1.
Introduction
When linear motion is needed in various
engineering techniques, it can be obtained
by rotating motors through a crank
connecting rod or worm gear and worm
gear. But this transmission form often brings
complex structure, heavyweight,
volume, poor meshing accuracy, unreliable
work, and other shortcomings, the use of
linear motor without these shortcomings.
Fig.1(a) shows a rotating induction motor.
We can assume that it is cut radially, and
the circumference of the stator and rotor are
stretched to a straight line, as shown in
Fig.1(b). In a rotating motor, the rotor is
rotating around the shaft, as the green
arrow line. In a linear motor, the mover
moves in a straight line, as the green arrow
line.
Fig.1. Basic principle of linear motor
There are many types of linear motors, and
in principle, for each type of rotating motor,
there is a corresponding linear motor.
Among them, linear induction motors (LIM)
and linear synchronous motors (LSM) have
attracted much attention. LIM is simple in
structure and low in cost. It has been used
in subway, medium, and low-speed maglev
trains, post offices, and airport logistics
transportation equipment. Meanwhile, it has
also opened up new applications such as
electromagnetic catapult, fast
garage, etc. Relevant research focuses on
structural improvement, computational
models, high-performance control, and
special condition analysis. LSM’s moving
speed is the same as the magnetic field.
Compared with LIM, LSM has good
controllability, high efficiency, and high thrust
density. In terms of excitation mode, LSM
can be electric excitation structures,
large
permanent magnet structures, and hybrid
excitation structures. Electric excitation LSM
has a complex excitation structure, but
flexible magnetic field regulation, which is
suitable for large-capacity applications such
as the permanent high-speed maglev train.
The permanent magnet linear synchronous
motor (PMLSM) generates a magnetic field
by the permanent magnet, which overcomes
the problem of complex excitation structure.
Hybrid excitation PMLSM combines the
advantages of both structures but also
increases the complexity of control.
There are many types of PMLSM, as shown
in Fig.2. The iron-core PMLSMs can provide
much higher thrust force than ironless ones,
while the force ripple is also high. The
ironless PMLSMs have low force ripple and
no detent force, which are more suitable for
high-precision applications.
Fig.2. Classification of the PMLSM[1]
The shape of the structure is mainly planer
stereo
type and tubular type. These two types of
PMLSM have their own advantages and
disadvantages. The tubular structure can be
regarded as a planer structure rotating
along the track to a round shape. For the
planer type PMLSM, a linear guideway,
roller, or suspension system is required
between the primary and secondary sides to
ensure the length of the air gap. So the
Fig.4. A kind of double-side PMLSM[2]
system cost is higher, but the track length is
not restricted. For cylinder one, the air gap Tubular PMLSM has round primary and
length is guaranteed by the bearings at both secondary, which are concentric structures,
ends. So the system cost is lower but has a as shown in Fig.5. It maintains the length of
limited moving range. the air gap through the sliding bearings at
both ends. In some applications, a linear
Planar PMLSM can be further divided into
guideway can also be used to guide the
single-side structures with 1 air gap, Fig.3.
mover, but smaller than what planer PMLSM
and the double-side structure with 2 air
uses, so the system cost is low. The
gaps, Fig4. In the single-side structure, the
disadvantage is that the moving length
linear guideway needs to bear the magnetic
cannot be too long, otherwise it is easy to
force between the primary and secondary
deform.
sides (generally 5~10 times the thrust),
which leads to the larger size of the
guideway, which increases the system cost.
In order to solve this problem and increase
thrust, the double-side structure is adopted,
and the permanent magnet can be placed
on both sides with two back-to-back
armatures in the middle. Or the armature is
Fig.5. A kind of tubular PMLSM[3]
placed on either side with two permanent
magnet poles back-to-back in the middle.
The short primary in the middle is the
2. Equivalent Circuit with The
mover, and the long secondary on both
End Effect
sides can not only increase the thrust but
also balance the magnetic force. The The end effect is one of the most important
winding on both sides can be controlled by a problems in linear motor analysis, which is
driver after parallel, or each side can be the magnetic field of the secondary end pole
controlled by an independent driver. affects the magnetic field distribution
through the correlation of the adjacent
magnetic poles and then causes the thrust
fluctuation of the motor. It is also called the
secondary end effect, as it mainly comes
Fig.3. A kind of single-side PMLSM[1] from the permanent magnet magnetic field
at the secondary end. This is a big
difference in characteristics between a
PMLSM and a rotating permanent magnet
synchronous motor.
In [4], a method is proposed to get the Fig.8. t-plane[4]
function of the magnetic induction intensity
at any point with considering the end effect.
It uses Schwarz-Christoffel transform to
establish and solve the long primary
PMLSM air-gap magnetic field analysis
model.
Table 1. Schwarz-Christoffel transform[4]
Supposing the long primary and short
secondary can be modeled as shown in Then the Schwarz-Christoffel transformation
Fig.6. And the magnet field could be a from the z- plane to the ω -plane is
series of quarter concentric circles. This 1
dz
problem can be regarded as a polygonal =S3 ( ω+1)2 ω−1
dω
solution problem containing right angles.
Through a Schwarz-Christoffel Transform We can get
and a logarithmic transformation, the z-
1
plane magnetic field can be transformed to (ω+ 1) 2
the semicircular area of the ω -plane and z=S3∫ dω+ K
ω
finally transformed to the parallel line
segment area of the t-plane to obtain a We can solve the unknown quantity S3 and
regular magnetic field pattern, shown in K by substituting the specific value at point A
Fig.6 to Fig.8. The corresponding and point B. Therefore we can get
relationship between the z-plane and the ω -

{
δ
plane is shown in Table 1. S3 =
π
K= jδ
Z can be expressed as

[ ]
1 1
2δ −1
Fig.6. z-plane[4]
z= (ω+1) 2 −tan (ω+ 1) 2 + jδ
π

Then use the logarithmic transformation to

transform the ω -plane to the t-plane, we
can get

{ [ ]
1 1
2 δ πt
z= ( e + 1 ) 2 −tan−1 ( e πt+ 1 ) 2 + jδ
π
ω=e πt
Fig.7. ω -plane[4]
Therefore, the magnetic induction intensity
at any point in the z-plane can be got by

B=μ 0 || |
dt
dz
=μ0
dt dω 2 μ0
dω dz
=
δ | | |
(ω+1)
1
1
2
For the long primary PMLSM, due to the 2588.DOI:10.13334/j.0258-8013.pcsee.182513.
end effect, an additional magnetic field will
[2] Q. Lu, X. Zhang ， L. Huang ，et al. “Optimal
be generated that weakens the air-gap field,
design of shifted type double-sided permanent
resulting in its uneven distribution. When the
magnet linear synchronous motors”.
PMLSM is in the no-load state, the
Transactions of China Electrotechnical
additional magnetic field generated by the
Society，2013, 28(11):35-41.
end effect is only related to the structure of
the permanent magnet and the motor [3] J. Zhang, H. Yu, M. Hu, L. Huang and T. Xia,
structure, which is a constant. When the "Research on a PM Slotless Linear Generator
PMLSM is under load, it is not only related Based on Magnet Field Analysis Model for Wave
to the structure of the permanent magnet Energy Conversion," in IEEE Transactions on
and the motor structure but also related to Magnetics, vol.53, no.11, pp.1-4, Nov.2017,
the magnitude of the current. Artno.8208404,
doi:10.1109/TMAG.2017.2705084.

[4] Y. Mao, Z. Sun, W. Zhou and F. Cui,

"Equivalent Circuit Model of Long Primary
Permanent Magnet Linear Synchronous Motor
Considering End Effect," 2021 13th International
Symposium on Linear Drives for Industry
Fig.9 Single-phase equivalent circuit of
Applications (LDIA), Wuhan, China, 2021, pp. 1-
PMLSM considering the end effect[4]
5, doi: 10.1109/LDIA49489.2021.9505800.
The PMLSM equivalent circuit model, Fig.9,
considering the end effect is different from
the equivalent circuit model of the traditional
rotating PMSM only in the end effect
reactance.

The end effect reactance X end is not a

reactance in the conventional sense, and its
value is negative. It is manifested as the
weakening effect of the additional magnetic
field generated by the end effect of PMLSM
on the air-gap field. Therefore, the motor
performance of PMLSM is different from that
of RPMSM equivalent PMLSM, and the
difference can be represented by the end
effect reactance Xend in the equivalent
circuit.

[1] Q. Lu, Y. Shen, Y. Ye, “Development of

Permanent Magnet Linear Synchronous Motors
Structure and Research”. Transactions of China
Electrotechnical Society, 2019, 39(09):2575-