LINEAR

Y
.
INDUCTION MOTORS
LALIT
HA

Overview
DC Motors (Brushed and
Brushless)
Brief Introduction to AC Motors
Linear Motors
Linear Induction Motors

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Electric Motor Basic

Principles

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Interaction between magnetic field and

current carrying wire produces a force
Opposite of a generator

Conventional (Brushed) DC
Motors

Permanent magnets
for outer stator
Rotating coils for
inner rotor
Commutation
performed with
metal contact
brushes and
contacts designed
to reverse the
polarity of the rotor
as it reaches
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horizontal

2 pole brushed DC motor

commutation
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Conventional (Brushed) DC
Motors

Common Applications:
Small/cheap devices such as toys, electric
tooth brushes, small drills
Lab 3
Pros:
Cheap, simple
Easy to control - speed is governed by the
voltage and torque by the current through the
armature
Cons:
Mechanical brushes - electrical noise, arcing,
sparking, friction, wear, inefficient, shorting

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DC Motor considerations

Back EMF - every motor is also a generator

More current = more torque; more voltage =
more speed
Load, torque, speed characteristics

Shunt-wound, series-wound (aka

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motor), compound DC motors

universal
7

Brushless DC
Motors

Essential difference - commutation is performed

electronically
with
controller
rather
than
mechanically with brushes

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Brushless DC Motor
Commutation

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Commutation is performed electronically

using a controller (e.g. HCS12 or logic
circuit)
Similarity with stepper motor, but with
less # poles
Needs rotor positional closed loop
feedback: hall effect sensors, back EMF,

BLDC (3-Pole) Motor

Connections

Has 3 leads instead of 2 like brushed DC

Delta (greater speed) and Wye (greater
torque) stator windings

DeltaWye

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10

Brushless DC
Motors

Applications
CPU cooling fans
CD/DVD Players
Electric automobiles
Pros (compared to brushed DC)
Higher efficiency
Longer lifespan, low maintenance
Clean, fast, no sparking/issues with brushed
contacts
Cons
Higher cost
More complex circuitry and requires a controller

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AC Motors
Two main types of AC motor, Synchronous and

Induction.
Synchronous motors supply power to both the
rotor and the stator, where induction motors
only supply power to the stator coils, and rely
on induction to generate torque.

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AC Induction Motors (3 Phase)

Use poly-phase (usually 3) AC current to create a

rotating magnetic field on the stator
This induces a magnetic field on the rotor, which
tries to follow stator - slipping required to produce
torque
Workhorses of the industry - high powered
applications

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AC induction
Motors
Induction motors only supply current to the

stator, and rely on a second induced current in

the rotor coils.
This requires a relative speed between the
rotating magnetic field and the rotor. If the
rotor somehow matches or exceeds the
magnetic field speed, there is condition called
slip.
Slip is required to produce torque, if there is
no slip, there is no difference between the
induced pole and the powered pole, and
therefore no torque on the shaft.
14

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Synchronous AC Motors
Current is applied to both the Rotor and the

Stator.
This allows for precise control (stepper
motors), but requires mechanical brushes or
slip rings to supply DC current to the rotor.
There is no slip since the rotor does not rely
on induction to produce torque.

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Linear Motors
Linear motors are electric induction motors that produce motion in a straight line
rather than rotational motion. In a traditional electric motor, the rotor (rotating
part) spins inside the stator(static part); in a linear motor, the stator is
unwrapped and laid out flat and the "rotor" moves past it in a straight line.
Linear motors often use superconducting magnets, which are cooled to low
temperatures to reduce power consumption

The basic principle behind the linear motor was

discovered in 1895, but practical devices were not
developed until 1947.
During the 1950s,
British electrical engineer Eric
Laithwaite started to consider whether linear motors
could be used in electric weaving machines.
Laithwaite's research at Imperial College, London
attracted international recognition in the 1960s following
a speech to the Royal Institution entitled "Electrical
Machines of the Future."

o In the 1960s, Eric Laithwaite's research into linear motors

led to renewed interest in the idea of a magnetically
levitated or "maglev" train.
o Around this time MIT scientist Henry Kolm proposed a
"magnaplane" running on rails that could carry 20,000
people at 200 mph (320 kph).
o This prompted a US research program and led to a
working prototype that was tested in Colorado in 1967.
o However, the US program ran into political difficulties and
was shelved in 1975.
o The early 1990s brought an ambitious proposal to link Las
Vegas, Los Angeles, San Diego, and San Fransisco with a
maglev railroad, but that project has since run into more
political problems.

By contrast, maglev has been enthusiastically developed by

Germany and Japan.
German engineers first produced a working prototype in
1971 and developed the Transrapid system a year later.
With considerable support from the German government,
this has been progressively refined into a viable train that
has been tested at speeds of up to 271 mph (433 kph).
Strictly speaking, the Transrapid uses magnetic attraction
rather than the magnetic repulsion normally associated with
maglev: the copper magnets are fixed to a "skirt" that runs
underneath, and is attracted up toward, the steel track.

Photo: NASA tests a prototype

Maglev railroad, 2001

In a traditional DC electric motor,a

central core of tightly wrapped magnetic
material (known as the rotor) spins at
high speed between the fixed poles of a
magnet (known as the stator) when an
electric current is applied.
In
an
AC induction
motor,
electromagnets positioned around the
edge of the motor are used to generate a
rotating magnetic field in the central
space between them.
This "induces" (produces) electric
currents in a rotor, causing it to spin.
In an electric car, DC or AC motors like
these
are
used
to
drive gears and wheelsand
convert
rotational motion into motion in a
straight line.

Basics of Linear Motors

[1],[4]

Analogous to Unrolled DC Motor

Force (F) is generated

when the current (I)
(along vector L) and
the flux density (B)
interact
Hannes
F Daepp
= LI x B
I

Benefits of Linear Motors

High Maximum Speed
Limited primarily by bus voltage, control electronics

High Precision
Accuracy, resolution, repeatability limited by feedback

device, budget
Zero backlash: No mechanical transmission components.

Fast Response
Response rate can be over 100 times that of a mechanical

transmission faster accelerations, settling time (more

throughput)

Stiffness
No mechanical linkage, stiffness depends mostly on gain &

current

Durable

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Daepp

Modern linear motors have few/no contacting parts no

Downsides of Linear
Motors
Cost
Low production volume (relative to demand)
High price of magnets
Linear encoders (feedback) are much more expensive than

rotary encoders, cost increases with length

Higher Bandwidth Drives and Controls

Lower force per package size
Heating issues
Forcer is usually attached to load I2R losses are directly

coupled to load

No (minimal) Friction
No automatic brake
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Components of Linear
Motors
Forcer (Motor Coil)

Windings (coils) provide current (I)

Windings are encapsulated within

core material
Mounting Plate on top
Usually contains sensors (hall effect
and thermal)

Magnet Rail

Iron Plate / Base Plate

Rare Earth Magnets of alternating

polarity provide flux (B)

Single or double rail
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F=

lI x B

Types of Linear Motors

Iron Core

Coils wound

around teeth of
laminations on
forcer

Ironless Core

Dual back iron

separated by
spacer
Coils held
together with
epoxy

Slotless

Coil and back

iron
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held together
with epoxy

LinearMotorTypes:IronCore
Distinguishing Feature

Copper windings around forcer laminations over a single

magnet rail

Advantages:

Highest force available per unit volume

Efficient Cooling
Lower cost

Disadvantages:

High attractive force between forcer & magnet track

Laminated forcer
Cogging: iron forcer affects thrust

force as it passes over each

magnet (aka velocity ripple)
Coil wound Around
Forcer lamination

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assembly and
mounting plate Hall effect
and
thermal
sensors

Rare earth magnets

Iron Plate

Top View
LinearMotorTypes:Ironless

Distinguishing Feature

Forcer constructed of wound coils

held together with epoxy and

running between two rails (North
and South)
Also known as Aircore or Uchannel motors

Front View
Forcer
Mounting
Advantages:
Plate
Winding, held
No attractive forces in forcer
Rare
by epoxy
No Cogging
Earth
Low weight forcer - No iron means
Magne
Hall Effect and
higher accel/decel rates
Horseshoe
ts
Thermal
Disadvantages:
Shaped
Sensors
in
coil
Low force per package size
backiron

Lower Stiffness; limited max load without improved structure

Poor heat dissipation
Higher cost (2x Magnets!)

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LinearMotorTypes:Slotless
Side View
Distinguishing Feature
Mix of ironless and iron core: coils

with back iron contained within

aluminum housing over a single
magnet rail

Advantages over ironless:

Lower cost (1x magnets)

Better heat dissipation
Structurally stronger forcer
More force per package size

Advantages over iron core:

Lighter weight and lower inertia

forcer
Lower
Hannes
Daepp attractive forces

Front View
Coil
Back
Thermal assemblyiron
sensor

Rare
Earth
Magnets

Mounting
plate

Iron
plate

LinearMotorTypes:Slotless
Side View
Disadvantages
Some attractive force and

cogging
Less efficient than iron core and
ironless - more heat to do the
same job

Front View
Coil
Back
Thermal assemblyiron
sensor

Rare
Earth
Magnets
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Mounting
plate

Iron
plate

LinearMotorTypeComparison[2]
Linear Brushless DC Motor Type
Feature

Iron Core

Ironless

Slotless

Attraction Force

Most

None

Moderate

Cost

Medium

High

Lowest

Force Cogging

Highest

None

Medium

Power Density

Highest

Medium

Medium

Forcer Weight

Heaviest

Lightest

Moderate

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Components of a Complete Linear

Motor System [3]
1. Motor components
2. Base/Bearings
3. Servo

controller/feedback
elements
Typical sensors include Hall

Effect (for position) and

thermal sensors

4. Cable management

Hannes Daepp

Applications
Small Linear Motors
Packaging and Material Handling
Automated Assembly
Reciprocating compressors and

alternators
Large Linear Induction Machines
(3 phase)
Transportation
Materials handling
Extrusion presses

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Linear Induction Motor

Linear Induction motor abbreviated as LIM.
Basically a special purpose motor that is in use to
achieve rectilinear motion rather than rotational motion
as in the case of conventional motors.
This is quite an engineering marvel, to convert a general
motor for a special purpose with more or less similar
working principle, thus enhancing its versatility of
operation.

Linear induction motors invented by Charles

Wheatstone in 1840 m., since this time linear
induction motors are investigated, produced
and improved and nowadays are used in
mechatronic systems whose examples are
High-speed transport and catapult,
Industry transport systems,
Batching systems,
Vertical transport systems,
Semiconductors and electronics industry,
Explosion localizing systems,
Industry robots and machine-tools,
Protection and control systems of power
energetic,
Medical instruments,
Computer engineering.

Advantages:

Direct electromagnetic force

(no
mechanical
elements,
no
limitations for speed).
Economical
and
cheap
maintenance.
Easy expansion for any linear
motion of system topology.
Exact positioning in closed loop
systems.
Possibility to provide inductor
and
windings separate cooling.
The power factor developed by
naturally cooling LIM is 1 N /
cm2 . Almost 2 N / cm2 can be
obtained with an air cooling
and from 2,5 3 N / cm2 with
liquids [3].

Disadvantages:
Power factor and efficiency are
less than of rotary motors
because of a ratio of large air
gap between inductors and pole
pitch(g / ) >1/ 250 .
The longitudinal end effect
reduces power factor and
efficiency. This can be noticed
only with fast speed and small
pole number motors.
Influence of the longitudinal end
effect can be reduced with
special motor design methods.
Extra vibrations with distortions
can be noticed because of
uncompensated normal force .

In recent years, attempts to develop new means of

high-speed, efficient transportation have led to
considerable world-wide interest in high-speed
trains.
This in turn has generated interests in the linear
induction motor which is considered to be one of
the most suitable propulsion systems for superhigh-speed trains.
Research and experiments on linear induction
motors are being actively pursued in a number of
countries, among them Japan.
Unfortunately, many researchers, in their desire to
achieve
immediate
practical
results,
have
concentrated on experiments with large-scale
testing equipment and large-size test trains,
leaving the theoretical aspects of the linear

In spite of extensive experimental efforts,

there has been no reported test result on a
linear induction motor with proven feasibility
for high-speed trains higher than, say,
200km/h.
This situation is partly due to the fact that up
to now no sound theoretical basis for linear
induction motor has been established so that
many researchers have based their ideas on
theories and experiences from the rotary
induction motor.

Construction of a Linear Induction Motor

Construction wise a LIM is

similar
tothree
phase
induction
motor..
If the stator of the poly
phase
induction
motorshown
in
the
figure is cut along the
section aob and laid on a
flat surface, then it forms
the primary of the LIM
housing the field system,
and consequently the
rotor
forms
the
secondary consisting of
flat
aluminum
conductors
with
ferromagnetic core for
effective flux linkage.

There are several ways and types of construction of a

Linear Motor or Linear Induction Motor.
The simplest form of construction of a Linear Motor is
as simple as a three phase induction motor.
It has three phase winding housed in slots in a field
system.
It is simply the primary winding on a stator in case of
an induction motor.
This is obtained if we cut the stator of an induction
motor from middle.
In case of a moving object like in a train the primary
winding is mounted on the body of vehicle.

The rotor is made by aluminium or copper plates in

parallel.
In order to complete the flux path a ferromagnetic
material is placed with the plates.
As the primary is on vehicle or object and secondary
is in form of plates so they will have unequal length.
For larger distance primary is kept small and for very
small and limited distance secondary is kept small.
Normally two sided primary winding is used.
In this configuration the two field system, one on
either side of secondary are used.

The essential difference between the linear

induction motor and the rotary induction motor
is the open linear air gap, which has both an
entry end and an exit end.
The end effect, which is caused by the openendedness of the air gap, produces considerable
distortion in magnetic field distribution and
peculiar phenomena which are not observed in
the
rotary induction
motor,
but which
considerably influence the characteristics of the
linear induction motor.
The first reports on the end effect of the linear
induction motor were made many years ago in
connection with the arch motor, an induction
motor in which one part of the stator core was
removed.

Working of a Linear Induction Motor

When the primary is excited by a balanced three
phase supply, a rotating electromagnetic flux is
induced in primary.
The synchronous speed of the field is given by the
equation :

ns=2 fs/p
Here,

fs is supply frequency in Hz,

p is the number of poles,
nsis the synchronous speed of the rotation of
magnetic field in revolutions per second.

The developed field will results in a linear travelling

field, the velocity of which is given by the equation,

vs=2 t fs

meter per second

For a slip of s, the speed of conducting slave

in a linear motor is given by

vr=(1-s)vs
Linear Induction Motor is similar in construction
to a circular motor that has been opened out flat.
The magnetic field now sweeps across the flat
motor face instead of rotating.

 The stator generally consists of a multi

phasewindinginalaminatedironcore.
When energized from an AC supply a
travelling wave magnetic field is
produced.
Travel direction can be reversed by
swappingtwophases.
Thereactionplateistheequivalentofthe
rotor.
For single sided applications this is
usuallyaconductivesheetofaluminium
or copper backed by steel, and for
double sided applications only a
conductivesheetisused.
Currentsinducedinthereactionplateby
the stator travelling field create a
secondary magnetic field. It is the
reaction between these two fields which
producesthelinearthrust.

Application of Linear Induction Motor or

LIM

Although these motors are not frequently used.

There are only a few instances where the linear motor is used or is
utilized in a proper way.
It seems that these motors are technically, feasible but due to
economical point of view these motors are not frequently used.
However the possible applications of a Linear Induction Motor
are listed below :
Application for Stationary Field System
Automatic sliding doors in an electrical train
Metallic belt conveyer
Mechanical handling equipment, such as propulsion of a
train of tubs along a certain route
Shuttle-propelling application

Applications for the moving field system:

High and medium speed applications have been
tried with linear motor propulsion of vehicles
with air cushion or magnetic suspension.
High speed application as a travelling crane
motor where the field system is suspended from
loist.

Classification of linear induction motor application

areas

References
[1] S. Cetinkunt, Mechatronics, John Wiley & Sons, Inc.,
Hoboken 2007.
[2] J. Barrett, T. Harned, J. Monnich, Linear Motor Basics,
Parker Hannifin Corporation,
http://www.parkermotion.com/whitepages/linearmotorarticl
e.pdf
[3] Trilogy Linear Motor & Linear Motor Positioners, Parker
Hannifin Corporation, 2008,
http://www.parkermotion.com/pdfs/Trilogy_Catalog.pdf
[4] Rockwell Automation,
http://www.rockwellautomation.com/anorad/
products/linearmotors/questions.html
[5] J. Marsh, Motor Parameters Application Note, ParkerTrilogy Linear Motors, 2003.
http://www.parkermotion.com/whitepages/
Linear_Motor_Parameter_Application_Note.pdf
[6] Greg Paula, Linear motors take center stage, The