MODULE VI

LINEAR MOTORS
INTRODUCTION

Linear Electric Motors belong to the group of Special electrical machines that convert
electrical energy into mechanical energy of translator motion. Linear Electric motors can
be classified as follows
 Induction motors
 DC motors
 Synchronous motors including reluctance and stepper motors
The Linear motors (LM) are very effective drive mechanisms for transportation and actuation
systems. The high power linear motors are used in rapid transportation, baggage handling,
conveyors, crane drives, theme park rides and flexible manufacturing systems. The low power
ones are used in robotics, gate control, guided trajectories and stage and curtain movement.
NASA envisions the use of such motors in launching spacecrafts in future.
AVANTAGES OF LINEAR
MOTORS
The advantages of linear motors compared to rotating motors are given below:
1. Simple construction
2. Low maintenance cost.
3. No limitation on travctive effort due to adhesion between wheel and rail.
4. Overheating of the stationary part is eliminated as the motor moves continuously over the
cool stationary part leaving the heated portion behind.
5. Unlimited maximum speed as the centrifugal force is absent.
6. Tractive effort is independent of speed.
7. Higher power to weight ratio.
I. LINEAR INDUCTION MOTORS
Linear Induction motor is a conventional development of conventional three phase induction
machine. Instead of rotary motion in a three phase conventional induction motor rectilinear
motion is obtained in a linear induction motor. “Whenever a relative motion occurs between the
field and short circuited conductors, currents are induced in them which results in electro-
magnetic forces and under the influence of these forces, according to Lenz’s law the conductors
try to move in such a way as to eliminate the induced currents” In this case the field movement is
linear and so is the conductor movement.
CONSTRUCTION OF LIM
Linear Induction motors can be classified as axial field and transverse field motors

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Axial Field Motors
Axial field LIM are directly derived from a traditional rotating squirrel cage induction
motor.
An elementary LM can be obtained by cutting an ordinary induction motor axially and opening
out as shown in figure.
In a LIM, the part which carries windings and produces the magnetic field (stator ina
conventional motor) is called the primary winding and the part which carries current that
interacts with the flux to produce the force (rotor of an ordinary rotor) in the axial direction is
called the secondary.
The primary three phase voltage develops a travelling wave flux. This flux induces the emf in the
secondary and the current flows through the secondary winding as it is closed. Due to the
interaction of the flux and the current, a force is produced axially. The travelling flux, secondary
current and force are mutually perpendicular to each other

Classifications of Axial Flux LIM

In traditional induction motor, the armature is stationary and the rotor is moving. In LIM, either
primary or secondary can be the moving part. Depending upon the application, we can chose
primary or secondary as the moving part.
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however gets attracted towards the primary when the field is energized. Consequently unequal
gap length results on the two sides of the plate. Double primary system can be used to overcome
this problem.
The use of the motor decides which of the two primary and secondary will be shorter in length
compared to the other. The primary is made shorter than secondary when the operating distance
is large (Since winding a very long 3 phase primary is costly proposition) and the short
secondary is used when the operating distance is limited.

By cutting a conventional rotating induction motor axially and re-rolling along lengthwise axis,
an elementary tubular linear induction motor can be realized. An axially traveling, magnetic
field is produced within the tube when the primary winding is energized by three phase supply.
however gets attracted towards the primary when the field is energized. Consequently unequal
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Transverse Field Motors
Transverse field LIM are used for high speed applications. In transverse flux LIM, there is no
restriction on pole pitch as no flux is to be conveyed axially.

The secondary is provided with steel backing to reduce the reluctance of the magnetic circuit.
These arrangements have single slot per pole per phase and successive cores must be separated
by a minimum distance to avoid the axial thrust produced by the strong axial flux distribution.
Thus secondary current induced by one core interacts less effectively with the flux of the other.
WORKING:
When the primary of a LIM gets excited by a balanced three-phase power supply, a flux starts
traveling along the entire length of the primary. This linearly traveling magnetic field is
equivalent to the rotating magnetic field in the stator of a three phase induction motor or a
synchronous motor. Electric current gets induced in the conductors of the secondary due to the
relative motion between the traveling flux and the conductors. Then the induced current interacts
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with the traveling flux wave to produce linear force or thrust. If the primary is fixed and
the
secondary is free to move, the force will pull the secondary in the direction of the force and will
result in the required rectilinear motion. When we give supply to the system the developed field
will result in a linear traveling field, the velocity of which is given by the equation,
Vs = 2 t fs m/sec
where fs is the supply frequency in Hz, Vs is the velocity of the linear traveling field in meter per
second, and t is the linear pole pitch i.e. pole to pole linear distance in meter. For the same reason
as in the case of an induction motor, the secondary or runner cannot catch the speed of the
magnetic field. Hence there will be a slip. For a slip of s, the speed of the linear induction motor
will be V = (1 – s) Vs
APPLICATIONS
A linear induction motor is not that widespread compared to a conventional motor, taking its
economic aspects and versatility of usage into consideration. But there are quite a few instances
where the LIM is indeed necessary for some specialized operations.
Few of such applications are listed below.
 Automatic sliding doors in electric trains.
 Mechanical handling equipment, such as propulsion of a train of tubs along a
certain route.
 Metallic conveyor belts.
 Pumping of liquid metal, material handling in cranes, etc.

THRUST EQUATION OF LIM

f is the frequency, τ pole pitch, Vs= synchronous speed, V is the actual speed, s is slip, e1 is mf
induced in the primary per phase, I1 = primary current, Pg = gross power developed, Pm =
mechanical power developed, Φ is power factor angle of primary, Φm -= maximum flux density
in the air gap, Tph = turns/phase, ac= specific electrica loading, Bav = specific magnetic loading,
L= Length of the field systemalong the direction of motion, P = No of poles, W = width of the
field system, Kw = winding factor
The linear synchronous speed of the travelling wave Vs = 2 τ fs m/sec, where s = (Vs – V)/Vs
with the traveling flux wave to produce linear force or thrust. If the primary is fixed and
the
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EQUIVALENT CIRCUIT OF
LIM
The equivalent circuit contains inductances and resistances, some of which are variables
dependent on speed. A resistance connected across the supply represents an idealized induction
motor at standstill. If the motor is allowed to start and move, it produces power.
The simple resistance cannot represent the machine when it moves. The resistance should
represent the power input to the secondary given by R2/s, which depends on the slip. This
resistance may be divided into two, one representing secondary copper loss(R2) and the othetr
the output of the motor ie, [R2(1 – s)/ s].
To this circuit a secondary leakage reactance X2 is added as shown in figure. Let us assume that
the magnetic circuit has a finite reluctance and has some mmf and current required to set up flux,
represented by Xm. Power loss in the iron part of the motor is represented by Ri. Finally the
primary leakage reactance X1 and resistance R1 are included to get the equivalent circuit of
practical LIM. R2’ and X2’ are the secondary resistance and leakage reactance refereed to the
primary.

Transverse edge effect and end effect

Linear motors are associated with 2 effects which are absent in conventional induction motor .
These effect will increase loss in motors

1. Transverse edge effect

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• Paths of induced current in secondary is not well defined because secondary of linear
motor is a solid conducting plate
• The portion of current paths parallel to direction of motion of secondary does not make
any contribution towards production of useful thrust but contribute towards losses
• This effect reduces effective thrust and increases losses and is known as transverse edge
effect because current paths parallel to the direction of motion are more towards
direction of conducting plates

2. End effect
In case of linear induction motor with short primary the current path towards end of field
structure on the conducting plate go beyond the field structure and such portions of
current path do not contribute to useful thrust but only towards motor losses.This is called
end effect

Advantages of LIM
 Low initial cost
 Low maintenance cost(absence of rotating parts)
 Simplicity
 No limitation on tractive effort due to adhesion between wheel and rail
 No limitation on maximum speed
 No overheating of rotor as the motor moves continuously over the cool stationary part
leaving the heated portion behind.
 Better power to weight ratio

Disadvantages of LIM
 Poor utilization of motor due to transverse edge effect and end effect
 Larger air gap and non magnetic reaction rail(rotor plate) need more magnetizing current
resulting in poor efficiency and low p.f.
 Very high capital cost of reaction rail fixed along the centre line of the track.
 Complications and high cost for providing 3 pahse collector system along the track.
 Difficulty encountered in maintaining adequate clearances at points and crossings.
APPLICATIONS
 A linear induction motor is not that widespread compared to a conventional motor,
taking its economic aspects and versatility of usage into consideration. But there are quite
a few instances where the LIM is indeed necessary for some specialized operations.
 Few of such applications are listed below.
 Automatic sliding doors in electric trains.

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  Mechanical handling equipment, such as propulsion of a train of tubs along a
certain route.
 Metallic conveyor belts.
 Used in some roller coasters.
 High speed rail traction system.
 Used in trolley cars for internal transport in workshops,as booster accelerators to
move heavy trains from rest or up the inclines or on curves.
 Pumping of liquid metal, material handling in cranes, etc.

II. LINEAR SYNCHRONOUS MOTOR

Linear Synchronous motor is a linear counterpart of conventional rotating synchronous motor. In

LSM the mechanical motion is in synchronism with the magnetic field, ie, mechanical speed is
as as speed of travelling magnetic field. The thrust is provided by the action of the traveling
magnetic field produced by a three phase winding and a group of magnetic poles N, S, N, S…N,
S or a variable reluctance ferromagnetic rail.LSM have higher cost. They can produce much
higher thrust density compared to LIM for the same thrust. This makes them suitable for
applications in vehicles and propulsion.

Principle of operation
 The armature winding, when excited by a poly-phase (usually 3-phase) Supply,
creates a linear magnetic field inside the air gap. The field winding, which acts as a
permanent magnet, simply locks in with the rotating magnetic field and rotates
along with it. During operation, as the field locks in with the rotating magnetic field,
the motor is said to be in synchronization.

 Once the motor is in operation, the speed of the motor is dependent only on the
supply frequency.

Types and Construction LSM

Depending upon the speed of operation, LSM are classified as transportation LSM (medium and
high speed) and low speed LSM.

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Linear motion synchronous stepper motor is an example of low speed LSM.
Transportation
LSMs are classified into heteropolar LSM, homopolar LSM, permanent magnet LSM,
superconductor field LSM, transverse flux LSM and longitudinal flux LSM. Another type of PM
LSM is slotted and slotless LSM
LSM with Electromagnetic Excitation

 The electromagnetic excitation system of a LSM is similar to the salient pole rotor of a
rotary synchronous motor. Fig. shows a fiat single sided LSM with salient ferromagnetic
poles and d. c. field excitation winding.
 The poles and pole shoes can be made of solid steel, laminated steel or sintered powder.
If the electromagnetic excitation system is integrated with the moving part, the D.C.
excitation can be delivered with the aid of brushes and contact bars, inductive power
transfer (IPT) systems, linear transformers or linear brushless exciters.

Permanent Magnet LSM with Active Reaction Rail

 In surface arrangement of PMs the yoke (back iron) of the reaction rail is ferromagnetic
and PMs are magnetized in the normal direction (perpendicular to the active surface).
Buried PMs are magnetized in the direction of travelling magnetic field and the yoke is
non- ferromagnetic, e.g. made of aluminum.
Linear motion synchronous stepper motor is an example of low speed LSM.
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Transportation
 It is recommended to furnish a PM LSM with a damper. A rotary synchronous motor has
a cage damper winding embedded in pole shoe slots.

 When the speed is different than the synchronous speed, electric currents are induced in
damper circuits. The action of the armature magnetic field and damper currents allows for
asynchronous starting, damps the oscillations and helps to return to synchronous
operation when the speed decreases or increases. Also, a damper circuit reduces the
backward travelling magnetic field.

 The damper of PM LSMs are aluminium cover or solid steel pole shoes. Dampers also
provide protection to PM from mechanical damage.
 Double sided, flat PM LSMs consist of two external armature systems and one internal
excitation system (Fig. a) or one internal armature system and two external excitation
systems (Fig. b).
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  In slotless motors the primary winding is uniformly distributed on a smooth armature
core or does not have any armature core. Slotless PM LSMs are detent force free motors
provide lower torque ripple and at high input frequency can achieve higher efficiency
than slotted LSMs.

 Fig. a shows a single sided flat slotless motor with armature core and Fig. b shows a
double sided slotless motor with inner air-cored armature winding (moving coil motor).

Slotless LSM Slotted LSM

Higher efficiency in higher speed range Higher efficiency in lower speed range
Lower winding cost Higher thrust density
Lower thrust propulsion Lower input current
Lower acoustic noise Less number of PMs

PM with passive reaction rail

 The LSM discussed so far are heteropolar LSM in which armature winding and the field
system are in separate parts.
 In homopolar LSM armature and field windings are in same part and the reaction rail is
passive in nature.
 A double sided homopolar LSM is shown below.
 In slotless motors the primary winding is uniformly distributed on a smooth armature
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 It has 2 polyphase armature windings. Both armature systems are magnetically and
mechanically coupled by a ferromagnetic U-type yoke.
 Each armature has a slotted stack with polyphase winding and PM are placed between
stack and yoke. PM may be replaced by electromagnets.
 The interaction between travelling magnetic field produced by armature winding and
magnetic poles of reaction rail produces the thrust.
 A Single sided PM LSM with a passive reaction rail is shown below.

Advantages of LSM
 Highly reliable.
 Acceleration and braking is independent on friction.
 Have improved performance like high speed acceleration and efficiency.
 Very precise control of position is also possible.
 Can be used for movement along any slope inclding vertical direction without friction’
 Signals for control need not be sent to the vehicle.
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 Features of LSM
 Lower maintenance.
 Fewer moving parts.
 Reduced input/output and ease of installation.
 Movement in vertical or diagonal directions possible.
 Cost effective.
 No need of cables or counterweights.
 Better control possible.

Applications of LSM
 Transportation system.
 Used in propel wheeled and maglev vehicles.
 Used in factory automation, packaging and material handling.
 Used in passenger elevators for tall buildings, military elevators for weapons and aircraft.
 LSM find applications in Military and Navy for ship board elevators, automated material
handling and aircraft and vehicle launch.
 LSM can replace hydraulic actuators with less wearing and higher reliability.

III. LINEAR RELUCTANCE MOTOR

Linear Reluctance motor is an attractive alternative to linear induction and synchronous motor.
LRM are suitable for material handling and transportation of materials in a totally enclosed
container. Less maintenance and cheap secondary material for construction make their cost very
low.
 Commonly used are Transverse flux motors.

 Two types of transverse flux motors are:

 U shaped primary core type.
 E shaped primary core type.

EXAPLANATION: REFER JANARDHANAN TEXT BOOK

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