I. I NTRODUCTION
Manuscript received March 30, 2006; revised October 6, 2006. This work
was supported by the National Science Council, Taiwan, R.O.C., under Project
NSC93-2213-E-327-019.
J.-L. Kuo and T.-S. Fang are with the Department of Mechanical and
Automation Engineering, National Kaohsiung First University of Science and
Technology, Kaohsiung 811, Taiwan, R.O.C. (e-mail: jlkuo@ccms.nkfust.
edu.tw).
Z.-S. Chang is with the Department of Electrical Engineering, Chang Gung
University, Tao-Yuan 333, Taiwan, R.O.C.
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.2007.900321
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
Fig. 1.
2375
2376
Fig. 2. (a) Winding configuration and (b) simple driver for the investigated brushless motor.
TABLE I
SUMMARY OF THE FOUR PROPOSED POWER DRIVERS
as ST [7]. The voltage and flux equations were derived for the
mentioned motor. The torque equation was also provided in this
paper [7]. In this paper, these formulations will be adopted for
the same derivation of the studied motor.
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
TABLE II
SWITCHING LOGIC OF THE MOTOR POSITION FROM ABSOLUTE
ENCODER CIRCUIT WITH HALL SENSOR SIGNALS
2377
For simplification, rm = 2(x/d) is defined as radian mechanical angle in the linear motor, and x is the linear displacement in the moving direction. d is the pole pitch of the railway.
The derivatives of the flux terms can be written as
d (m cos(P rm /2))/dt = (m sin(P rm /2))((P/2)drm dt)
d (m cos(P rm /2))/dt = (m sin(P rm /2))((P/2)drm /dt)
(3-2)
where there are magnetic flux terms m resulting from the
permanent magnets. In order to identify the difference between
the mechanical and the electrical velocities in the multiple
P-pole motors, two variables are defined. rm is the mechanical
radian angle of the motor, and r = (P/2)rm is the radian electrical angle of the motor. The radian speed rm = drm /dt =
2(x /d) is defined from the mechanical linear velocity of
the motor x . r = (P/2)(drm /dt) is the electrical radian
velocity of the motor. Two of the notations will be used in
this paper.
The voltage equation can be further expressed as follows:
Similar to the rotor reference frame, the voltage and flux matrix
equations can be expressed as the form in [8]. The voltage
equation of the two-phase multiple P-pole flat-type motor can
be expressed as
Vas
Vbs
=
rs
0
0
rs
ias
das /dt
+
ibs
dbs /dt
(1)
where the current vector is Iabs = [ias ibs ]T , and the flux
linkage vector is abs = [as bs ]T for the As - and Bs phase windings. The resistance and inductance matrices are
defined as
rs 0
Rabs =
0 rs
Lasas Lasbs
Labs =
Lbsas Lbsbs
Lss Lm
=
.
(2)
Lm Lss
Lij denotes the self- and mutual inductances between the ith
and jth two windings. The minus notation indicates that the
two phases are defined in the opposite direction. The inductance
matrix includes the (Lss ) for the diagonal elements and (Lm )
for the off-diagonal elements. The Lss = Lls + Lm is the selfinductance for the As - and Bs -phase windings. Lm is the mutual inductance between As - and Bs -phase windings. Leakage
inductance Lls is roughly 10% of the magnetizing inductance
Lss . By considering the principles of the magnetics in physics,
the flux linkage equation for this motor system can be further
written as
Lasas ias +Lasbs ibs +m cos(P rm /2)
as
=
.
bs
Lbsas ias +Lbsbs ibs m cos(P rm /2)
(3-1)
Vas
i
dias /dt
sin(r )
= Rabs as + Labs
+ r m
Vbs
ibs
dibs /dt
sin(r )
(4)
1
ij j .
2
(5)
j=as,bs
ij j Wf (ias , ibs , rm ).
(6)
j=as,bs
The electromechanical force can be obtained from the derivative of the coenergy
Wc (ias , ibs , rm )
rm
j (ias , ibs , rm ) Wf (ias , ibs , rm )
=
ij
. (7)
rm
rm
j=as,bs
2378
A6 =
(8)
where Wpm relates to the offset level of the energy with respect
to the permanent magnets, which is constant in this motor.
The differentiation of the coenergy can derive the torque
equation as follows:
Wc (ias , ibs , rm )
rm
P m
P
=
(ias ibs ) sin rm . (9)
2
2
Te (ias , ibs , rm ) =
The electromagnetic torque Te can be equal to the mechanical net force by the Newtons second law of motion
(10)
Lglobal =
N
(B6 )1 =
(B6 )2 =
(B6 )6 =
1 0 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0 0 0 0 1
(12-1)
(12-2)
A3 =
(B3 )1 =
(B3 )3 =
1 0 1 0 1 0
0 1 0 1 0 1
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
(13-1)
T
(13-2)
T
(13-3)
T
.
(13-4)
T
(14-1)
T
(14-2)
T
(14-3)
T
.
(14-4)
1
0
0
1
1
0
0
1
1
0
0
1
0
0
0
0
0
0
0
0
1
0
0
1
T
(15-1)
T
(15-2)
T
.
(15-3)
i=1
where
T
(B3 )2 =
Iglobal = AN Iabs
1 0 1 0 1 0 1 0 1 0 1 0
0 1 0 1 0 1 0 1 0 1 0 1
Te (ias , ibs , rm ) = Jm rm + Bm rm + TL
= Jm rm + Bm rm + TL
(B1 )1 =
1 0
0 1
1 0
0 1
T
(16-1)
T
.
(16-2)
(12-3)
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
(17)
2379
X = c1 X1 + c2 X2 = c1 [1
1]T + c2 [1
1]T
(18)
1
,
1
1
1 1
=
NT
.
t
2 1 1
(19)
as 1/ 2.
2) The cosecant coordinate system is defined as
1 sin r
2 sin r
sin r
sin r
(21)
where c1 = c1 , c2 = c2 . c1 and c2 are the dummy coefficients for the X vectors. With this set of eigenvectors,
Is + Kt pabm
Vs = Rs Is + Kt p Labs K1
t
(25)
Kt =
(20)
where r = (P/2)rm and r = (P/2)rm . The eigenvectors can be reasonably selected as the other sets of the
following combination:
X = c2 X2 + c1 X1 = c2 [1
1]T + c1 [1
1]T
2380
TABLE III
SUMMARY OF THE TWO PROPOSED ST AND SVD MODELS
(26)
abs = Ls iabs + abm
(30)
Lss Lm
is the system inductance maLm Lss
trix. The flux linkage equation has to be derived first. Since the
current and flux vectors in form can be expressed as
where Labs =
(27)
(28)
Is = Mt Iabs ,
s = Mt abs .
(31)
abs = NH
t s .
(32)
1 1
is the left modal matrix for the SVD
Mt = (1/ 2)
1 1
1 1
H
method, and Nt = (1/ 2)
is the right modal ma1 1
trix for the SVD method. The flux relation can be expressed in
terms of the variables
s = Ls is + m
(33)
where
Ls = NH
t Labs Mt
Lss + Lm
0
=
0
Lss Lm
m = Mt abm
1 2m cos r
=
.
2 0
(34)
(35)
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
2381
Fig. 3. Switching modes when the linear motor is passing through one section. (a) Mode 1 with blocking diodes. (b) Mode 2 with blocking diodes.
(c) Mode 1 without blocking diodes. (d) Mode 2 without blocking diodes.
where
Rs = NH
t Rabs Mt
r
0
= s
0 rs
p(Lss + Lm )
0
H
Mt p Labs Nt =
0
p(Lss Lm )
1 2r m sin r
Mt pabm =
.
0
2
2382
Fig. 4. Current waveform of mode 2 with blocking diodes for the electric
motor passing through a specific section. Ch1: iSW1 1 A/100 mv, ch2: iBL1
1 A/100 mv, and ch3: iAL1 1 A/100 mv.
Vs
rs 2r cos2 r (Lss +Lm )+ 12 p(Lss +Lm )
=
0
Vs
Vs
rs +p(Lss +Lm )
=
0
Vs
0
rs +p(Lss +Lm )
rs
(43)
(44)
r
2
0
2
cos r (Lss Lm )+ 12 p(Lss Lm )
is
(2/ 2)r m sin r
+
is
0
(45)
is
0
+
is
r m sin2 r
(41)
(42)
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
Fig. 5.
2383
Switching modes with blocking diodes for the electric motor passing through the two adjacent sections. (a) Mode 1. (b) Mode 2. (c) Mode 3. (d) Mode 4.
It shows that the negative flux comes from the Bs -phase winding and interacts with the south pole of the permanent magnet.
Finally, the mode 2 in Fig. 3(d) has the following relation:
(46)
2384
Fig. 6. Switching modes without blocking diode for the electric motor passing through the two sections. (a) Mode 1. (b) Mode 2. (c) Mode 3. (d) Mode 4.
By comparing Type I with Type II, the current-dependent problem in Type II is the drawback for the linear motor operation.
As shown in Fig. 5, the power driver with blocking diodes can
prevent instant reverse current when linear motor passes from
one section to another adjacent section.
These phenomena can be very helpful in designing a power
driver for the AFLBM. By using the blocking diodes, there is
no current-dependent problem when the linear motor moves
between the two adjacent sections. In the following, the power
driver without blocking diodes will be discussed further. Different from Type I in Fig. 5, Fig. 6 shows that these switching
currents for Type II will create unstable thrust for multisectional
power driver without blocking diodes.
Therefore, the proposed circuit analysis can provide a good
design guidance to the linear motion application. For the
(47)
When the linear motor is passing through the toggle phase, the
Bs -phase winding current will join with the As -phase winding
current for the mode 2, as shown in Fig. 6(b). If there is no
power diode blocked in series with the As -phase winding, the
As -phase reverse current can be observed in the mode 2. The
relationship of current can be further expressed as
iSW1 + (iAL1 ) = iBL1 .
(48)
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
2385
iSW2 = iAL2 .
(49)
For the mode 4 [Fig. 6(d)], the same inference still holds when
the motor is passing through the toggle Bs -phase winding on
section 2 instead of the original section 1. Thus, the current
equation can be derived as
iSW2 + (iAL2 ) = iBL2 .
(50)
Fig. 8. (a) Constructed AFLBM railway system with the length of 6.24 m.
(b) Hardware implementation for the power driver.
2386
Fig. 9. Adjustable-speed diagram by using the PWM duty cycle control of the AFLBM under different loads. The cases N = 6, N = 3, and N = 2 are tested
for comparison. Sim: (dashed) simulation result, exp: (solid) experimental result. (a) Duty = 100%. (b) Duty = 80%. (c) Duty = 70%. (d) Duty = 60%.
TABLE IV
PARAMETERS OF THE MULTISECTIONAL AFLBM-04 SYSTEM
VIII. C ONCLUSION
KUO et al.: DESIGN OF MULTISECTIONAL DRIVER AND FIELD-ORIENTED MODELING OF THE AFLBM
2387
Fig. 10. Simulation and experimental results for acceleration and deceleration of the AFLBM. (a) Simulation results. (b) Experimental results.
Fig. 11. Blocking-diode effect on the illustrated experiment waveform of the multisectional driver. Ch1: Q1 10 V/div 10, ch2: Q2 10 V/div 10, ch3:
AL1 2 V/div 50, and ch4: AL2 2 V/div 50. (a) Without blocking diodes in series with windings. (b) With blocking diodes in series with windings.
Fig. 12. Relationship between the output power and the efficiency for the linear motor combined with power driver with respect to the different power losses.
(a) N = 6 case with blocking diodes. (b) N = 6 case without blocking diodes.
2388
ACKNOWLEDGMENT
The authors would like to thank Yuan-Giey Tech., Inc., for
providing the testing equipment. The authors would also like to
thank J. D. Lee and T. Tseng for the valuable help.
R EFERENCES
[1] C. T. Liu, T. S. Chiang, J. F. Daz Zamora, and S. C. Lin, Field-oriented
control evaluations of a single-sided permanent magnet axial-flux motor
for an electric vehicle, IEEE Trans. Magn., vol. 39, no. 5, pp. 32803282,
Sep. 2003.
[2] C. T. Liu, S. C. Lin, J. F. Daz Zamora, and T. S. Chiang, Optimal
operational strategy design of a single-sided permanent magnet axial-flux
motor for electrical vehicle application, in Proc. IEEE Ind. Appl. Soc.
Annu. Meeting, Oct. 2003, vol. 3, pp. 16771683.
[3] J. A. Tapia, M. Aydin, S. Huang, and T. A. Lipo, Sizing equation analysis
for field controlled PM machines: A unified approach, in Proc. IEEE Int.
Elect. Mach. and Drives Conf., Jun. 2003, vol. 2, pp. 11111116.
[4] M. Aydin, S. Huang, and T. A. Lipo, A new axial flux surface mounted
permanent magnet machine capable of field control, in Proc. IEEE Ind.
Appl. Soc. Annu. Meeting, Oct. 2002, vol. 2, pp. 12501257.
[5] E. A. Mendrela and M. Jagiela, Analysis of torque developed in axial
flux, single-phase brushless DC motor with salient-pole stator, IEEE
Trans. Energy Convers., vol. 19, no. 2, pp. 271277, Jun. 2004.
[6] C. P. Therapos, Minimal realization of transfer function matrices via one
orthogonal transformation, IEEE Trans. Autom. Control, vol. 34, no. 8,
pp. 893895, Aug. 1989.
[7] S. E. Lyshevski, V. A. Skormin, and R. D. Colgren, High-torque density integrated electro-mechanical flight actuators, IEEE Trans. Aerosp.
Electron. Syst., vol. 38, no. 1, pp. 174182, Jan. 2002.
[8] S. E. Lyshevski and A. Nazarov, Control and analysis of synchronous
reluctance motors, in Proc. Amer. Control Conf., Jun. 1999, vol. 3,
pp. 16821686.
[9] S. W. Leung, T. W. S. Chow, and Y. S. Zhu, Circuit analysis of a novel
loudspeaker system based on linear motor principle, in Proc. Int. Conf.
Circuits and Syst., China, Jun. 1991, vol. 1, pp. 382384.
[10] O. Yu, Modeling of a mode conversion ultrasonic motor in the regime
of slip, IEEE Trans. Ultrason., Ferroelectr., Freq. Control, vol. 40, no. 4,
pp. 411415, Jul. 1993.
[11] O. Yu, Position-sensorless drive of linear pulse motor for suppressing transient vibration, IEEE Trans. Ind. Electron., vol. 47, no. 2,
pp. 337345, Apr. 2000.
Zen-Shan Chang received the M.S. degree in electrical engineering from Chang Gung University,
Tao-Yuan, Taiwan, R.O.C., in 2001. Since September
2001, he has been working toward the Ph.D. degree
at the Department of Electrical Engineering, Chang
Gung University.
His research interests include system control,
fuzzy logic control, power electronics, integrated
circuit system, and motor control.