Design of a Novel Line-start Surface-inserted
Permanent Magnet Linear Synchronous Motor
Song Chi Jianhu Yan
School of Automation School of Automation
Nanjing University of Nanjing University of
Science and Technology Science and Technology
Nanjing, China Nanjing, China
chisong0609@sina.com yanjianhu@njust.edu.cn
Abstract—This paper presents the design of a novel surface-
inserted permanent magnet linear synchronous motor with line-
2021 13th International Symposium on Linear Drives for Industry Applications (LDIA) | 978-1-7281-7210-1/21/$31.00 ©2021 IEEE | DOI: 10.1109/LDIA49489.2021.9505949
starting capability using an induction cage. The induction cage
bars are embedded in the secondary core of the mover. The
design allows the motor start as a linear induction motor and
run as a linear synchronous motor at synchronous speed. The
finite element analysis is used to predict the performance of the
motor under starting transient and steady-state conditions. The
results show that the motor can self-start and quickly reach the
synchronous speed state. Based on this, the prototype is
manufactured to verify its results.
Keywords—Line-start motor, linear motor, dynamic starting
performance, finite element analysis.
I. INTRODUCTION
Linear motors directly convert electrical energy into linear
motion mechanical energy through electromagnetic force,
making them widely used in industry, transportation, and
weaponry. Linear induction motors (LIMs) have received
widespread attention due to their simple structure, high
reliability, long life and low cost. However, the presence of
the damping winding on the primary of the LIM makes the
efficiency of the LIM far lower than that of the linear
synchronous motor (LSM), and its lower power factor is
endangering the power grid for a long time. To reduce
environmental pollution and improve energy utilization, LIMs
are increasingly being replaced by permanent magnet linear
synchronous motors (PMLSMs)[1]. Although PMLSM can
achieve higher efficiency and power factor, it lacks of self-
starting ability. The line-start permanent magnet linear
synchronous motor (LPMLSM) was proposed to meet the
high efficiency and self-starting ability.
The secondary of LPMLSM integrates aluminum cage
bars and permanent magnets (PMs). When a voltage source
with constant amplitude and constant frequency is imposed to
LPMSM, the primary winding flux linkage interacts with the
eddy current in the aluminum cage bar and generates induced
force to provide the motor starting thrust, and it turns from
standstill state to moving state and finally reaches
synchronization speed [2]. Therefore, LPMLSM has the
merits of both LIM and PMLSM to obtain higher efficiency
and power factor than LIM. Compared with traditional
PMLSM, LPMLSM can self-start and operate by directly
connecting to the power supply [3]. In high-acceleration
conditions, the accuracy of the position sensor in the
traditional PMLSM system cannot meet the tracking
requirements, while the LPMLSM system can run stably
sensorless, which shows its great advantages in high-speed
applications[4-6].
978-1-7281-7210-1/21/$31.00 ©2021 IEEE
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Jian Guo Yuxi Zhang
School of Automation School of Automation
Nanjing University of Nanjing University of
Science and Technology Science and Technology
Nanjing, China Nanjing, China
guoj1002@njust.edu.cn 764555916@qq.com
Most of the existing researches focus on the design and
optimization of LIM, PMLSM and rotating line-start
permanent magnet synchronous motor. However, there are
few studies on LPMLSM, and according to the existing
literature review, only relevant concepts are proposed, which
are line start permanent magnet linear motors based on
aluminum plates[7]. It only verified the feasibility of the
motor through finite element simulation, but the
characteristics of the motor were not analyzed in depth.
Similar to the rotary motor, the PMs of the LPMLSM can
also adopt surface-mounted, surface-inserted and interior
structures. The surface-mounted PM structure has the same
reluctance in the d-axis and q-axis, and has less harmonic
components in the flux linkage to generate sine wave
magnetomotive force easily. The asymmetry of the d-axis and
q-axis magnetic circuit of the surface-inserted PM and the
interior PM structures can make full use of the magnetic
resistance generated by the asymmetry of the magnetic circuit
to increase the power density of the motor[8]. However, the
interior PM structure as LPMLSM will make the secondary
structure larger.
This paper proposes a novel line-start surface-inserted
permanent magnet linear synchronous motor (LSPMLSM) in
which the aluminum bars are embedded in the PM secondary
side. The motor can start by itself without an additional
controller by directly connecting to the power source. This
paper analyzes the theoretical principles of the motor starting
state and steady state. Based on the analysis, a LSPMLSM
model is built, and finite element analysis (FEA) is used to
analyze the starting and steady-state performances, which
verifies the feasibility of this motor. The results show that the
LSPMLSMs have fine self-starting ability and steady state
ability. Finally, the prototype experiments have verified the
these results.
II. STRUCTURE AND OPERATING PRINCIPLE
The LSPMLSM needs to start by overcoming the braking
force generated by the PMs, load force, the weight of its mover,
and friction. Therefore, it is necessary to adopt a high-
performance design for the starting squirrel cage winding to
prevent the LSPMLSM from starting failure and unable to run
synchronously.
This paper proposes a long secondary moving armature
type double-sided linear motor structure. The schematic
diagram of the 3D model is depicted in Fig. 1(a). Fig. 1(b)
shows the 2D structure of this LSPMLSM. The main
parameters of this LPMLSM are listed in Table 1.
 Primary core (Mover) 3-Phase Windings
S pole Secondary core
N pole
Aluminum bars
PMs
(a) 3D model
Primary core(Mover) 3-Phase Windings
N S
S N
Secondary core Aluminum bars
(b) 2D schematic diagram
Fig. 1. Structure of the LSPMLSM
From the Fig. 1, the primary consists of iron core and
armature windings to assemble the mover of the LSPMLSM.
The secondary is composed of iron core, PMs and aluminum
bars to assemble the stator of the LSPMLSM. The PMs are
inserted into the secondary core surface, and the aluminum
bars are inserted on the surface and the middle of the
secondary core to form a squirrel cage winding.
In the proposed motor model, a squirrel cage slot is opened
on the surface of the secondary core. The cross section of each
slot is the same to ensure that the current induced on the cage
winding is evenly distributed to the aluminum bars. All slots
are short-circuited with aluminum bars to form a squirrel cage
winding to ensure the motor start and run to the synchronous
speed state. In addition, the secondary PM adopts surface-
inserted structure, because the load capacity of the surface-
inserted PMLSM is better than that of the surface-mounted
PMLSM during operation. Both the primary core and
secondary core materials adopt 35WW250, and the PM
material adopts N48H.
After the armature winding is connected to the power
supply, induced electromotive force is induced on the squirrel
cage winding, and the magnetic field of the squirrel cage
winding and the magnetic field of the armature winding
interact to generate starting thrust.
TABLE I. PARAMETERS OF LSPMLSM
will generate a magnetic fields. The magnetic field generated
by the primary winding current cuts the aluminum bar, or the
magnetic field generated by the aluminum bar current cuts the
primary winding, the current will always exist until the speed
between the primary winding and the aluminum bar reaches
the same synchronization speed (vs). Therefore, during the
start-up process, the slip (s) changes from 1 to 0, the primary
and secondary both generate three different magnetic fields
with speeds of vs, (1-s)vs, and (1-2s)vs and three different
frequency currents with frequencies of f, (1-s)f, and (1-2s)f.
Currents of the same frequency produce constant force,
while currents of different frequencies produce periodic pulse
force. The forces generated by the interaction of the magnetic
fields of different speeds in the primary and secondary are
listed in Table Ⅱ.
TABLE II. FORCES IN THE INTERACTION OF MAGNETIC FIELDS
Primary
Secondary vs (1-s)vs (1-2s)vs
vs Fa Fsf F2sf
(1-s)vs Fsf Fg Fsf
(1-2s)vs F2sf Fsf Fb
Average thrust includes,
(a) Asynchronous thrust Fa, which is the most important
starting thrust during the starting process.
(b) Braking force Fg, which is generated by PMs to act as
a braking force.
(c) The saliency effect asynchronous thrust Fb, which is
caused by the asymmetry of the d-q axis magnetic circuit.
Fsf and F2sf are pulse forces. The starting speed of the motor
is very small, and the average value of the pulse forces in each
cycle is zero, which has little effect on the starting and can be
ignored.
Fig. 2 shows its thrust-slip curve. During the starting
process, asynchronous thrust Fa, saliency effect asynchronous
thrust Fb and braking force Fg produced by the PMs work
together to generate thrust Favg to accelerate the LSPMLSM
from zero speed to the synchronous speed. The formula is as
follows,
Favg = Fa + Fb − Fg (1)
F Fa
Favg

Parameters Value Parameters Value

Rated power(W) 750 Rated voltage(V) 80
Rated speed(m/s) 2.04 Frequency(Hz) 20
Number of poles 4 Pole pitch(mm) 51
Width of PM(mm) 25 Height of PM(mm) 3 Fb
1.0 0
Length of core(mm) 70 Height of core(mm) 11 s
Radius of bar(mm) 1.25 Air gap(mm) 1 Fg
Number of slots 24 Slot pitch(mm) 8.5
Fig. 2. Thrust versus slip curve of LSPMLSM

Due to the complicated calculation of the saliency effect

III. THEORETICAL ANALYSIS
A. Line-start analysis
LSPMLSM has both aluminum bars and PMs on the
secondary side, so the LSPMLSM can realize self-starting
without the control of frequency converter, and run at
synchronous speed after being pulled into synchronization.
There are multiple magnetic fields interacting during the
starting process of the LSPMLSM. Both the primary winding
and the aluminum bar will generate current, and the current
asynchronous thrust, Fa and Fb are usually combined for
calculation. The calculation formula is as follows,
mI 2 R2′ / s 3U 2 R2′ / s
Fc = Fa + Fb = = (2)
vs vs [( R1 + c1 R2′ / s ) 2 + ( X 1 + c1 X 2′ ) 2 ]
where, R1 is the primary winding resistance, X1 is the primary
reactance, R ′ is the conversion value of secondary resistance,
2

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 X 2′ is the conversion value of secondary reactance, c1 is the thrust of the motor will decrease, and the slip of the pull-in
synchronization will become larger, thereby reducing the pull-
correction factor, c1=1+X1/Xm, Xm is the excitation reactance, in synchronization capability of the motor. Therefore, it is
s is the slip, vs is the synchronization speed. necessary to comprehensively consider multiple parameters to
The braking force generated by the PMs during the starting ensure the performance of the LSPMLSM.
process cannot be controlled and has a negative effect on
IV. SIMULATION AND RESULTS
starting, especially at low and medium speeds. Excessive
braking force will cause the minimum thrust to be lower than Finite element analysis (FEA) is used to analyze the
the load, which will cause difficulty in starting or stall. performance characteristics of the LSPMLSM. Since 3D finite
Assume that the LSPMLSM is in the generator. The braking element simulation is very time-consuming, 2D FEA is used
force can be obtained by the loss power of the primary to simulate and analyze the performance of the motor.
windings and the mechanical speed, as shown in the following
A. Steady state performance analysis
formula,
The magnetic flux distribution and density of the PM will
mI 2 R1 3 R12 + X q2 (1 − s ) 2 R1 E0 2 (1 − s ) 2 affect the output performance of the LSPMLSM. Fig. 3 plots
Fg = = (3)
vs (1 − s ) vs (1 − s ) R12 + X d X q (1 − s ) 2 R12 + X d X q (1 − s ) 2 the flux distribution of the motor under no-load conditions. the
air gap magnetic density distribution and Fourier
where, Xd is the d-axis reactance, Xq is the q-axis reactance, E0 decomposition are calculated in Fig. 4. Fig. 5 shows the back
is the back EMF. EMF waveform
B. Steady analysis A(Wb/m) B(T)
0.018 2.5
If the LSPMLSM is in a synchronous operation state, the 0.14
0.010
2.1
1.8
0.006 1.5
mover speed is equal to the magnetic field speed, the 0 1.2
-0.006 0.9
aluminum cage bars will not cut the magnetic field, and the -0.010
-0.014
0.6
0.3
primary will not generate cage force. In synchronous -0.018 0

operation, the electromagnetic thrust that makes LSPMLSM Fig. 3. Distribution of magnetic density of LSPMLSM
operate is as follows, From Fig. 3, the average value of the flux density at the
Pem mpUE0 mpU  1 1  2 teeth of the primary core is 1.0T, and the average value of the
Fem = = sin θ +  −  sin 2θ (4) flux density at the yoke is 1.5T.
vs vs X d 2vs  X q X d 
1.2
The synchronous loading capability is influenced deeply
by the back EMF and the reactance. The electromagnetic 0.8
thrust is composed of electromagnetic force and reluctance
force. The former one is produced by the interaction between
Air gap flux density(T)

0.4
the magnetic field generated by the primary winding and the
permanent magnetic field generated by the secondary PM.
0
The latter one is caused by the unequal dq-axis reluctance. By
designing different inductances for the d-axis and the q-axis,
additional reluctance force can be provided. -0.4

Without considering the iron loss and stray loss, the -0.8
mechanical motion equation of the LSPMLSM is,
dv -1.2
(M + M0 ) = Fem − Fl − Hv (5) 0 40.8 81.6 122.4 163.2 204
dt Distance(mm)

where, M is the weight of the mover, M0 is the load weight, (a) Distribution of air gap magnetic density
Fl is the load resistance, and H is the viscous friction 0.8
coefficient.
Magnetic density amplitude(T)

From the above equation, the starting thrust needs to

overcome braking force, load force, weight and friction to start
successfully. To improve the pull-in synchronization
capability of the LSPMLSM, the dq-axis reactance and PM 0.4
size of the motor can be changed. Due to the asymmetry of the
rotor magnetic circuit, the dq-axis reactance of the motor is
not equal. When the q-axis reactance remains unchanged, the
d-axis reactance changes from large to small, and the
electromagnetic thrust increases, which improves the pull-in
synchronization capability of the LSPMLSM. The ratio of the 0
1 3 5 7 9 11 13 15
reactance of the dq-axis (Xq/Xd) can increase the pull-out force Harmonic order
of the motor. Choosing PM materials with better performance (b) Harmonic Fourier decomposition of air gap magnetic density
and increasing the amount of PMs will help increase the no- Fig. 4. Air gap magnetic density and Fourier decomposition
load back EMF of the motor. The increase of the back EMF
can increase the electromagnetic thrust of the motor, thereby From Fig. 4, the fundamental wave amplitude of the air
improving the starting performance of the motor, but the gap magnetic density is 0.798T, the 3rd and 11th harmonics
braking force of the motor will also increase, the average are larger.

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 60 Fig. 8 shows the no-load speed curve and the LSPMLSM
Phase A takes about 150ms to quickly reach the synchronous speed.
Phase B
40 Phase C During stable operation, the peak-to-peak speed is vpp=0.1m/s.
The large overshoot under no-load condition is caused by the
20 weight inertia of the mover itself.
4
EMF(V)

0 vav g=2.04m/s
vpp =0.1m/s
-20 3

-40

Speed(m/s)
2
-60
0 10 20 30 40 50 60
Time(ms)
Fig. 5. Back EMF waveform of LSPMLSM 1

From Fig. 5, the fundamental RMS of the no-load back

EMF of the LSPMLSM is 35V, accounting for 76% of the
0
terminal voltage. 0 50 100 150 200 250 300
Time(ms)
Fig. 6 is the waveform of cogging force and the peak-to- Fig. 8. Speed-time response of LSPMLSM
peak cogging force is 80N. The cogging force is caused by the
unbalanced magnetic resistance of the air gap. The greater the Fig. 9 shows the no-load thrust curve, and Fig. 10 shows
cogging force, the greater the vibration and noise during the thrust-speed curve. The LSPMLSM can be successfully
operation. started and can be quickly pull into the synchronization state.
After synchronous operation, the average value of output
50 thrust Favg=0.2N, and the peak-to-peak thrust is Fpp=88N,
which is caused by the cogging force.
25 300
Cogging force(N)

200

0
100

0
Thrust(N)

-25
-100

-50 -200
0 25 50 75 100
Time(ms)
Fig. 6. Cogging force of LSPMLSM -300 Fav g=0.2N
Fpp =88N
B. Dynamic starting performance analysis -400
0 50 100 150 200 250 300
Time(ms)
The process of LSPMLSM from standstill to stable
operation can be divided into asynchronous start and pull-in Fig. 9. Thrust-time response of the LSPMLSM
synchronous process. Fast self-starting and pulling into the 300
synchronization state are important performance requirements
of LSPMLSM. This paper analyzes the starting thrust and 200
speed during the no-load and load starting process by FEA.
100
1) No-load starting characteristics of LSPMLSM
Thrust(N)

Fig. 7 plots the magnetic flux density of the motor during 0

starting transient condition. -100
A(Wb/m) B(T)
0.018 2.5 -200
0.14 2.1
0.010 1.8
0.006 1.5
0 1.2 -300
-0.006 0.9
-0.010 0.6
-0.014 0.3
-0.018 0 -400
0 1 2 3
Speed(m/s)
Fig. 7. Distribution of magnetic density during starting transient condition
Fig. 10. Thrust-speed response of LSPMLSM
From Fig. 7, after starting, the magnetic circuit has a
higher degree of magnetic density saturation, the highest Fig. 11 shows the current curve of phase A. The RMS of
magnetic density is in the primary yoke, and no over- current under no-load is 15.5A. Fig. 12 shows the current
saturation occurs.. curve of aluminum bars. During the starting process, due to
the large slip, the induced current on the bars is large. As the

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synchronization state is gradually drawn, the current on the 800
bar gradually decreases to zero. Fav g=343N
Fpp =202N
30
600

20

Thrust(N)
400
10
Current of phase A(A)

0 200

-10
0 50 100 250
0 150 200 300
Time(ms)
-20
Fig. 14. Thrust-time response of LSPMLSM
-30
0 50 100 150 200 250 300 800
Time(ms)
Fig. 11. Current of phase A 700

80 600

60 500

Thrust(N)
40 400

20 300
Current of bars(A)

0 200
-20 100
-40 0
0 0.7 1.4 2.1 2.8 3.5
-60 Speed(m/s)
Fig. 15. Thrust-speed response of LSPMLSM
-80

-100 Fig. 16 shows the current curve of phase A under rated

0 75 150 225 300 load. The RMS current of phase A under no-load is 21.2A.
Time(ms)
40
Fig. 12. Current of aluminum bars
30
2) Load starting characteristics of LSPMLSM
Fig. 13 shows the speed curve under the rated load of 343N. 20
From Fig. 13, it takes about 200ms to reach the synchronous
Current of phase A(A)

speed, and the speed fluctuation is 19% during stable 10

operation.
0
4
-10
vav g=2.04m/s
vpp =0.39m/s
-20
3
-30
Speed(m/s)

-40
2 0 50 100 150 200 250 300
Time(ms)
Fig. 16. Current of phase A

1 V. EXPEIMENT
Fig. 17 presents the prototype and the experimental
platform. Fig. 17(a) is a single laminated sheet of the primary
0
0 50 100 150 200 250 300 iron core, the mover is a double-sided structure, which is
Time(ms) composed of laminated sheets. Fig. 17(b) is the secondary core,
Fig. 13. Speed-time response of LSPMLSM which is assembled from 5 sets of cores. The primary winding
Fig. 14 shows the load thrust curve, and Fig. 15 shows the of LSPMLSM is powered by the converter. After the
thrust-speed curve. The motor can be successfully started LSPMLSM is powered on and started, the phase current
under rated load, and can accelerate to a synchronized state measured by the clip-on ammeter is compared with the FEA
and output rated thrust. However, due to the large thrust value to verify the accuracy.
fluctuations, noise and vibration are prone to occur, and the
thrust needs to be optimized subsequently.

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 From Fig. 19, the current measured by the experiment is
basically consistent with the FEA value. The current measured
(a) Primary core (b) Secondary core in the experiment is basically the same as the FEA value,
indicating that the LSPMLSM can start by itself under rated
load and quickly enter the synchronization state, which
verifies the accuracy of the design.

LSPMLSM VI. CONCLUSIONS

In this paper, a novel LSPMLSM is proposed with the
Clip-on ammeter aluminum bars are embedded in the PM secondary side. The
cage force induced in the magnetic field by the aluminum bars
Oscilloscope in the secondary core can realize self-starting and finally run
to the synchronous speed state. This paper studies the
(c) Experimental platform
theoretical principles of the motor in its starting state and
Fig. 17. Prototype and experimental platform
steady state, analyzes the main parameters that affect its
performance, and designs a motor model. The speed and thrust
When the LSPMLSM is in the open circuit state, the characteristics of the motor in the starting and steady state are
LSPMLSM is dragged at a constant speed to obtain the line analyzed by FEA, the results show that the LSPMLSM can
voltage between phase A and phase B, and compare it with the run at the synchronous speed after 200ms of self-starting
FEA value, as plotted in Fig. 18. under the rated load, with fast starting speed and fine stability,
and the correctness was verified through experiments. With
80 this new structure, the motor can start automatically without
using external drive control unit and sensor after being
60 connected to the power supply, and can quickly run to a
40
synchronized state, which can be applied to some specific
workplace, such as electromagnetic launch system.
20
Line voltage(V)

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Fig. 19. Experiment result of current

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