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Linear Motorsmotors Dr. Adel Gastli ElectromechanicalElectromechanical SystemsSystems && ActuatorsActuators LINEARLINEAR MOTORSMOTORS CONTENT Introduction Types of Linear Motors Applications Dr. Adel Gastli Linear Motors 2 INTRODUCTION Linear Motors are old motors which date from the 1970’s. Were not intensively used because of their difficult control and low performance. Advancements in Power Electronics and Microprocessors have overcome the control difficulties and have revived the use of the linear motors. Linear motors are nowadays emerging as new technologies. Dr. Adel Gastli Linear Motors 3 Main Types of Linear Motors Linear Synchronous Motor Permanent Magnet Wound Secondary Type Linear Induction Motor Single-Sided: Long-primary & Short Secondary Short-primary & Long-Secondary Double-Sided or Sandwich Linear Stepper Motor Dr. Adel Gastli Linear Motors 4 Linear Synchronous Motor (LSM) Field Yoke Field winding I Passive rail truck Armature winding Dr. Adel Gastli Linear Motors 5 LSM (Cont’d) For an LSM to operate properly the control system must accurately track the position of the moving element in order to properly synchronize the moving field current in the stationary frame (stator). If synchronization is lost or interrupted the motor slips and loss of propulsion can occur. This situation is likely to be encountered by an LSM when external sensors are relied upon to handle motor synchronization. If a sensor becomes dirty or mis-aligned or if fog, smoke or other airborne obstructions are present, the system will experience problems. Dr. Adel Gastli Linear Motors 6 LINEAR INDUCTION MOTOR (LIM) Linear Induction Motors (LIMs) are significantly different than Linear Synchronous Motors (LSMs) in the way that they produce electro-motive forces or motion. In a LIM, the motor stator creates an Alternating Current (AC) field that induces currents into the reaction plate, which is typically an aluminum fin. This creates eddy currents in the moving element which react with the moving field in the stator to produce thrust. The induced currents in the aluminum plate manifest themselves in the form of heat. In cases of high duty cycles or in locked rotor conditions (where the moving element is not permitted to move) overheating can occur. In several reported cases at amusement parks, LIM fins have cracked and parts have melted. Dr. Adel Gastli Linear Motors 7 LIM (Cont’d) Cut along xy and enroll x Stator 3 φ winding v Secondary y vs Primary Aluminum Rotor sheet Traveling mmf (conductor) (or Flux Density) Wave Dr. Adel Gastli Linear Motors 8 Traveling mmf wave LINEAR INDUCTION MOTOR F Fundamental F1 Ni/2 0 −β/2 β/2 β -Ni/2 z g Fundamental H 1 Fundamental F1 H Ni/2g F Ni/2 F: mmf 0 −β/2 0 β/2 β -Ni/2 z H: Field -Ni/2g Dr. Adel Gastli Linear Motors 9 Traveling mmf wave LINEAR INDUCTION MOTOR Same Analogy as that of Rotary Machines iI= cosω t ⎫ am ⎪ 3 ⎛ 2πz ⎞ iIbm=−°cos(ω t120 )⎬ ⇒=F (,)zt Fmax cos⎜ −ωt⎟ ⎪ 2 ⎝ β ⎠ iIbm=+°cos(ω t120 )⎭ N : Number of turns distributed over a length mβ . 4 NIph m ph k : winding factor. F = k kw : winding factor. max π w 2m dz dz dθ β T : Pole pitch v == × = ×=ω 2Tf Tp : Pole pitch dt dθ dt 2π p f : Exciting frequency. Dr. Adel Gastli Linear Motors 10 LIMLIM PerformancePerformance LINEAR INDUCTION MOTOR vvs − Slip s = vTfsp= 2 [m / sec] vs 2 air gap power, Pg 3I'2 R'/2 s Thrust F = = [N] synchronous velocity, vssv R1 l1 l’2 M R’2/s Thrust, F Thrust, F v vs Speed, v Dr. Adel Gastli Linear Motors 11 Different Types of LIM LINEAR INDUCTION MOTOR DOUBLE-SIDED LIM (DLIM) Secondary Primary SINGLE-SIDED LIM (SLIM) Short Primary Long Primary Long Secondary Short Secondary Dr. Adel Gastli Linear Motors 12 End Effect LINEAR INDUCTION MOTOR There is secondary current and secondary loss which is not associated with a corresponding amount of useful thrust. There are reactive volt-amperes drawn from the supply which cannot be accounted for either as being due to magnetization or leakage reactance. The physical nature of this phenomena is thought to be due to the continual removal of magnetic energy at the exit edge of a machine. The exit edge produces a backward thrust on the secondary which subtracts from the thrust performance in the region of a speed-thrust curve. Dr. Adel Gastli Linear Motors 13 End Effect on Speed-Thrust Curve LINEAR INDUCTION MOTOR The LIM cannot run “light” Short-Primary at the synchronous speed LIM vs=2pf. Equivalent Thrust, F Thrust, F Rotary IM Generally, the running light v Speed, v speed is lower than vs. s Effect of the exit edge loss on the speed-thrust curve of a LIM. Dr. Adel Gastli Linear Motors 14 APPLICATIONS Transportation (Trains) Robotics & Material Handling Elevators Compressors & Pumps Catapults and Launchers Sliding Doors Closer Cartain pullers etc... Dr. Adel Gastli Linear Motors 15 Transportation (Trains) Japan: Linear Chuo Shinkansen Dr. Adel Gastli Linear Motors 16 Superconducting Magnetically Levitated Linear Motor Car The superconducting Magnetically-levitated Linear Motor Car is a most promising high speed transportation system in the 21st century. It is a vehicle befitting the requirements of the high speed and massive transportation age, as it operates at a stunning 500 Kmph, and has the transportation capacity equivalent to the existing shinkansen. It is a most advanced traffic system, which has less noise and vibration and promises a safe and comfortable ride. Dr. Adel Gastli Linear Motors 17 Train Depot Tunnel Vehicle Control Center Via duct Turnout switches Test platform Information cables Feeding section switchgears Feeder Guideway Power conversion substation Power converter Dr. Adel Gastli Linear Motors 18 LCX (Leaky coaxial cable) Panel-type Side wall Levitation and guidance coils Power/ Feeding cable Propulsion coils Cross-inductive cable communication cables Dr. Adel Gastli Linear Motors 19 What is Superconductivity? When certain metals are cooled below a specific temperature, their electric resistance vanishes. This phenomenon is known as "superconductivity". Once current is applied to a coil made of superconductive metal, it continues to flow permanently and without loss. This coil can generate dozens of times stronger magnetic field than that of permanent magnets. For the Maglev, a bundle of extremely fine niobium-titanium alloy (superconductive metal) wire is embedded in a copper matrix in order to improve the stability of superconductivity. This wire is cooled with liquid helium (ca-269ßC) to be in a superconductive state. Dr. Adel Gastli Linear Motors 20 How does it advance forwards? (Propulsion System) By passing current through propulsion coils on the ground, a magnetic field (north and south poles) is produced, thus the train is propelled forward by the force of attraction between opposite poles and the repulsive force of same poles acting between the ground coils and the superconducting magnets built into the vehicles. Dr. Adel Gastli Linear Motors 21 How is it levitated ? (Levitation System) When the superconducting magnets on the vehicles pass through at high speed current flows through levitation and guidance coils on the ground producing electrodynamic levitating force to the vehicles. Dr. Adel Gastli Linear Motors 22 Why doesn't it collide with the wall? (Guidance System) The levitation and guidance coils on either side are connected with electric power cables. They keep the vehicles in the center of the guideway at all times by exerting an attractive force on the further side of the vehicle and a repulsive force on the nearer side should the train move off center to either side. Dr. Adel Gastli Linear Motors 23 Other Types of Levitation Systems Dr. Adel Gastli Linear Motors 24 OneOne--shaftshaft MulticarMulticar RopelessRopeless ElevatorsElevators Moving part of linear Stationary armature coil Synchronous motor of motor Elevator car Elevator path Elevator Elevator Car Hall Dr. Adel Gastli Linear Motors 25 Decentralized Elevator Cars Group Control Means maximum operating time. Each elevator controller can act as the group controller. If one controller is taken out of service temporarily, the remaining controllers continue to operate efficiently. Dr. Adel Gastli Linear Motors 26 Permanent magnets Armature coils Suspension bar Yoke Rollers Magnet holder Elevator car Dr. Adel Gastli Linear Motors 27 38-story tower of terror in Australia 38-story tower of terror in Australia Ramp A state-of-the-art linear motor system propels the ride to reach unprecedented speeds of up to 160 km/hour, making it the most technologically-advanced ride in the world. To generate these intense speeds, an incredible 2,200,000 watts (2.2 megawatts) of power, enough to power a small town, is applied for six or seven Dr. seconds.Adel Gastli Linear Motors 28 LinearLinear CompressorCompressor A linear compressor is a positive displacement, piston-type compressor in which the piston is driven directly by a linear motor, rather than by a rotary motor coupled to a mechanical mechanism as in a conventional reciprocating compressor. Dr. Adel Gastli Linear Motors 29 Air Compressor and Vacuum Pumps - Linear-motor-driven Free Piston System This design makes these pumps especially appropriate as air sources or vacuum units for various pneumatically operated equipment and apparatus in advanced industries. Dr. Adel Gastli Linear Motors 30 Linear motor outperforms steam-piston catapults Replacement for naval-aircraft launch system offers host of tactical and operational benefits. In the rural Massachusetts town, engineers are developing the world's highest-thrust linear motor. For Naval aviation, it may mean the end of the age of steam. By 2005, naval architects may begin replacing the enormous steam catapults on aircraft carriers with EMALS--The Electromagnetic Aircraft Launch System. Dr. Adel Gastli Linear Motors 31 Linear motor outperforms steam-piston catapults (Cont’d) EMALS would bring a host of improvements to ship design and Naval aviation.
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