Speed Control of Complementary and Modular Linear FluxSwitching PermanentMagnet Motor
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4056 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 62, NO. 7, JULY 2015 Speed Control of Complementary and Modular Linear FluxSwitching PermanentMagnet Motor Ruiwu Cao, Member, IEEE, Ming Cheng, Fellow, IEEE, and Bangfu Zhang, Student Member, IEEE Abstract—To overcome the drawbacks of conventional linear ﬂuxswitching permanentmagnet (FSPM) motors split directly from the rotary FSPM motor, the topology, operation principle, and static thrust performances of a new series of complementary and modular linear FSPM (CMLFSPM) motors with different mover/stator pole pitch ratio have been investigated. However, the existing researches mainly focus on the principle and static performance of this MLFSPM motor. In this paper, the closedloop speed control performance of this kind of motor based on primary ﬂuxoriented control is investigated. First, the research status of linear FSPM motor is introduced. Second, the mathematical model in the dq coordinate and the control scheme of a CMLFSPM motor are presented. Then, the proposed control strategies of the CMLFSPM motor are veriﬁed by using MATLAB/Simulink. Finally, the experiments on a prototype of the proposed motor are carried out to validate the study of closedloop speed control. Index Terms—Fluxswitching permanentmagnet (FSPM) motor, linear motor, mover ﬂux oriented, permanentmagnet (PM) motor. I. I NTRODUCTION L INEAR motors produce a direct thrust force without the NEED of conversion from rotational torque to linear force. Therefore, they have been widely used in transportation systems and industrial application [1]–[4]. In recent years, new kinds of linear permanentmagnet (PM) motor [5]–[9], namely, the linear structure of stator PM motors [10]: doubly salient PM motors [11], fluxreversal PM motors [12], and fluxswitching PM (FSPM) motors [13], have attracted wide attention, in which both the PMs and the armature windings are all located in the short primary mover, while the long secondary stator is only made of iron. Hence, these kinds of linear motors incorporate Manuscript received August 7, 2014; revised November 14, 2014; accepted December 14, 2014. Date of publication January 12, 2015; date of current version May 15, 2015. This work was supported in part by the 973 Program of China under Project 2013CB035603, in part by the National Natural Science Foundation of China under Project 51407093, in part by the Natural Science Foundation of Jiangsu Province under Grant BK20140814, and in p...
4056 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 62, NO. 7, JULY 2015
Speed Control of Complementary and Modular
Linear FluxSwitching PermanentMagnet Motor
Ruiwu Cao, Member, IEEE, Ming Cheng, Fellow, IEEE, and Bangfu Zhang, Student Member, IEEE
Abstract—To overcome the drawbacks of conventional
linear ﬂuxswitching permanentmagnet (FSPM) motors
split directly from the rotary FSPM motor, the topology,
operation principle, and static thrust performances of a new
series of complementary and modular linear FSPM (CMLF
SPM) motors with different mover/stator pole p itch ratio
have been investigated. However, the existing researches
mainly focus on the principle and static performance of
this MLFSPM motor. In this paper, the closedloop speed
control performance of this kind of motor based on primary
ﬂuxoriented control is investigated. First, the research
status of linear FSPM motor is introduced. Second, the
mathematical model in the dq coordinate and the control
scheme of a CMLFSPM motor are presented. Then, the
proposed control strategies of the CMLFSPM motor are ver
iﬁed by using MATLAB/Simulink. Finally, the experiments
on a prototype of the proposed motor are carried out to
validate the study of closedloop speed control.
Index Terms—Fluxswitching permanentmagnet (FSPM)
motor, linear motor, mover ﬂux oriented, permanent
magnet (PM) motor.
I. INTRODUCTION
L
INEAR motors produce a direct thrust force without the
NEED of conversion from rotational torque to linear force.
Therefore, they have been widely used in transportation
systems and industrial application [1]–[4]. In recent years, new
kinds of linear permanentmagnet (PM) motor [5]–[9], namely,
the linear structure of stator PM motors [10]: doubly salient PM
motors [11], ﬂuxreversal PM motors [12], and ﬂuxswitching
PM (FSPM) motors [13], have attracted wide attention, in
which both the PMs and the armature windings are all located in
the short primary mover, while the long secondary stator is only
made of iron. Hence, these kinds of linear motors incorporate
Manuscript received August 7, 2014; revised November 14, 2014;
accepted December 14, 2014. Date of publication January 12, 2015;
date of current version May 15, 2015. This work was supported in part by
the 973 Program of China under Project 2013CB035603, in part by the
National Natural Science Foundation of China under Project 51407093,
in part by the Natural Science Foundation of Jiangsu Province under
Grant BK20140814, and in part by the Professional Research Founda
tion for Advanced Youth Talents of Nanjing University of Aeronautics
and Astronautics under Project YAH14012. (Corresponding author:
Ming Cheng.)
R. Cao is with the School of Electrical Engineering, Southeast Uni
versity, Nanjing 210096, China, and also with the Department of Elec
trical Engineering, Nanjing University of Aeronautics and Astronautics,
Nanjing 210016, China (email: ruiwucao@nuaa.edu.cn).
M. Cheng and B. Zhang are with the School of Electrical Engineering,
Southeast University, Nanjing 210096, China (email: mcheng@seu.
edu.cn; bangfukuang@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/TIE.2015.2390194
Fig. 1. Cross s ection of conventional LFSPM motor with additional
tooth.
the merits of simple structure of linear induction motors and
linear switched reluctance motors and high power density of
linear synchronous PM (LSPM) motors, which are perfectly
suited for long stator applications.
It has been identiﬁed that the FSPM motor can offer higher
power density [14], sinusoidal back EMF, and faulttolerance
capacities [15], [16], as compared with other type of stator PM
motors. Hence, the linear FSPM (LFSPM) motor has attracted
increasingly more attention [17], [18].
The conventional LFSPM motors directly split from the
rotary FSPM motor, without additional teeth, will suffer from
drawbacks of unbalanced magnetic circuit in the end coil and
bigger cogging force [19]. In order to balance the end effect for
the end coil of the conventional LFSPM motors, two additional
teeth can be added at each end of its mover, as shown in
Fig. 1. In addition, its cogging force can be reduced by adjusting
the additional teeth position [20]. However, the two additional
teeth cannot totally balance the unbalanced magnetic circuit
of the end coils, due to the fact that the ﬂux linkage in the
middle coils is excited by two PMs, while the one of the end
coils is just excited by one PM [21]. To solve the unbalanced
magnetic circuit problem, a modular LFSPM (MLFSPM) motor
shown in Fig. 2(a) based on the motor shown in Fig. 1 has
been investigated in [22]. Hence, the back electromotive force
(EMF) of its middle coils, end coils, and three phase coils is
balanced. In addition, the thrust force generated by per unit
volume of PM of this MLFSPM motor is higher than the motor
in Fig. 1, when the dimension of each PM of both motors is the
same. However, this MLFSPM motor based on the 12/14pole
rotary FSPM motor suffers from drawbacks of nonsinusoidal
back EMF particularly at high airgap ﬂux density, i.e., bigger
cogging force and thrust force ripple. This is because of the two
coils of each phase without complementary performance. To
incorporate the merits and mitigate the deﬁciency of the motor
shown in Fig. 2(a), a complementary MLFSPM (CMLFSPM)
motor shown in Fig. 2(b) has been proposed and investigated
in [23], in which the relative displacements between the two
Eshaped modules of one phase are mutually 180 electrical
degrees (180
◦
) apart. Hence, it can offer sinusoidal back EMF,
02780046 © 2015
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.
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Speed Control of Complementary and Modular Linear FluxSwitching PermanentMagnet Motor

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