit.
Secondary active power.
Iron loss.
Air-gap reactive power.
Iron resistance.
Secondary resistance.
Rectified secondary resistance.
Primary resistance.
Effective cross-sectional area of the winding conductor.
Primary synchronous velocity.
Number of primary winding turns in series.
I. I NTRODUCTION
2411
HE STRUCTURE diagram of a single-sided linear induction motor (SLIM) is shown in Fig. 1. The SLIM primary
can be simply regarded as a rotary cut-open stator and then
rolled flat [1]. The secondary, similar with the rotary induction
motor (RIM) rotor, often consists of a sheet conductor, such as
copper or aluminum, with a solid back iron acting as the return
path for the magnetic flux. The thrust corresponding to the RIM
torque can be produced by the reaction between the air-gap flux
density and the eddy current in the secondary sheet [2], [3].
A train driven by a SLIM, also called as a linear metro, has
been paid attention by academia and industry for more than
Fig. 2. Simple vehicle system diagrams propelled by the SLIM. (a) LIM
installed under vehicle redirector. (b) Drive system.
2412
at the exit side. By the influence from the sudden generation and disappearance of the air-gap penetrating flux
density, an amount of eddy current in antidirection to the
primary current will occur in the secondary sheet, which
correspondingly affects the air-gap flux profile along the
longitudinal direction (x-axis) as illustrated in Fig. 3.
This phenomenon is called the longitudinal end effect,
which would cause extra copper loss and reduce the effective mutual inductance as the velocity goes up. In the end,
the effective electromagnetic thrust will decrease a little
because of the attenuating air-gap average flux linkage,
not similar to the constant flux linkage in the RIM which
is equal to the value of the exit position in Fig. 3 [3].
2) The different width between the primary lamination and
the secondary sheet can result in nonuniform flux density
distribution, i.e., the middle area flux density along the
z-axis is smaller than that of the terminal as indicated
in Fig. 4, where c is a half of the primary width less
the secondary, l is the primary lamination thickness,
Bx0 is the flux density amplitude with an equal width
between the primary and the secondary, and Bx is the
flux density amplitude with a different width between the
primary and the secondary. The phenomenon is named
as the transversal edge effect, which may increase
the secondary equivalent resistivity and bring an inverse
effect to the neat thrust.
2413
Fig. 5. Structure and 1-D analytical model of SLIM. (a) Physical structure.
(b) Longitudinal side view. (c) Transversal side view.
=
ix +
jy +
kz, where
i,
j,
is expressed in the form of A
and k are the notations of the x-, y-, and z-axis directions,
respectively. The complex number is expressed in the form of
A = x + jy, where x is the real part, y is the imaginary part,
and j is the notation of the imaginary part.
analysis, we can calculate the phase currents and the excitation voltages. The air-gap flux linkage can be obtained using
Maxwells field equations and solved using the complex power
method with a conformal transformation which considers the
effects of the half-filled slots, magnetic saturation, and backiron resistance. Using the equal complex power relationship
between the magnetic field and the electrical circuit, we can
obtain several circuit parameters, such as mutual inductance
Lm1 , secondary resistance Rr , primary leakage inductance Lls ,
secondary leakage inductance Llr , longitudinal-end-effect coefficients Kr and Kx , and transversal-edge-effect coefficients Cr
and Cx . The comprehensive derivations of the four coefficients
can be referred to in the Appendix. The T-model equivalent
circuit is shown in Fig. 6, where the secondary equivalent resistance Rr consists of the secondary conducting sheet resistance
R2Sheet and the secondary back iron R2Back . Some brief conclusions are summarized in the following paragraphs [2], [9].
The longitudinal-end-effect coefficients Kr and Kx are denoted by
Kr =
Kx =
C12 + C22
sG
C1
2pe 1 + (sG)2
(1)
C12 + C22
C2
1 + (sG)2
(2)
2pe
pe =
(2p 1)2
4p 3 + /(m1 q)
(3)
2414
(5)
2
2
th(0.5l )
(6)
T = j + (1 )
0.5l
where is the ratio of c to and and can be obtained by
=
R2 =
1
1 + 1 th(0.5l )th [0.5K(c2 l )]
(7)
1
1 + jsG
(8)
where K is the function of the slip and motor structure parameters and c2 is the width of the secondary sheet in the value of
(l + 2c).
The five parameters in the T-circuit, namely, the primary
resistance Rs , primary leakage inductance Lls , secondary resistance Rr , secondary leakage inductance Llr , and exciting
inductance Lm1 can be calculated as follows.
The primary resistance Rs is
Rs = Cu 2lav W1 /SCu
(9)
(W1 Kw1 )2 l
2pe
d
(12)
(W1 Kw1 )2 l
.
2pe
dFe
(13)
R2Sheet R2Back
.
R2Sheet + R2Back
(14)
Rr
B1 sh(2Kd)
2fs s
(15)
l V s
4 2 fs ge pe
(16)
(18)
(19)
(20)
By = 2g /(2l Klam hy )
(21)
Bt = Bg t1 /(Klam t2 )
(22)
Bb = g /(c2 Klam hb )
(23)
2415
TABLE I
DIMENSIONS OF THE SLIM
PFe /Ie2
(24)
(25)
(26)
2416
Fig. 9.
Fig. 10. Steady thrusts of the arc SLIM prototype. (a) Constant current
constant frequency (real lines are the thrusts without an end effect, dashed
lines are the thrusts with end effects, and other shaped lines are the measured
ones). (b) Constant voltage constant frequency (real lines are the thrusts with
end effects, and the other shapes are the measured ones).
Fig. 8. Steady performance of Japanese 12 000 SLIM. (a) Thrust and slip
frequency. (b) Power factor. (c) Efficiency. (d) Primary phase current.
than that by constant current in Fig. 10(a) for its quicker airgap flux attenuation. The thrust simulation agrees with the
measurement reasonably in various velocities.
2417
Fig. 11. Equivalent circuits of SLIM in dq-axis coordinate. (a) d-axis circuit.
(b) q-axis circuit.
Fig. 13. Modified mutual inductance Lmc and secondary resistance Rrc
under different slip frequencies.
Fig. 14. Thrust Fx curve under different phase currents and slip frequencies.
Fig. 12. Four coefficients under different slip frequencies (solid lines denote
the simulation, and dashed lines denote the measurement).
ds
Kx Cx Lm + Lls
0
qs
=
dr
Kx Cx Lm
qr
0
0
Kx Cx Lm + Lls
0
Kx Cx Lm
From (28), it can be seen that the four SLIM flux linkage
equations are totally similar to those of the RIM. The special
performance traits resulting from the longitudinal end effect,
transversal edge effect, and half-filled slots are easily described
by the four coefficients and equivalent pole pairs. The SLIM
analysis procedure and algorithm in the two-axis coordinate
are also similar with those of the RIM. Fig. 10 indicates the
SLIM equivalent circuits in the dq-axis frame. Different from
those of the RIM, four more rectification coefficients, i.e., Kx ,
Cx , Kr , Cr , appear in the mutual inductance and secondary
resistance branch circuits. In Fig. 11, 11 and 12 are the
angular frequencies of the primary and secondary relative to
the dq-axis.
V. A NALYSIS OF F OUR C OEFFICIENTS
The T-model circuit parameters for the three-phase arc SLIM
experimental prototype are Rs = 0.425 , Lls = 2.145 mH,
Kx Cx Lm
0
Kx Cx Lm + Llr
0
ids
0
Kx Cx Lm iqs
0
idr
Kx Cx Lm + Llr
iqr
(27)
2418
VII. C ONCLUSION
Compared with some other models of the SLIM, the proposed circuits have the following traits.
1) The T-model circuit is derived based on the 1-D air-gap
flux density equation, which gets four coefficients, i.e.,
Kx , Kr , Cx , and Cr , to describe the influence on the
mutual inductance and secondary resistance brought by
the longitudinal end and transversal edge effects. These
four coefficients have reasonable accuracy, combining
both the electromagnetic and numerical analyses. When
Kx = Kr = Cx = Cr = 1, i.e., when neglecting the end
and edge effects, the T-model is the same as that of the
RIM. These coefficients have clear physical meaning so
as to help researchers understand the end effects. Hence,
it is convenient to study the SLIM performance in a
similar way as that of the RIM.
2) By the Park coordination transformation, the SLIM special traits brought by the end effects in the dq-axis can be
also expressed by the aforementioned four coefficients.
By brief simplification, the proposed two-axis circuits
have similar forms as those of the RIM except for the
four coefficients occurring in the mutual inductance and
secondary equivalent resistance. All the control schemes
of the RIM can be applied in the novel models directly,
which brings great convenience to the study of the SLIM
dynamic performance.
3) For the linear metro application, the thickness of the secondary back iron placed on the track is always 2030 mm
to avoid the deformation of the conduct sheet which
resulted from the vertical force. The back-iron resistance,
particularly in the starting period, is considered in parallel
with the sheet resistance.
4) The half-filled slots in the primary ends could bring some
influence to the air-gap equivalent flux, particularly in the
cases where the number of the pole pairs is no more than
three. Based on the equations of the primary equivalent
current density, the number of equivalent pole pairs pe
smaller than the actual value p is used to describe the
influence by the half-filled slots.
2419
A PPENDIX
D ERIVATION OF F OUR C OEFFICIENTS
A. One-Dimensional Physical Model
In order to simplify the derivation, some assumptions are
proposed in the following list [1], [2], [9], [20], [26].
1) The stator iron has infinite permeability.
2) The skin effect is neglected in the secondary.
3) Winding space harmonics are negligible.
4) The primary and secondary currents flow in infinitesimally thin sheets.
5) All magnetic variables are sinusoidal time functions.
The analytical model with one dimension is shown in Fig. 1,
where the primary is named as Area 1, the secondary sheet as
Area 2, the air gap as Area 3, the exit end as Area 4, and the
entrance end as Area 5.
For special structures, SLIMs have longitudinal end effects
which resulted from cut-open primary terminals and transversal
edge effects due to the different width between the primary and
the secondary. Their influences on the SLIM parameters can
be analyzed separately and then gathered up by a superposition
theorem.
B. Longitudinal-End-Effect Coefficients Kx and Kr
Some fundamental electromagnetic equations applied in the
SLIM are summarized as
H =J
(A-1)
B
E =
t
B =0
(A-2)
(A-3)
B = H
J = (E + V B )
(A-4)
(A-5)
B = A
E=
(A-6)
A
.
t
(A-7)
0 < x < p
(A-8)
(A -9)
2420
A3z
x
(A -10)
E 3z =
A3z
.
t
(A-11)
A3z
A3z
+ v2
t
x
(A-12)
0 J1
,
2
k ge (1 + jsG)
2 =
ge
,
ge X + 0 e v2
1 =
ge
,
ge X 0 e v2
2 2
0 e v2 1 + (4e ge /0 e v2 ) + 1
2
, X=
,
e =
Y
ge
2
2 2
0 e v2 1 + (4e ge /0 e v2 ) 1
,
Y =
ge
2
jkcs
cc1 =
1
1 + j e
where s is the slip and G is the goodness factor described by [2]
G = 20 e fs 2 /(ge ).
dA3z
ge d2 A3z
je e A3z = J1 exp(jkx).
e v2
2
0 dx
dx
(A-14)
The solution of (A-14) is
x
+cc2 exp
+j e t+ x
2
e
(A-15)
exp [j(e t kx + s )]
x
exp
+ j e t x
1
e
(A-13)
(A-16)
(A-17)
k
e2 + (1 )2
+ s + k
cos
x
2
e
+ je Bm exp [j(e t kx)]
1 e exp(x/1 )
1
sin s +
k
e2 + (1 )2
+ s + k
sin
x
(A-18)
2
e
where Bm = GJ1 /e Vs 1 + (sG)2 , s = tan1 (1/sG), and
= tan1 (1 /e ).
By electrical machinery knowledge, complex power S23
transmitted from the primary (Area 1) to the secondary (Area 2)
and the air gap (Area 3) is calculated by
p
S23 = 2a1
= J1 B
m a1 Vs
p cos s NL
11 exp(p /1 ) sin(s + SL p )
+ SL exp(p /1 ) cos(s + SL p )
11 sin(s ) SL cos(s )
+ jJ
1 Bm a1 Vs
p sin s NL
11 exp(p /1 ) cos(s + SL p )
+ SL exp(p /1 ) sin(s + SL p )
11 cos(s ) SL sin(s )
= P2 + jQ3
2421
(A-19)
SL = k , ML = 11 + SL2 ,
e
1 e
NL =
,
ML e2 + (1 )2
1
1
s = tan1
.
, = tan1
SL G
e
Kr =
Kx =
(A-22)
m1 |E m |2
Q3
1
C12 + C22
16a1 m1 0 fs (W1 kw1 )2
=
ge p
C2
p 1 + (sG)2
(A-23)
$
11 sin(s ) SL cos(s )
C2 = p sin s NL
#
11 ep /1 cos(s + SL p )
+ SL e
sin(s + SL p )
C12 + C22
C1
1 + (sG)2
(A-26)
C12 + C22
.
C2
1 + (sG)2
(A-27)
sG
Along the rectangle route in Fig. 5(c), the following relationship based on (A-1) can be built by
(A-21)
Xm =
p /1
(A-25)
(A-20)
(A-24)
$
+ 11 cos(s ) SL sin(s ) .
ge B 3y
= J 2x
0 z
(A-28)
ge B 3y
= J 2z J 1
0 x
(A-29)
=
.
+
2
2
x
z
ge
x
ge
t
ge x
(A-30)
By supposing that B 1y = B1y (x, z, t) = B(z) exp[j(e t
kx)], (A-30) can be simplified and further solved by
0
1 R2 cosh z
B1y (x, z, t) = j
J1 R2 1 +
kge
R2
cosh a1
exp [j(e t kx)]
(A-31)
40
1 R2
2
=
tanh a1 exp(je t).
J1 R a1 +
ge
R2
(A-32)
2422
d
[] = 2E m exp(je t)
dt
(A-33)
where
Em
4 20 f W1 kw1 a1 2
=
ge
&
%
tanh a1 .
J1 j R2 + (1 R2 )
a1
(A-34)
20 a1 fs p 3
ge
%
tanh a1
J1 Re j R2 + (1 R2 )
a1
&
+jIm j R2 + (1 R2 )
tanh a1
.
a1
(A-35)
According to the complex power theory, the secondary resistance and mutual reactance per phase can be calculated by
Rr =
Xm =
m1 |E m |2
8a1 m1 (W1 kw1 )2
=
P2
e p
' 2
(
2
sG Re [T ] + Im [T ]
Re [T ]
(A-36)
m1 |Em |2
16a1 m1 0 fs (W1 kw1 )2
=
Q3
ge p
' 2
(
2
Re [T ] + Im
[T ]
(A-37)
Im [T ]
where T = j[R2 + (1 R2 )(/a1 ) tanh a1 ]. By comparing (A-24) and (A-25) to (A-36) and (A-37), two coefficients
Cr , Cx can be used to describe the influence by the transversal
edge effects
'
(
2
sG Re2 [T ] + Im
[T ]
(A-38)
Cr =
Re [T ]
' 2
(
2
Re [T ] + Im
[T ]
.
(A-39)
Cx =
Im [T ]
ACKNOWLEDGMENT
The authors would like to thank Prof. X. L. Long, Prof.
Y. M. Du, Dr. J. Q. Ren, Dr. K. Wang, and W. Wang at the
Institute of Electrical Engineering, Chinese Academy of Sciences, China, and D. G. Dorrell at the University of Technology
Sydney, Australia, for their kind help.
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Yongchang Zhang (M10) received the B.S. degree from Chongqing University, Chongqing, China,
in 2002, and the Ph.D. degree from Tsinghua University, Beijing, China, in 2009, both in electrical
engineering.
He is currently a Postdoctoral Fellow at the University of Technology Sydney, Sydney, Australia.
His research interests include sensorless and highperformance control of ac motor drives, control
of multilevel converters, pulsewidth modulation
(PWM), PWM rectifiers, and advanced digital control with real-time implementation.
2423