IEEE TRANSACTIONS ON PLASMA SCIENCE, VOL. 47, NO.
5, MAY 2019
Flux Characteristics Analysis of a Single-Phase
Tubular Permanent Magnet Linear Motor
Based on 3-D Magnetic Equivalent Circuit
Hao Chen , Senior Member, IEEE, Zhixiong Li, and Wenju Yan
Abstract— This paper gives a way to analyze the flux char-
acteristic of a single-phase tubular permanent magnet linear
motor (TPMLM) based on the 3-D magnetic equivalent cir-
cuit (MEC) method. By studying the flux tubes of this single-
phase TPMLM with the finite-element analysis software—FLUX,
a 3-D MEC model of this motor can be constructed, and the flux
linkage of the single-phase TPMLM can also be calculated. The
static and dynamic performances of the single-phase TPMLM
calculated with the 3-D MEC model are compared with the
3-D finite-element model and experimental results, which verify
the correctness of the proposed 3-D MEC model.
Index Terms— 3-D magnetic equivalent circuit (MEC), flux
linkage, permanent magnet, tubular.
I. I NTRODUCTION
T HE permanent magnet materials have been used in many
kinds of motors, which have the advantages of high
efficiency, low loss, and large torque [1]. Therefore, more
and more researchers are becoming increasingly interested in
the permanent magnet materials. There are some structures
of linear motors, including the single-sided structure, double-
sided structure, flat-type structure, and tubular structure. The
bread-type winding used in the tubular structure can decrease
the transverse end effect and increase the winding usage
ratio [2]–[4]. The single-phase tubular permanent magnet
linear motor (TPMLM) proposed in this paper can produce
much higher torque when proceeding the reciprocate motion
compared with the convention tubular linear motors.
At present, it is important to obtain the accurate flux
linkage of a motor in a reasonable time, because the flux
linkage characteristic is curial for the motor design and
analysis. There are three main methods to obtain the flux
linkage characteristic of a motor, which are the analytical
method, the finite-element method (FEM), and the magnetic
equivalent circuit (MEC) method. The analytical method is
established based on Maxwell’s equations. It studies the flux
Manuscript received September 9, 2018; revised January 10, 2019; accepted
February 13, 2019. Date of publication March 5, 2019; date of current version
May 8, 2019. This work was supported by the High-Level Innovation Talent
Team Project of the Fifteenth Batch of “Six Talents Peak” in Jiangsu Province
under Grant TD-XNYQC-004. The review of this paper was arranged by
Senior Editor D. A. Wetz. (Corresponding author: Hao Chen.)
The authors are with the School of Electrical and Power Engineering,
China University of Mining and Technology, Xuzhou 221116, China (e-mail:
hchen@cumt.edu.cn; lizhixiong06@126.com; yanwenju09@126.com).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPS.2019.2899930
0093-3813 © 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
2309
linkage distribution with precise mathematical expressions,
so almost every situation in the motor can be modeled, such
as the end effect and slotting effect [5]. Although it can give
accurate results, the analytical method is very difficult to be
used and cannot be applied to the special motor structure
easily, which brings difficulties to researchers. Unlike to the
analytical method, FEM can also provide a very accurate
flux linkage distribution with the help of computers. There
are many commercial finite-element analysis (FEA) softwares,
such as FLUX and ANASY [6]. However, this method needs
long computation time and massive computation resource,
which lengthens the design cycle of a new motor. Therefore,
FEM is usually used as a final check of the motor design,
which limits the application in the field of motor design.
MEC method compares the magnetic circuit to the electrical
circuit and compares the magnetomotive forces (MMFs) to
the sources. Through Gauss’s law and Ampere’s law, the flux
linkage can be calculated. This method was first introduced
by Lwithwaite [7] and Carpenter [8], respectively. The basic
conceptions and analysis are proposed in the aforementioned
two papers, which are the foundation of the MEC method.
Since then, many researchers have adopted the MEC method
to analyze the electrical motors. Ding et al. [9] proposed the
12/8 dual-channel switched reluctance machine. The static
self-flux linkage and mutual flux linkage of phase winding
are obtained with a fast nonlinear variable structure equivalent
magnetic circuit model, which also take the mutual effects and
saturation into account. Radun [10] put forward a dynamic
magnetic circuit to simulate the power electronic system
including the iron saturation and losses, which can be applied
in a simple inductor, a simple transformer, a three winding cen-
ter tapped transformer, and a three-phase transformer. In [11],
the inductances of the induction machines are analyzed with a
3-D MEC model. Compared with the conventional 2-D MEC
model, the axial flux is considered which makes the inductance
estimation more accurate. In [12], the Maxwell stress tense
method is applied to the 3-D MEC modeling framework to cal-
culate the force of the electrical machine. The results are com-
pared with both the measurements and analytical and finite-
element models. In [13], a 3-D hybrid analytical modeling
method is discussed, where the 3-D Fourier modeling is com-
bined with a mesh-based 3-D MEC model. The result shows
that the 3-D hybrid analytical modeling is deviating around
10% with respect to the FEA models, and it also reduces large
2310
Fig. 1. Structure of the single-phase TPMLM.
calculation time. In [14]–[16], the 3-D MEC method is devoted
to the modeling of a hybrid-excited claw pole alternator,
permanent magnet-assisted claw pole synchronous motor, and
transverse-flux permanent magnet linear motor, respectively.
This paper analyzes the flux linkage characteristic of the
single-phase TPMLM by constructing a 3-D MEC model.
The flux linkage distribution of the single-phase TPMLM at
the four special mover positions is first analyzed in FLUX.
Then, the 3-D MEC model of the single-phase TPMLM is
established. The flux linkage of the single-phase TPMLM
at different mover positions and different currents can be
obtained with the 3-D MEC model. It is consistent with
those in 3-D FEM and experimental results, which verifies
the correctness of the method. This paper is organized as
follows. Section II introduces the structure of the single-phase
TPMLM. The 3-D FEM model of the single-phase TPMLM
is constructed with FLUX in Section III, which gives the
traveling path of the flux linkage. The definition of the flux
tube and 3-D reluctance network is presented in Section IV.
What is more, the 3-D MEC model of the single-phase is also
proposed. Section V compares the flux linkage data of the
3-D MEC model, 3-D FEM, and experimental results. The
simulated static and dynamic performances are also compared
with experimental results. Section VI provides the conclusion.
II. S TRUCTURE
The structure of the single-phase TPMLM is shown
in Fig. 1. It can be seen that the single-phase TPMLM includes
a stator and a mover. The stator includes three stator sleeves
and two nonmagnetic rings. The stator sleeves are made up
with silicon steel, 50DW470. The bread-type windings are
embedded in the slot of each stator sleeve, and the turn number
is 30. The nonmagnetic rings are made up with aluminum in
order to obtain the shorter flux tubes by limiting the magnetic
lines traveling in their own stator sleeve. The mover includes
the ferromagnetic rings and permanent magnets which are
alternatively configured. The ferromagnetic rings are also
made up with the silicon steel, 50DW470. The permanent
magnets are made up with Nd–Fe–B. The white arrows marked
on the permanent rings indicate the magnetization direction
IEEE TRANSACTIONS ON PLASMA SCIENCE, VOL. 47, NO. 5, MAY 2019
TABLE I
G EOMETRICAL PARAMETERS OF THE S INGLE -P HASE TPMLM
of each permanent magnet. The travel stroke of the single-
phase TPMLM is −6 to 6 mm, which is 12 mm in total.
The geometrical parameters of the single-phase TPMLM are
tabulated in Table I.
The flux linkage of the single-phase TPMLM is generated
by the bread-type winding and the permanent magnets, which
forms a closed loop by traveling from the pole of the stator
sleeve, the yoke of the stator of the stator sleeve, the air gap,
and the mover. By controlling the ON–OFF states of the bread-
type windings embedded in the stator sleeves, the flux lines
will be twisted and the single-phase TPMLM can take the
reciprocating motion.
III. 3-D F INITE -E LEMENT M ODEL A NALYSIS
In order to establish the 3-D MEC model of the single-phase
TPMLM, the flux linkage distribution needs to be studied. The
flux linkage distribution and the magnetic induction intensity
distribution can be obtained with FEA software FLUX, which
are the foundation of the 3-D MEC model.
A. Flux Linkage Distribution
Because of the existence of two nonmagnetic rings made up
with aluminum, the magnetic path of the single-phase TPMLM
is divided into three disconnected parts, for the sake of shorter
magnetic path, which can improve the performance of the
single-phase TPMLM.
The flux linkage of the single-phase TPMLM starts from
the stator pole, passing through the ferromagnetic part and
the permanent magnet part, the air gap, the stator yoke, and
finally returns to the stator pole, which forms a closed-flux
loop. With the addition of permanent magnets, the magnetic
paths become more complex, which means that the saturation
effect of the single-phase TPMLM is becoming more serious.
Fig. 2 shows the flux linkage distribution of the single-phase
TPMLM when the current in the bread-type winding is 15 A.
According to Fig. 2, the flux linkage of the single-phase
TPMLM is mainly concentrated on the stator sleeve and the
mover. Due to the addition of permanent magnets, the density
of the flux linkage is very high, which increases the satu-
ration effect in the single-phase TPMLM. With the change
of the mover position, the flux distribution will change in a
CHEN et al.: FLUX CHARACTERISTICS ANALYSIS OF A SINGLE-PHASE TPMLM
Fig. 2. Flux linkage distribution of the single-phase TPMLM. (a) x = 0 mm.
(b) x = 1 mm. (c) x = 2 mm. (d) x = 3 mm. (e) x = 4 mm. (f) x = 5 mm.
certain way; especially when the stator and the mover separate
from each other, the leakage flux linkage is the largest in the
air gap at that time.
B. Magnetic Induction Intensity Distribution
In order to better analyze the magnetic induction intensity
of the single-phase TPMLM, the magnetic induction intensity
of motor at several mover positions is obtained with the FEA
software FLUX when the current in the bread-type winding is
15 A, which is shown in Fig. 3.
What can be seen from Fig. 3 is that when the mover
positions are 2, 3, and 4 mm, the magnetic induction intensity
of the single-phase TPMLM is relatively high, which is mainly
due to the MMF induced by the permanent magnets. It can be
seen that the magnetic induction intensity of the single-phase
TPMLM is concentrated on the stator pole tip and the mover
pole tip. Because the air-gap reluctance is relatively large, only
a few flux linkage can travel through. Most flux linkage passes
through the air gap from the tip, which increases the magnetic
induction intensity in this area.
IV. 3-D MEC M ODEL C ONSTRUCTION
The MECmethod is a way to study the flux linkage distribu-
tion which is analog to lumped electrical circuit, so solutions in
the electrical circuit theory can be easily applied to the MEC
2311
Fig. 3. Magnetic induction intensity of the single-phase TPMLM.
(a) x = 0 mm. (b) x = 1 mm. (c) x = 2 mm. (d) x = 3 mm. (e) x = 4 mm.
(f) x = 5 mm.
method. In an MEC model, the unknowns to be solved are
magnetic potentials in every circuit node. The circuit nodes
are connected with different reluctances or resources. The
reluctances are determined by the geometry and material of
every circuit node, while sources are usually windings and
permanent magnets. The MEC network equations are estab-
lished based on two crucial physical laws, which are Gauss’s
law and Ampere’s law, just like those in the lumped electrical
circuit. In Section IV-A and Section IV-B, the definition of
flux tube and 3-D reluctance will be introduced. What is
more, according to the 3-D FEM model built in Section III,
the 3-D MEC model of the single-phase TPMLM is also
constructed.
A. Flux Tube
If a scalar magnetic potential u is defined, a flux tube is
confirmed, which is shown in Fig. 4. Then, it can be simplified
as a resistance in the lumped electrical circuit. The flux linkage
 travels in the direction which indicates the MMF drop.
Reluctance R can be defined as follows:
 l
u1 − u2 1
R= = dx (1)
12 0 μ(x)A(x)
2312
Fig. 4. General definition of the flux tube.
Fig. 5. Diagram of the 3-D reluctance network.
where the difference u 1 −u 2 is MMF drop across the flux tube.
12 is the flux traveling through the flux tube. l is the integral
length of the flux tube. A(x) is the average sectional area of the
flux tube. μ(x) is the permeability of the flux tube, it is related
to the position of the flux tube. However, in consideration
of the small dimension of every tube, permeability μ can be
assumed to be constant in a MEC model. Then, (1) can be
rewritten as follows:

1 l 1
R= d x.
μ 0 A(x)
B. 3-D Reluctance Network
The distribution of flux tubes and nodes can be obtained
easily when the main flux path is determined. For example,
the main flux path of this paper starts from the pole of the
stator sleeve traveling through the yoke of the stator sleeve,
the air gap, and the mover to form a closed loop. In [17],
the flux tubes are thought to be simple; it restricts the flux
linkage to travel along the main flux path. It cannot reflect
the leakage flux linkage and local saturation phenomenon in
the motor. In order to capture these effects in the motor,
a reluctance network needs to be constructed in spite of
complicating the question [18]. The specific method is to
break up the motor structure into some small regions and then
combines these regions together to form a reluctance network.
This method can be expanded to 3-D in order to obtain more
accurate results.
In general, any geometry can approximately construct
a 3-D reluctance network which is shown in Fig. 5. There is a
node which represents the scalar magnetic potential u 0 at the
center of each element. There is a node u 0 which represents
the scalar magnetic potential at the center of each element.
IEEE TRANSACTIONS ON PLASMA SCIENCE, VOL. 47, NO. 5, MAY 2019
Fig. 6. 3-D MEC model of the single-phase TPMLM.
The six boundary nodes u 1 –u 6 are adjacent nodes which
are connected with the node u 0 . R1 –R6 are the reluctances
between each branch. 1 –6 are the fluxes flow through these
branches, which can be calculated as follows:
Ri i = u 0 − u i (3)
which can be deformed into
u0 − ui
i = (4)
Ri
where i = 1, 2, 3, 4, 5, and 6.
Each reluctance Ri can be confirmed in (2) with the
geometry and the material permeability μ.
C. Magnetic Sources
Fig. 8 shows that the current and voltage waveforms of the
simulated results are consistent with those of the experiment.
Bread-type windings and permanent magnets are the mag-
(2) netic sources which can be put in each branch shown in Fig. 5.
Bread-type windings are series connected with the branch
reluctances which can be seen as MMFs. The definition
equation is shown as follows:
Ri i = u 0 − u i − Fsi (5)
Fsi = N ph · I (6)
where i = 1, 2, 3, 4, 5, and 6. Fsi is the MMF generated from
the bread-type winding which is determined with the product
of turn number N ph and current I .
While permanent magnets used in the motor of the single-
phase TPMLM can be seen as the flux resources which are
parallelly connected with the branch reluctance. The definition
equation is shown as follows:
Ri (i − si ) = u 0 − u i (7)
where i = 1, 2, 3, 4, 5, and 6. si is the permanent magnet
with constant values.
D. 3-D MEC Model Construction
In consideration of the geometrical structure of the single-
phase TPMLM, the 3-D MEC model is shown in Fig. 6.
Because of the existence of the nonmagnetic rings in the stator,
CHEN et al.: FLUX CHARACTERISTICS ANALYSIS OF A SINGLE-PHASE TPMLM 2313

Fig. 7. Experimental platform of the single-phase TPMLM.

Fig. 8. Comparison of the flux linkage.

the flux path is restricted in the stator sleeve, and the flux link-
age distribution is almost the same with each other. Therefore,
only one stator sleeve is modeled in order to simplify the
complexity of the 3-D MEC model. Each reluctance shown
in Fig. 6 is actually a 3-D reluctance network.
The stator teeth reluctance Rsp includes Rsp1 –Rsp6, and
the stator yoke reluctance Rsy includes Rsy1 –Rsy3. Similarly,
the ferromagnetic rings reluctance Rm includes Rm1 –Rm3 .
Rg1 –Rg8 are the air-gap reluctance between the stator and the
mover. Fw is the MMF generated by the bread-type winding.
Fpm1 and Fpm2 are the two flux sources generated from
permanent magnets with opposite magnetic field directions.
Rpm1 and Rpm2 are the reluctance of the permanent magnets.
The aforementioned reluctances will be changed with the
change of the mover position.
In order to calculate the flux linkage of the single-phase
TPMLM, four different mover positions have been chosen
to analyze with the magnetic tube method. The mover posi-
tion x 1 is where the centerlines of the nonmagnetic rings
and the ferromagnetic part of the mover are aligned. The Fig. 9. Current and voltage comparison at different speeds. (a) 2 Hz. (b) 4 Hz.
(c) 6 Hz. (d) 8 Hz.
mover position x 2 is where the leading edges of the stator
sleeve and the permanent magnets are aligned. The mover
V. E XPERIMENTAL V ERIFICATION
position x 3 is where the rear edges of the stator sleeve and
the permanent magnets are aligned. The mover position x 4 In order to verify the 3-D MEC model proposed in this
is where the centerlines of the nonmagnetic rings and the paper, an experimental platform is setup, which is shown
permanent magnets are aligned. in Fig. 7. The experimental platform mainly consists of the
2314
Fig. 10. Static thrust comparison of the single-phase TPMLM.
single-phase TPMLM, the force sensor, the grating scale, and
the magnetic powder brake.
The flux linkage obtained from the 3-D MEC model pro-
posed in this paper is compared with that calculated from
the 3-D FEM and the experimental results, which is shown
in Fig. 8.
It can be seen from Fig. 8 that the flux linkage data
calculated with the 3-D MEC model are consistent with those
obtained from the 3-D FEM and the experimental results,
which verifies the correctness of the 3-D MEC model. With the
permanent magnets, there is a flux linkage in the single-phase
TPMLM even though no currents existed. The flux linkage
starts to saturate when the current is bigger than 4 A, and the
saturated flux linkage is about 0.0064 Wb.
The simulated current and voltage waveforms can be
obtained by importing the 3-D MEC flux linkage data into
MATLAB/Simulink at two different speeds, which are com-
pared with the experimental results shown in Fig. 9. The
moving speed of the single-phase TPMLM is 2, 4, 6, and
8 Hz, respectively.
It can be seen from Fig. 9 that the current and voltage
waveforms of 3-D MEC model are consistent with those in the
experimental results. However, there are some errors between
the simulated results and the experiments. Because the
3-D MEC model is simplified to some extent, some realistic
situation cannot be considered in the modeling process.
What is more, the static thrust is also compared in Fig. 10.
The static response of the 3-D MEC model is also accorded
with the 3-D FEM and the experimental results. The biggest
thrust is about 220 N, when the mover positions are
−5 and 5 mm.
VI. C ONCLUSION
The flux linkage characteristic of the single-phase TPMLM
is studied with 3-D MEC method in this paper. By analyzing
the 3-D FEM model of the single-phase TPMLM, the static
magnetic characteristic is analyzed, which is the basis to
build the 3-D MEC model. By decomposing the single-
phase TPMLM into smaller parts, the 3-D MEC model is
established based on the flux linkage distribution obtained
IEEE TRANSACTIONS ON PLASMA SCIENCE, VOL. 47, NO. 5, MAY 2019
from the 3-D FEM model. The flux linkage data are consistent
with those in the 3-D FEM and the experimental results. What
is more, the simulated waveforms and the static thrust of the
single-phase TPMLM are also consistent with those in exper-
iments. Therefore, the correctness of the 3-D MEC model is
verified.
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CHEN et al.: FLUX CHARACTERISTICS ANALYSIS OF A SINGLE-PHASE TPMLM
Hao Chen (SM’08) received the B.S. and Ph.D.
degrees in electrical engineering from the Depart-
ment of Automatic Control, Nanjing University
of Aeronautics and Astronautics, Nanjing, China,
in 1991 and 1996, respectively.
In 1998, he joined the School of Information and
Electrical Engineering, China University of Mining
and Technology, Xuzhou, China, as an Associate
Professor, where he has been a Professor since 2001.
From 2002 to 2003, he was a Visiting Professor
with Kyungsung University, Busan, South Korea.
Since 2008, he has been an Adjunct Professor with The University of
Western Australia, Perth, WA, Australia. He has authored over one book and
200 papers. He holds 14 U.S. patents, 23 Australian patents, 1 Danish patent,
7 Canadian patents, 3 South African patents, 10 Russian patents, 45 Chinese
invention patents, and 6 Chinese utility model patents. His current research
interests include motor control, linear launcher, electric vehicles, electric
traction, servo drives, and wind power generator control.
Dr. Chen was a recipient of the Prize of Science and Technology of Chinese
Youth in 2004, the Prize of the Fok Ying Tong Education Foundation for Youth
Teachers in 2004, the First Prize in the Science and Technology Advanced of
Province and Ministry once, the Second Prize in the Science and Technology
Advanced of Province and Ministry 7 times, the Third Prize in the Science and
Technology Advanced of Province and Ministry 14 times, and the Government
Especial Allowance of People’s Republic of China State Department in 2006.
He became the Chinese New Century Hundred-Thousand–Ten Thousand
Talents Engineering National Talent in 2007.
2315
Zhixiong Li received the B.S. and M.S. degrees
in electrical engineering from the School of Infor-
mation and Electrical Engineering, China Univer-
sity of Mining and Technology, Xuzhou, China,
in 2013 and 2018, respectively.
His current research interests include switched
reluctance motor control and linear launcher.
Wenju Yan received the B.S. and Ph.D. degrees in
electrical engineering from the School of Informa-
tion and Electrical Engineering, China University of
Mining and Technology, Xuzhou, China, in 2013 and
2018, respectively.
Since 2019, he has been a Post-Doctoral
Researcher with the School of Electrical and
Power Engineering, China University of Mining and
Technology. His current research interests include
switched reluctance motor design, linear launcher,
and iron loss analysis.