Power Handbook

8102019 Power Handbook

httpslidepdfcomreaderfullpower-handbook 143



T H I R D E D I T I O N

The Electric Power Engineering Handbook

ELECTRIC POWERGENERATIONTRANSMISSION AND

DISTRIBUTION



CRC Press is an imprint of the

Taylor amp Francis Group an informa business

Boca Raton London New York

EDITED BY

LEONARD L GRIGSBY




DISTRIBUTION



CRC Pressaylor amp Francis Group6000 Broken Sound Parkway NW Suite 300Boca Raton FL 33487-2742

copy 2012 by aylor amp Francis Group LLCCRC Press is an imprint of aylor amp Francis Group an Informa business

No claim to original US Government worksVersion Date 20111104

International Standard Book Number-13 978-1-4398-5637-6 (eBook - PDF)

his book contains information obtained from authentic and highly regarded sources Reasonable efforts have beenmade to publish reliable data and information but the author and publisher cannot assume responsibility for the valid-ity of all materials or the consequences of their use he authors and publishers have attempted to trace the copyrightholders of all material reproduced in this publication and apologize to copyright holders if permission to publish in thisform has not been obtained If any copyright material has not been acknowledged please write and let us know so we mayrectify in any future reprint

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v

Contents

Preace ix

Editor x i

Contributors xiii

PART I Electric Power Generation Nonconventional Methods

Saiur Rahman -1

1 Wind Power -1Vaughn Nelson

2 Photovoltaic Fundamenta ls-1Roger A Messenger

3 Advanced Energy echnologies -1Saiur Rahman

4 Water -1Vaughn Nelson

PART II Electric Power Generation Conventional Methods

Rama Ramakumar -1

5 Hydroelectric Power Generation -1Steven R Brockschink James H Gurney and Douglas B Seely

6 Synchronous Machinery -1Paul I Nippes

7 hermal Generating Plants -1Kenneth H Sebra

8 Distributed Utilities -1 John R Kennedy and Rama Ramakumar



vi Contents

PART III Transmission System

George G Karady -1

9 Concept o Energy ransmission and Distribution -1

George G Karady 10 ransmission Line Structures -1

Joe C Pohlman

11 Insulators and Accessories -1George G Karady and Richard G Farmer

12 ransmission Line Construction and Maintenance-1 Jim Green Daryl Chipman and Yancy Gill

13 Insulated Power Cables Used in Underground Applications -1 Michael L Dyer

14 ransmission Line Parameters -1 Manuel Reta-Hernaacutendez

15 Sag and ension o Conductor -1Dale A Douglass and F Ridley Trash

16 Corona and Noise -1Giao N rinh

17 Geomagnetic Disturbances and Impacts upon Power System Operation -1 John G Kappenman

18 Lightning Protection -1William A Chisholm

19 Reactive Power Compensation -1Rao S Tallam and Geacuteza Jooacutes

20 Environmental Impact o ransmission Lines -1George G Karady

21 ransmission Line Reliability Methods -1Brian Keel Vishal C Patel and Hugh Stewart Nunn II

22 High-Voltage Direct Current ransmission System -1

George G Karady and Geacuteza Jooacutes 23 ransmission Line Structures -1

Robert E Nickerson Peter M Kandaris and Anthony M DiGioia Jr

24 Advanced echnology High-emperature Conductors -1 James R Hunt



viiContents

PART IV Distribution Systems

William H Kersting-1

25 Power System Loads -1

Raymond R Shoults and Larry D Swif 26 Distribution System Modeling and Analysis -1

William H Kersting

27 Power System Operation and Control -1George L Clark and Simon W Bowen

28 Hard to Find Inormation (on Distribution System Characteristicsand Protection) -1 Jim Burke

29 Real-ime Control o Distributed Generation -1

Murat Dilek and Robert P Broadwater

30 Distribution Short-Circuit Protection -1om A Short

PART V Electric Power Utilization

Andrew P Hanson -1

31 Metering o Electric Power and Energy -1 John V Grubbs

32 Basic Electric Power Utilization Loads Load Characterizationand Load Modeling -1 Andrew P Hanson

33 Electric Power Utilization Motors -1Charles A Gross

34 Linear Electric Motors -1 Jacek F Gieras

PART VI Power Quality

S Mark Halpin -1

35 Introduction -1S Mark Halpin

36 Wiring and Grounding or Power Quality -1Christopher J Melhorn



viii Contents

37 Harmonics in Power Systems -1S Mark Halpin

38 Voltage Sags -1 Math HJ Bollen

39 Voltage Fluctuations and Lamp Flicker in Power Systems -1S Mark Halpin

40 Power Quality Monitoring -1Patrick Coleman



ix

Preface

Te generation delivery and utilization o electric power and energy remain one o the most challeng-

ing and exciting 1047297elds o electrical engineering Te astounding technological developments o our age

are highly dependent upon a sae reliable and economic supply o electric power Te objective o the

Electric Power Engineering Handbook is to provide a contemporary overview o this ar-reaching 1047297eld

as well as a useul guide and educational resource or its study It is intended to de1047297ne electric powerengineering by bringing together the core o knowledge rom all o the many topics encompassed by

the 1047297eld Te chapters are written primarily or the electric power engineering proessional who seeks

actual inormation and secondarily or the proessional rom other engineering disciplines who wants

an overview o the entire 1047297eld or speci1047297c inormation on one aspect o it

Te 1047297rst and second editions o this handbook were well received by readers worldwide Based upon

this reception and the many recent advances in electric power engineering technology and applications

it was decided that the time was right to produce a third edition Because o the efforts o many indi-

viduals the result is a major revision Tere are completely new chapters covering such topics as FACS

smart grid energy harvesting distribution system protection electricity pricing linear machines In

addition the majority o the existing chapters have been revised and updated Many o these are major

revisionsTe handbook consists o a set o 1047297ve books Each is organized into topical parts and chapters in an

attempt to provide comprehensive coverage o the generation transormation transmission distribu-

tion and utilization o electric power and energy as well as the modeling analysis planning design

monitoring and control o electric power systems Te individual chapters are different rom most tech-

nical publications Tey are not journal-type articles nor are they textbooks in nature Tey are intended

to be tutorials or overviews providing ready access to needed inormation while at the same time pro-

viding sufficient reerences or more in-depth coverage o the topic

Tis book is devoted to the subjects o power system protection power system dynamics and stability

and power system operation and control I your particular topic o interest is not included in this list

please reer to the list o companion books reerred to at the beginning

In reading the individual chapters o this handbook I have been most avorably impressed by howwell the authors have accomplished the goals that were set Teir contributions are o course key to the

success o the book I grateully acknowledge their outstanding efforts Likewise the expertise and dedi-

cation o the editorial board and section editors have been critical in making this handbook possible o

all o them I express my proound thanks

Tey are as ollows

bull Nonconventional Power Generation Saiur Rahman

bull Conventional Power Generation Rama Ramakumar

bull ransmission Systems George G Karady

bull Distribution Systems William H Kersting



x Preface

bull Electric Power Utilization Andrew P Hanson

bull Power Quality S Mark Halpin

bull ransormer Engineering (a complete book) James H Harlow

bull Substations Engineering (a complete book) John D McDonald

bull Power System Analysis and Simulation Andrew P Hanson

bull Power System ransients Pritindra Chowdhuribull Power System Planning (Reliability) Gerry Shebleacute

bull Power Electronics R Mark Nelms

bull Power System Protection Miroslav M Begovic

bull Power System Dynamics and Stability Prabha S Kundurdagger

bull Power System Operation and Control Bruce Wollenberg

I wish to say a special thank-you to Nora Konopka engineering publisher or CRC Pressaylor amp

Francis whose dedication and diligence literally gave this edition lie I also express my gratitude to the

other personnel at aylor amp Francis who have been involved in the production o this book with a spe-

cial word o thanks to Jessica Vakili Teir patience and perseverance have made this task most pleasant

Finally I thank my longtime riend and colleaguemdashMel Olken editor the Power and Energy

Magazinemdashor graciously providing the picture or the cover o this book

Arun Phadke or the 1047297rst and second editionsdagger Richard Farmer or the 1047297rst and second editions



xi

Editor

received his BS and MS in electrical engi-

neering rom exas ech University Lubbock exas and his PhD rom

Oklahoma State University Stillwater Oklahoma He has taught electri-

cal engineering at exas ech University Oklahoma State University and

Virginia Polytechnic Institute and University He has been at AuburnUniversity since 1984 1047297rst as the Georgia power distinguished proessor

later as the Alabama power distinguished proessor and currently as pro-

essor emeritus o electrical engineering He also spent nine months dur-

ing 1990 at the University o okyo as the okyo Electric Power Company

endowed chair o electrical engineering His teaching interests are in net-

work analysis control systems and power engineering

During his teaching career Proessor Grigsby received 13 awards or teaching excellence Tese

include his selection or the university-wide William E Wine Award or eaching Excellence at Virginia

Polytechnic Institute and University in 1980 the ASEE Aamp Award or eaching Excellence in 1986

the 1988 Edison Electric Institute Power Engineering Educator Award the 1990ndash1991 Distinguished

Graduate Lectureship at Auburn University the 1995 IEEE Region 3 Joseph M Beidenbach OutstandingEngineering Educator Award the 1996 Birdsong Superior eaching Award at Auburn University and

the IEEE Power Engineering Society Outstanding Power Engineering Educator Award in 2003

Proessor Grigsby is a ellow o the Institute o Electrical and Electronics Engineers (IEEE) During

1998ndash1999 he was a member o the board o directors o IEEE as the director o Division VII or power

and energy He has served the institute in 30 different offices at the chapter section regional and inter-

national levels For this service he has received seven distinguished service awards such as the IEEE

Centennial Medal in 1984 the Power Engineering Society Meritorious Service Award in 1994 and the

IEEE Millennium Medal in 2000

During his academic career Proessor Grigsby has conducted research in a variety o projects related

to the application o network and control theory to modeling simulation optimization and control

o electric power systems He has been the major advisor or 35 MS and 21 PhD graduates With hisstudents and colleagues he has published over 120 technical papers and a textbook on introductory

network theory He is currently the series editor or the Electrical Engineering Handbook Series pub-

lished by CRC Press In 1993 he was inducted into the Electrical Engineering Academy at exas ech

University or distinguished contributions to electrical engineering





xiii

Contributors

Swedish ransmission Research Institute

Ludvika Sweden

Alabama Power Company

Birmingham Alabama

Department o Electrical Engineering

Virginia Polytechnic Institute and State

University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology

Raleigh North Carolina

Salt River Project

Phoenix Arizona

KinectricsUniversiteacute du Queacutebec agrave Chicoutimi

oronto Ontario Canada


Birmingham Alabama


Birmingham Alabama

DiGioia Gray and Associates LLC

Monroeville Pennsylvania

Electrical Distribution Design Inc

Blacksburg Virginia

Power Delivery Consultants Inc

Niskayuna New York

Salt River Project

Phoenix Arizona

School o Electrical Computer and Energy

Engineering

Arizona State University

empe Arizona


University o echnology and Lie Sciences

Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona

Department o Electrical and ComputerEngineering

Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro

Vancouver British Columbia Canada

Department o Electrical and Computer

Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University

Montreal Quebec Canada

Salt River Project

Phoenix Arizona

Metatech Corporation

Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona

Georgia Power Company

Atlanta Georgia


New Mexico State University

Las Cruces New Mexico

EPRI PEAC Corporation

Knoxville ennessee

Florida Atlantic University Boca Raton Florida

Alternative Energy Institute

West exas AampM University

Canyon exas

Consulting Engineer

Fort Worth exas

Magnetic Products and Services Inc

Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors

Southern Caliornia Edison Company

Rosemead Caliornia

ConsultantPittsburgh Pennsylvania


Engineering

Virginia ech

Arlington Virginia

School o Electrical and Computer

EngineeringOklahoma State University

Stillwater Oklahoma

Electrical Engineering Academic Unit

Universidad Autoacutenoma de Zacatecas

Zacatecas Mexico

Baltimore Gas and Electric Company

Dameron Maryland

Stantec Consulting

Portland Oregon

Electric Power Research InstituteBurnt Hills New York


University o exas at Arlington

Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia

Hydro-Queacutebec Institute o Research

Boucherville Quebec Canada



34-1

Linear electric motors belong to the group o special electrical machines that convert electrical energy

directly into mechanical energy o translatory motion Linear electric motors can drive a linear-motion

load without intermediate gears screws or crank shafs Linear electric motors can be classi1047297ed as ollows

bull DC motorsbull Induction motors

bull Synchronous motors including reluctance and stepping motors

bull Oscil lating motors

bull Hybrid motors

Te application o DC linear motor is marginal Te most popular are permanent magnet (PM) linear

synchronous motors (LSMs) and linear induction motors (LIMs) which are manuactured commer-

cially in several countries and are 1047297nding many applications

A linear motor can be obtained by cutting a rotary motor along its radius rom the center axis o the

shaf to the external surace o the stator core and rolling it out 1047298at (Figure 341)

341 Linear Synchronous Motors3411 Basic Geometries and Constructions

An LSM is a linear motor in which the mechanical motion is in synchronism with the magnetic 1047297eld

ie the mechanical speed is the same as the speed o the traveling magnetic 1047297eld Te thrust (propulsion

orce) can be generated as an action o

bull raveling magnetic 1047297eld produced by a polyphase winding and an array o magnetic poles N

S hellip N S or a variable reluctance erromagnetic rail (LSMs with AC armature windings)

bull Magnetic 1047297eld produced by electronically switched DC windings and an array o magnetic poles N

S hellip N S or variable reluctance erromagnetic rail (linear stepping or switched reluctance motors)

34Linear Electric Motors

341 Linear Synchronous Motors -1Basic Geometries and Constructions bull Classi1047297cation bull Flux-

Switching PM Linear Motors bull Motors with Electromagnetic

Excitation bull Motors with Superconducting Excitation System

342 Linear Induction Motors -14

Basic Geometries and Constructions bullPropulsion o Wheel-on-Rail Vehicles

343 Variable Reluctance Motors -21344 Stepping Motors -22345 Switched Reluctance Motors -25346 Linear Positioning Stages -26Reerences -27

Jacek F GierasUniversity of Technology

and Life Sciences



34-2 Electric Power Generation Transmission and Distribution

Te part producing the traveling magnetic 1047297eld is called the armature or orcer Te part that provides

the DC magnetic 1047298ux or variable reluctance is called the 1047297eld excitation system (i the excitation system

exists) or salient-pole rail reaction rail or variable reluctance platen Te terms primary and secondary

should rather be avoided as they are only justi1047297ed or LIMs [6] or transormers Te operation o an

LSM does not depend on which part is movable and which one is stationary

raditionally AC polyphase synchronous motors are motors with DC electromagnetic excitation the

propulsion orce o which has two components (1) due to the traveling magnetic 1047297eld and DC currentmagnetic 1047298ux (synchronous component) and (2) due to the traveling magnetic 1047297eld and variable reluc-

tance in d - and q-axes (reluctance component) Replacement o DC electromagnets with PMs is common

except or LSMs or magnetically levitated vehicles PM brushless LSMs can be divided into two groups

bull PM LSMs in which the input current waveorms are sinusoidal and produce a traveling magnetic

1047297eld

bull PM DC linear brushless motors (LBMs) with position eedback in which the input rectangular

or trapezoidal current waveorms are precisely synchronized with the speed and position o the

moving part

Construction o magnetic and electric circuits o LSMs belonging to both groups is the same LSMs can

be designed as 1047298at motors (Figure 342) or tubular motors (Figure 343) In DC brushless motors theinormation about the position o the moving part is usually provided by an absolute position sensor

Tis control scheme corresponds to an electronic commutation unctionally equivalent to the mechani-

cal commutation in DC commutator motors Tereore motors with square (trapezoidal) current wave-

orms are called DC brushless motors

Instead o DC or PM excitation the difference between the d - and q-axes reluctances and the traveling

magnetic 1047297eld can generate the reluctance component o the thrust Such a motor is called the AC vari-

able reluctance LSM Different reluctances in the d - and q-axes can be created by making salient erro-

magnetic poles using erromagnetic and nonerromagnetic materials or using anisotropic erromagnetic

materials Te operation o LBMs can be regarded as a special case o the operation o LSMs

1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0

Evolution o a rotary induction motor (a) solid-rotor induction motor into a 1047298at single-sided LIM

and (b) hollow-rotor induction motor into a 1047298at double-sided LIM 1 primary 2 secondary



34-3Linear Electric Motors

In the case o LSMs operating on the principle o the traveling magnetic 1047297eld the speed v o the mov-

ing part is equal to synchronous speed v s ie

v v s= = =2 τ ω

πτ

(341)

Te synchronous speed v s o the traveling magnetic 1047297eld depends only on the input requency (angular

input requency ω = 2π ) and pole pitch τ It does not depend on the number o poles 2 p

As or any other linear-motion electrical machine the useul orce (thrust) F x is directly proportional

to the output power P out and inversely proportional to the speed v = v s ie

F

P

v x

out

s

=

(342)

Flat three-phase PM linear motors (Photo courtesy o Kollmorgen Radord VA)

ubular PM LSM Moving rod (reaction rail) contains circular PMs (Photo courtesy o Caliornia

Linear Drives Carlsbad CA)




Direct electromechanical drives with LSMs or actory automation systems can achieve speeds exceeding

600 mmin = 36 kmh and acceleration o up to 360 ms2 [7] Te thrust density ie thrust per active sur-

ace 2 pτLi where Li is the effective width o the stack

F

p Lx

x

i

=2

(Nm2

τ)

(343)

o LSMs is higher than that o LIMs (Figure 344)

Te polyphase (usually three-phase) armature winding can be distributed in slots made in the orm

o concentrated-parameter coils or made as a coreless (air-cored) winding layer PMs are the most popu-

lar 1047297eld excitation systems or short traveling distances (less than 10 m) or example actory transporta-

tion or automation systems A long PM rail would be expensive Electromagnetic excitation is used in

high-speed passenger transportation systems operating on the principle o magnetic levitation (maglev)

Te German system ransrapid uses vehicle-mounted steel core excitation electromagnets and station-

ary slotted armatures Japanese MLX001 test train sets use onboard superconducting (SC) air-cored

electromagnets and a stationary three-phase air-cored armature winding distributed along the guide-

way (Yamanashi Maglev est Line)

3412 Classi1047297cation

LSMs can be classi1047297ed according to whether they are

bull Flat (planar) or tubular (cylindrical)

bull Single sided or double sided

bull Slotted or slotless

0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N

T h r u s t d e n s i t y N m 2

LSM OC

LSM WC

LSM AC

LSM NC

LIM NC

Comparison o thrust density or single-sided LIMs and LSMs AC air cooling NC natural cool-

ing OC oil cooling WC water cooling (From Gieras JF Status o linear motors in the United States International

Symposium on Linear Drives or Industry Applications (LDIArsquo03) Birmingham UK pp 169ndash176 2003)




bull Iron cored or air cored

bull ransverse 1047298ux or longitudinal 1047298ux

Te topologies mentioned earlier are possible or nearly all types o excitation systems LSMs operating

on the principle o the traveling magnetic 1047297eld can have the ollowing excitation systems

bull PMs in the reaction railbull PMs in the armature (passive reaction rail)

bull Electromagnetic excitation system (with winding)

bull SC excitation system

bull Passive reaction rail with saliency and neither PMs nor windings (variable reluctance motors)

LSMs with electronically switched DC armature windings are designed either as linear stepping motors

or linear switched reluctance motors

34121 PM Motors with Active Reaction Rail

Figure 345a shows a single-sided 1047298at LSM with the armature winding located in slots and surace PMs

Figure 345b shows a similar motor with buried-type PMs In surace arrangement o PMs the yoke(back iron) o the reaction rail is erromagnetic and PMs are magnetized in the normal direction (per-

pendicular to the active surace) Buried PMs are magnetized in the direction o the traveling magnetic

1047297eld and the yoke is nonerromagnetic or example made o aluminum (Al) Otherwise the bottom

leakage 1047298ux would be greater than the linkage 1047298ux as shown in Figure 346 Te same effect occurs in

buried-type PM rotors o rotary machines in which the shaf must also be nonerromagnetic [239]

Te so-called Halbach array o PMs also does not require any erromagnetic yoke and excites stronger

magnetic 1047298ux density and closer to the sinusoids than a conventional PM array Te key concept o the

Halbach array is that the magnetization vector should rotate as a unction o distance along the array

(Figure 347)

It is recommended that a PM LSM be urnished with a damper A rotary synchronous motor has a cage

damper winding embedded in pole shoe slots When the speed is different rom the synchronous speed

electric currents are induced in damper circuits Te action o the armature magnetic 1047297eld and damper

currents allows or asynchronous starting damps the oscillations and helps to return to synchronous

operation when the speed decreases or increases Also a damper circuit reduces the backward-traveling

magnetic 1047297eld It would be rather difficult to urnish PMs with a cage winding so that the damper o PM

LSMs has the orm o an Al cover (Figure 348a) or solid steel pole shoes (Figure 348b) In addition steel

pole shoes or Al cover (shield) can protect brittle PMs against mechanical damage

Te detent orce ie attractive orce between PMs and the armature erromagnetic teeth orce ripple

and some higher-space harmonics can be reduced with the aid o skewed assembly o PMs Skewed PMs

can be arranged in one row (Figure 349a) two rows (Figure 349b) or even more rows

1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N

Single-sided 1047298at PM LSMs with slotted armature core and (a) surace PMs and (b) buried PMs

1 PM 2 mild steel pole 3 yoke




(a)

(b)

Magnetic 1047298ux distribution in the longitudinal sections o buried-type PM LSMs (a) nonerromag-

netic yoke and (b) erromagnetic yoke (back iron)

1

2

Double-sided LSM with Halbach array o PMs 1 PMs 2 coreless armature winding

2

2

3(a)

(b)

3

1

1

Dampers o surace-type PM LSMs (a) Al cover (shield) and (b) solid steel pole shoes 1 PM

2 damper 3 yoke




Speci1047297cation data o 1047298at single-sided PM LBMs manuactured by Anorad are shown in able 341 [1]

and motors manuactured by Kollmorgen are shown in able 342 [11] Te temperature 25degC 125degC

or 130degC or the thrust current resistance and power loss is the temperature o the armature winding

Te electromotive orce (EMF) constant kE in ables 341 and 342 or sinusoidal operation is de1047297ned

according to the equation expressing the EMF (induced voltage) excited by PMs without the armature

reaction ie

E k v E s=

(344)

where v s is the synchronous speed according to Equation 341 Tus the armature constant kE multiplied

by the synchronous speed v s gives the EMF E

S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S

Skewed PMs in 1047298at LSMs (a) one row and (b) two rows

Flat Tree-Phase Single-Sided PM LBMs with Natural Cooling Systems

Manuactured by Anorad Hauppauge NY

Parameter LCD--1 LCD--2-P LCD--3-P LCD--4-P

Continuous thrust at 25degC N 163 245 327 490

Continuous current at 25degC A 42 63 85 127



Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

Peak current (10 s) A 73 110 147 220Continuous power losses at 125degC W 58 87 115 173

Armature constant kE Vsm 129

Trust constant (three phases) kF NA 386

Resistance per phase at 25degC Ω 32 22 16 11

Inductance mH 143 95 71 48

PM pole pitch mm 2345

Maximum winding temperature degC 125

Armature assembly mass kg 18 24 36 48

PM assembly mass kgm 64

Normal attractive orce N 1036 1555 2073 3109




Te thrust constant kF in ables 341 and 342 is de1047297ned according to the simpli1047297ed equation or the

developed electromagnetic thrust ie

F k I dx F a= cos Ψ

(345)

or a sinusoidally excited LSM with equal reluctances in the d - and q-axes and or the angle between the

armature current I a and the q-axis Ψ = 0deg (cos Ψ = 1) Tus the thrust constant kF times the armature

current I a gives the electromagnetic thrust developed by the LSM

Double-sided 1047298at PM LSMs consist o two external armature systems and one internal excitation sys-

tem (Figure 3410a) or one internal armature system and two external excitation systems (Figure 3410b)

In the second case a linear Grammersquos armature winding can be used

In slotless motors the primary winding is uniormly distributed on a smooth armature core or does

not have any armature core Slotless PM LSMs are detent orcendashree motors provide lower torque ripple

and at high input requency can achieve higher efficiency than slotted LSMs On the other hand larger

nonerromagnetic air gap requires more PM material and the thrust density (thrust per mass or volume)

is lower than that o slotted motors (able 343) Te input current is higher as synchronous reactances


Manuactured by Kollmorgen Radord VA

Parameter IC11-030 IC11-050 IC11-100 IC11-200



Peak thrust N 300 500 1000 2000

Peak current A 79 79 79 79

Continuous power losses at 130degC W 64 106 210 418

Armature constant at 25degC kE Vsm 309 514 1028 2057

Trust constant (three phases) at 25degC kF NA 378 629 1259 2519

Resistance line to line at 25degC Ω 19 26 44 80

Inductance line to line mH 173 278 541 1066

Electrical time constant ms 89 105 123 134

Termal resistance winding to external

structure degCW

164 099 050 025


Armature assembly mass kg 20 32 62 122PM assembly mass kgm 55 76 128 269


(a)

N S N SN S N S

N S N SN S N S

(b)

Double-sided 1047298at PM LSMs with (a) two external armature systems and (b) one internal armature

system




in the d - and q-axes can decrease to a low undesired value due to the absence o teeth Figure 3411a

shows a single-sided 1047298at slotless motor with armature core and Figure 3411b shows a double-sided slot-

less motor with inner air-cored armature winding (moving coil motor)

able 344 contains perormance speci1047297cations o double-sided PM LBMs with inner three-phase air-

cored armature winding manuactured by rilogy Systems Corporation Webster X (Figure 3412)

N

(a) (b)

S N S N S N S

S N NS

Flat slotless PM LSMs (a) single-sided with armature core and (b) double-sided with inner air-

cored armature winding

Slotted versus Slotless LSMs

Quantity Slotted LSM Slotless LSM

Higher thrust density X

Higher efficiency in the lower speed range X

Higher efficiency in the higher speed range x

Lower input current X

Less PM material X

Lower winding cost x

Lower thrust pulsations x

Lower acoustic noise x

Flat Double-Sided PM LBMs with Inner Tree-Phase Air-Cored Series-Coil

Armature Winding Manuactured by rilogy Systems Corporation Webster X

Parameter 310-2 310-4 310-6

Continuous thrust N 1112 2091 3149

Continuous power or sinusoidal operation W 87 152 230

Peak thrust N 356 712 1068

Peak power W 900 1800 2700

Peakcontinuous current A 10028 10026 10026

Trust constant kF or sinusoidal operation NA 400 800 1200

Trust constant kF or trapezoidal operation with Hallsensors NA

351 725 1095

Resistance per phase Ω 86 172 258

Inductance plusmn05 mH 60 120 180

Heat dissipation constant or natural cooling WdegC 110 201 301

Heat dissipation constant or orced air cooling WdegC 130 240 355

Heat dissipation constant or liquid cooling WdegC 154 285 421

Number o poles 2 4 6

Coil length mm 1422 2642 3861

Coil mass kg 055 103 153

Mass o PM excitation systems kgm 1267 or 838




By rolling a lat LSM around the axis parallel to the direction o the traveling magnetic ield

ie parallel to the direction o thrust a tubular (cylindrical) LSM can be obtained (Figure 3413) A

tubular PM LSM can also be designed as a double-sided motor or slotless motor

ubular single-sided LSMs LinMoreg with movable internal PM excitation system (slider) and stationaryexternal armature are manuactured by Sulzer Electronics AG Zurich Switzerland (able 345) All active

motor parts bearings position sensors and electronics have been integrated into a rigid metal cylinder [14]

LinMotreg is a registered trademark o Sulzer Electronics AG Zuumlrich Switzerland

(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S

Single-sided slotted tubular PM LSMs (a) with external armature system and (b) with external

excitation system

Data o ubular LSMs LinMotreg Manuactured by Sulzer Electronics AG Zuumlrich Switzerland

Parameter P01 23 times 80 P01 23 times 160 P01 37 times 120 P01 37 times 240

Number o phases 2

PMs NdFeB

Maximum stroke m 0210 0340 1400 1460Maximum orce N 33 60 122 204

Maximum acceleration ms2 280 350 247 268

Maximum speed ms 24 42 40 31

Stator (armature) length m 0177 0257 0227 0347

Stator outer diameter mm 23 23 37 37

Stator mass kg 0265 0450 0740 1385

Slider diameter mm 12 12 20 20

Maximum temperature o the armature winding degC 90

Flat double-sided PM LSM with inner moving coil (Photo courtesy o rilogy Systems Webster X)




All the aorementioned PM LSMs are motors with longitudinal magnetic 1047298ux the lines o which lie

in the plane parallel to the direction o the traveling magnetic 1047297eld LSMs can also be designed as trans-

verse magnetic 1047298ux motors in which the lines o magnetic 1047298ux are perpendicular to the direction o the

traveling 1047297eld Figure 3414a shows a single-sided transverse 1047298ux LSM in which PMs are arranged in two

rows A pair o parallel PMs creates a two pole 1047298ux excitation system A double-sided con1047297guration o

transverse 1047298ux motor is possible however it is complicated and expensive (Figure 3414b)

34122 PM Motors with Passive Reaction Rail

Te drawback o PM LSMs is the large amount o PM material that must be used to design the excitation

system Normally expensive rare-earth PMs are requested I a small PM LSM uses say 10 kg o NdFeB

per 1 m o the reaction rail and 1 kg o good-quality NdFeB costs US$ 130 the cost o the reaction rail

without assembly amounts to US$ 1300 per 1 m Tis price cannot be acceptable or example in pas-

senger transportation systems

A cheaper solution is to apply the PM excitation system to the short armature that magnetizes the

long reaction rail and creates magnetic poles in it Such a linear motor is called the homopolar LSM

Te homopolar LSM as described in [517] is a double-sided AC linear motor that consists o two

polyphase armature systems connected mechanically and magnetically by a erromagnetic U-type yoke

(Figure 3415) Each armature consists o a typical slotted linear motor stack with polyphase armature

winding and PMs located between the stack and U-type yoke Since the armature and excitation systems

are combined together the armature stack is oversized as compared with a conventional steel-cored LSM

Te PMs can also be replaced by electromagnets [1719] Te variable reluctance reaction rail is passive

Te saliency is created by using erromagnetic (solid or laminated) cubes separated by a nonerromag-netic material Te reaction rail poles are magnetized by the armature PMs through the air gap Te trav-

eling magnetic 1047297eld o the polyphase armature winding and salient poles o the reaction rail produce the

thrust Such a homopolar LSM has been proposed or the propulsion o maglev trains o Swissmetro [17]

Further simpli1047297cation o the double-sided con1047297guration can be made to obtain a single-sided PM

LSM shown in Figure 3416

3413 Flux-Switching PM Linear Motors

Large gantry systems and machining centers require powerul linear motors preerably with PM-ree

reaction rail Siemens 1FN6 PM LSMs with a magnet-ree reaction rail belong to the group o the so

5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S

ransverse 1047298ux PM LSM (a) single-sided and (b) double-sided 1 armature winding 2 armature

laminated core 3 PM 4 back erromagnetic core 5 magnetic 1047298ux 6 armature current




called 1047298ux-switching PM machines [1016] Te armature system is air cooled degree o protection IP23

class o insulation F line voltage rom 400 to 480 V rated thrust rom 235 to 2110 N maximum veloc-

ity at rated thrust rom 170 to 540 mmin (able 346) overload capacity 38 o rated thrust modular

type construction [20] Tese LSMs operate with Siemens Sinamics or Simodrive solid-state converters

and external encoders According to Siemens [20] these new LSMs produce thrust orces and velocities

equivalent to competitive classical models or light-duty machine tool machine accessory and material

handling applications

2 3 244 1

N

S

S

N

N

S

S

N

5

Single-sided PM LSM with a passive reaction rail 1 PM 2 armature winding 3 armature stack

4 yoke 5 erromagnetic reaction rail

1

1

2 343

5

Fe Fe Fe Fe

Double-sided homopolar PM LSM with passive reaction rail 1 PM 2 armature winding

3 armature stack 4 yoke 5 reaction rail

Speci1047297cations o 1FN6 PM LSMs Manuactured by Siemens Erlangen Germany

Armature Unit Rated Trust N Max Trust N

Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated

Current A Max Current A

1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840

Source Synchronous Linear Motor 1FN6 Te Electrical Gear Rack Siemens AG Industry Sector Drive echnologies

Motion Control Erlangen Germany 2008




Te magnet-ree reaction rail is easy to install and does not require the saety considerations o stan-

dard PM reaction rails Without PMs there is no problem with errous chips and other debris beingattracted to these sections Maintenance becomes a simple matter o installing a wiper or brush on the

moving part o the slide

Te 1047298ux-switching LSM comprises an armature section that is equipped with coils and PMs as well

as a nonmagnetic toothed reaction rail section (Figure 3417) Te key design innovation is an LSM in

which PMs are integrated directly into the lamination o the armature core along with the individual

windings or each phase Both magnitudes and polarities o the linkage 1047298ux in the armature winding

vary periodically along with the reaction rail movement Te magnetic 1047298ux between the armature core

and steel reaction rail is controlled by switching the three-phase armature currents according to a desig-

nated algorithm Te passive reaction rail consists o milled steel with poles (teeth) and is much simpler

to manuacture

3414 Motors with Electromagnetic Excitation

Te electromagnetic excitation system o an LSM is similar to the salient-pole rotor o a rotary

synchronous motor Figure 3418 shows a 1047298at single-sided LSM with salient erromagnetic poles and

DC 1047297eld excitation winding Te poles and pole shoes can be made o solid steel laminated steel or sin-

tered powder I the electromagnetic excitation system is integrated with the moving part the DC cur-

rent can be delivered with the aid o brushes and contact bars inductive power transer (IP) systems

linear transormers or linear brushless exciters

A AB BC C

1

2

3

4

5

v

τ2

τ1

Construction o 1047298ux-switching LSM with PM-ree reaction rail 1 laminated armature core

2 PM 3 armature coil (phase C) 4 toothed passive steel reaction rail 5 linkage magnetic 1047298ux (phase A is on)

1

3

τ τ

2

S

d d q q q

4

N

Electromagnetic excitation system o a 1047298at single-sided iron-cored LSM 1 salient pole 2 DC

excitation winding 3 erromagnetic rail (yoke) 4 armature system




LSMs with electromagnetic excitation (wound-1047297eld reaction rail) are used in German ransrapid

maglev train (Figure 3419)

3415 Motors with Superconducting Excitation System

In large-power LSMs the electromagnets with erromagnetic core that produce the excitation 1047298ux can

be replaced by coreless SC electromagnets Since the magnetic 1047298ux density produced by the SC electro-

magnet is greater than the saturation magnetic 1047298ux density o the best laminated alloys ( Bsat asymp 24 or

cobalt alloy) there is no need to use the armature erromagnetic core An LSM with SC 1047297eld excitation

system is a totally air-cored machine (Figure 3420)

Experimental maglev trains on the Yamanashi Maglev est Line (YML) in Yamanashi Preecture(west rom okyo) Japan are driven by air-cored LSMs with SC excitation systems ( Figure 3421)

342 Linear Induction Motors

LIMs have ound the widest prospects or applications in transportation systems beginning with electri-

cal traction on small passenger or material supply cars (used at airports exhibitions electrohighways

elevators) and ending with pallet transportation waer transportation belt conveyors transportation

systems o bulk materials etc Te second important place or LIM applications is in industry ie man-

uacturing processes (machine tools hammers presses mills separators automated manuacturing systems

strip tensioners textile shuttles index tables turntables disk saws or wood sliding doors robots etc)

ransrapid 09 maglev train driven by LSMs with electromagnetic excitation (Photo courtesy oTyssen ransrapid System GmbH Munich Germany)

1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA

Tree-phase air-cored LSM with SC excitation system 1 armature coils 2 SC excitation coils




LIMs can also play an important part in industrial investigations and tests or example high acceleration

o model aircraf in aerodynamic tunnels high acceleration o vessels in laboratory pools propulsion o

mixers shakers and vibrators and adjusting xndashy tables and instruments Tere is also a possibility o

using LIMs in consumer electronics (sound and vision equipment knitting machines curtains) and in

offices (transportation o documents letters and cash) Te Handbook o Linear Motor Applications [21]

printed in Japan in 1986 contains about 50 examples o applications o LIMs in operation or in the pro-

cess o implementation

3421 Basic Geometries and Constructions

A LIM can be obtained by cutting in the same way either a cage rotor induction motor or a wound rotor

induction motor Te stator becomes the primary and the rotor becomes the secondary [12] Te secondary

o a LIM can be simpli1047297ed by using a solid steel core and replacing the cage (ladder) or slip-ring winding with

a high-conductivity nonerromagnetic plate (Al or Cu) Te nonerromagnetic plate is a secondary electric

circuit with distributed parameters and the erromagnetic core is a conductor both or the magnetic 1047298ux

and the electric current It does not matter rom the principle o operation point o view which part (primary

or secondary) is in motion Tus the 1047298at single-sided LIM can be obtained rom a solid rotor induction

motor (Figure 341a) and the 1047298at double-sided LIM can be obtained rom a hollow-rotor induction motor

with wound external and internal stator (Figure 341b) In a double-sided LIM the secondary erromagneticcore is not necessary since the magnetic 1047298ux excited by one o the primary windings afer passing through

the air gaps and nonerromagnetic secondary is then closed up by the core o the second primary unit

Teoretically a double-sided LIM with primary windings located on two cores in comparison with a

single-sided LIM exciting the same MMF has twice the air gap magnetic 1047298ux density Tereore the thrust

o such a motor is our times greater assuming the same dimensions I only one primary core is wound

the output parameters o a double-sided LIM are the same as those or a single-sided LIM with laminated

secondary back iron Te undamental advantage o double-sided LIMs is the elimination o the normal

attractive orce between the primary and the secondary because the secondary is usually nonerromagnetic

Flat LIMs can have primary cores consisting o an array o cores arranged in parallel at appropri-

ate distances and connected magnetically by additional yokes perpendicular to the direction o the

YML in Yamanashi Preecture (near okyo) Japan YML maglev trains use air-cored LSMs

with SC excitation system (Photo courtesy o Central Japan Railway Company and Railway echnical Research

Institute okyo Japan)




traveling 1047297eld A magnetic circuit designed in such a way makes it possible to apply two windings in

general multiphase windings with perpendicular conductors as shown in Figure 3422 Adjusting the

current in each winding the secondary can be moved in two perpendicular directions and can be posi-

tioned at any point o the xndashy plane A 1047298at LIM with two degrees o reedom (DOFs) can be designed both

as single-sided and double-sided machines

By rolling a 1047298at single-sided or double-sided LIM around the axis parallel to the direction o the travel-

ing magnetic 1047297eld ie parallel to the direction o the thrust a tubular motor can be obtained (Figure 3423)

A tubular (cylindrical) LIM similar to a 1047298at LIM can be designed both as single-sided and double-

sided machines and can have a square or rectangular cross section as in Figure 3424 Tere are possible

Te primary o a 1047298at LIM with two DOFs

g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2

ubular LIMs (a) single-sided with an external short primary (b) single-sided with an external

short secondary and (c) double-sided with short primary 1 primary 2 secondary




con1047297gurations other than that in Figure 3423 regarding the length o the secondary with respect to thelength o the primary

All the aorementioned LIMs are motors with longitudinal magnetic 1047298ux ie the lines o magnetic

1047298ux lie in the plane parallel to the direction o the traveling magnetic 1047297eld A LIM can also be designed

in such a way as to obtain magnetic 1047298ux lines perpendicular to the direction o the traveling 1047297eld Such

motors are said to have transverse magnetic 1047298ux (Figure 3425)

Te undamental advantage o a LIM with transverse magnetic 1047298ux in comparison with a LIM with

longitudinal magnetic 1047298ux is the lower magnetizing current necessary due to the shorter magnetic 1047298ux

paths Te signi1047297cant disadvantage is lower thrust A 1047298at LIM with transverse magnetic 1047298ux usually has

a primary winding o concentrated coils located on salient poles

A 1047298at single-sided LIM with transverse 1047298ux can produce not only thrust but also electrodynamic

suspension In the design shown in Figure 3426 the secondary is suspended electrodynamically andpropelled and stabilized laterally by the primary magnetic 1047297eld [8] Te primary magnetic circuit con-

sists o E-shaped laminations assembled in two rows Te short secondary is made o light Al alloy in the

orm o a boat Te lateral sides o the boat are inclined by 60deg with respect to the active surace Such a

shape provides maximum normal repulsive orce and maximum lateral stabilization

According to their geometry the LIMs can be divided into the ollowing groups

bull With movable primary or movable secondary

bull Single sided and double sided

bull Flat and tubular

bull With short primary and short secondary

bull With longitudinal and transverse magnetic 1047298ux

1 2 3 4 1 2 3 4

ubular double-sided LIM with a square cross section 1 primary 2 secondary 3 primary coil

4 internal core

v

v

1 1

1

1

(a)

(b)

22

22

Flat LIM with transverse magnetic 1047298ux and salient poles (a) single-sided and (b) double-sided

1 primary 2 secondary




Te linear speed o a LIM is

v s v s= minus( )1 (346)

where

s is the slip

v s is the synchronous speed according to Equation 341

Neglecting the longitudinal end effect [6] the electromagnetic thrust developed by a LIM can be

expressed in a similar way as or a rotary induction motor ie

F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where

m1 is the number o phases o the primary winding


primeI 2 is the secondary current reerred to the primary system

primeR2 is the secondary resistance reerred to the primary system

s is the slip

Te secondary resistance primeR2 must include the so-called edge effect [6]

3422 Propulsion of Wheel-on-Rail Vehicles

Modern railway systems and electrical traction should meet the ollowing requirements

bull High level o automatization and computerization

bull Propulsion and braking independent o adhesion which in turn is affected 1047297rst o all by climate

and weather

bull Low level o noise sometimes below 70 dB (A)

Flat LIM with transverse magnetic 1047298ux salient poles and nonerromagnetic secondary pro-

pelled suspended and stabilized electrodynamically (From Gieras JF et al Analytical calculation o electro-

dynamic levitation orces in a special-purpose linear induction motor International Electric Machines and Drives

Conerence (IEMDCrsquo11) Niagara Falls Ontario Canada 2011 [on CD-ROM])




bull Ability to cope with high slopes at least 6 and sharp bends with radius o curvature less than 20 m

bull No pollution to natural environment and landscape

bull High reliability

Te congestion problems o big cities should be solved by creating collective transport orms that can be

implemented without affecting a highly populated city For example there are many cities in Italy where

the historical center has remained the same since the Renaissance A heavy railway might be a com-

pletely wrong solution and have a notable impact on the city planning An adequate solution might be

a light railway a people mover with transport capacity o 10000ndash20000 passengers per hour to replace

the traditional transport nets and to integrate the existing railway nets

All the requirements mentioned earlier can be met by using LIMs as propulsion machines Replacing

electrical rotary motors with linear motors in traction drives (electrical locomotives) generally does

not require new tracks but only their adjustment to linear drives Single-sided LIMs (Figure 3427a and b)

are best since the normal attractive orce o these can strengthen the adhesion o wheels and rails

Te air gap is rom 10 to 15 mm Most requently the motor car has two LIMs with short primaries

(Figure 3427a) assembled in series Te double-layer secondary consists o a solid back iron and an Al

cap and is located between the rails Cables or computer communication with the vehicle and quite

ofen collectors or electrical energy delivery to the vehicle are located along the track Tree-phaseLIMs are ed rom variable-voltage variable-requency (VVVF) voltage-source inverters A linear pro-

pulsion system o wheel-on-rail vehicles allows more 1047298exibility (Figure 3428) reducing noise on bends

and wear o the wheels and rails

Double-sided LIMs (Figure 3427c and d) have ound very limited application due to the technical

difficulty o eliminating aults caused by bends in the secondary with primary cores on either side It is

more difficult to keep a small and uniorm air gap in double-sided LIMs than that in single-sided LIMs

Te LIM-driven wheel-on-rail vehicles are built or low velocities ie less than 100 kmh and or

short routes ie less than 50 km (urban transit systems and short-distance trains) At present LIM-

driven trains operate in oronto and Vancouver BC Canada in Detroit MI (Figure 3429) okyo

(Figure 3430) and Osaka Japan and Kuala Lumpur Malaysia

(a) (b)

(c) (d)

LIM-driven wheel-on-rail cars (a) single-sided LIM with short primary mounted on the undercar-

riage (b) single-sided LIM with short secondary mounted on the undercarriage (c) double-sided LIM with short pri-

mary mounted on the undercarriage and (d) double-sided LIM with short secondary mounted on the undercarriage




(a) (b)

Te undercarriage o a wheel-on-rail vehicle (a) rotary motor propulsion and (b) LIM propulsion

Detroit people mover driven by single-sided LIMs

oei Oedo subway line in okyo driven by single-sided LIMs




Te design data o some single-sided traction LIMs are presented in able 347 and double-sided trac-

tion LIMs in able 348

343 Variable Reluctance Motors

Te simplest construction o a variable reluctance LSM or linear reluctance motor (LRM) is that shown

in Figure 3418 with DC excitation winding being removed However the thrust o such a motor wouldbe low as the ratio o d -axis permeance to q-axis permeance is low Better perormance can be obtained

when using 1047298ux barriers [18] or steel laminations [15] o make 1047298ux barriers any nonerromagnetic

materials can be used o obtain high permeance (low reluctance) in the d -axis and low permeance in

the q-axis steel laminations should be oriented in such a way as to create high permeance or the d -axis

magnetic 1047298ux

Figure 3431a shows a variable reluctance platen with 1047298ux barriers and Figure 3431b shows how to

arrange steel laminations to obtain different reluctances in the d - and q-axes Te platen can be com-

posed o segments the length o which is equal to the pole pitchτ Each segment consists o semicircular

lamellas cut out rom electrotechnical sheet A 1047297lling or example epoxy resin is used to make the seg-

ment rigid and robust By putting the segments together a platen o any desired length can be obtained

Design Data o Single-Sided Tree-Phase LIMs or Propulsion o Vehicles

Quantity

LIM

UnitJLMDR ICS KU CIGG GEC

Pullout thrust at requency given

in the ollowing F x

125 90 35 17 07 kN

Input requency 200 400 250 400 600 Hz

Rated phase current V 1 2750 4650 1300 2000 2000 A

Number o poles 2 p 8 6 4 6 4 mdash

Number o turns per phase N 1 128 96 128 108 48 mdash

Equivalent diameter o conductor d 1 mdash 893 528 1115 81 mm

Number o parallel conductors mdash 1 mdash 19 1 mdash

Effective width o primary core Li 023 0216 029 0101 01715 m

Pole pitch τ 027 02868 030 025 020 m

Length o single end connection l e mdash 03483 mdash 02955 03685 m

Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm

Number o slots z 1( primez 1) 96(106) 72(79) 48(58) 54(61) 36(43) mdash

Width o slot b11 mdash 156 170 150 1308 mm

Width o slot opening b14 mdash 156 mdash 1044 1308 mm

Depth o slot h11 mdash 530 380 3421 6147 mm

Height o yoke h1 y mdash 436 393 7163 500 mm

Conductivity o back iron at 20degC σFe mdash 446 952 446 512 times106 Sm

Conductivity o Al cap at 20degC σ Al mdash 300 303 323 215 times106 Sm

Width o back iron w 03 024 03 0111 01715 m

Tickness o back iron hsec 190 125 250 254 474 mm

Tickness o Al cap d 50 45 50 45(25) 32 mm

Tickness o Al cap behind Fe core t ov 50 170 50 127 32 mm

Width o Al cap 030 032 040 0201 02985 m

JLMDR Japanese Linear Motor Driven Railcar Japan ICS Intermediate Capacity ransit System Canada KU

Kyushu University LIM Japan CIGG Canadian Inst o Guided Ground ransport Canada GEC General

Electric Company United States (z 1 ) is the number o hal 1047297lled slots




344 Stepping Motors

A linear stepping motor has a concentrated armature winding wound on salient poles and PM excitation

rail or variable reluctance platen Te thrust is generated as an action o the armature magnetic 1047298ux and

PM 1047298ux (active platen) or the armature magnetic 1047298ux and salient erromagnetic poles (variable reluc-

tance platen) Stepping motors have no position eedback

Design Data o Double-Sided Tree-Phase LIMs or Propulsion

o Vehicles

Quantity

LIM

UnitGEC LIMVR

Maximum thrust at input requency F x given in the ollowing 085 1668 kN

Input requency 600 1730 Hz

Input phase current I 1 2000 20000 A

Number o poles 2 p 4 10 mdash

Number o turns per phase N 1 144 100 mdash

Diameter o conductor d 1 075 110 mm

Effective width o primary core Li 00869 0254 m

Pole pitch τ 01795 03556 m

Coil pitch wc 005 005 m

Number o slots z 1( primez 1) 36(45) 150(160) mdash

Width o slot b11 137 160 mm

Width o slot opening b14 137 mdash mm

Depth o slot h1 630 mdash mm

Height o yoke h1 y 239 mdash mm

Width o tooth c1 200 77 mm

Resultant air gap 2 g + d 381 38075 mm

Air gap g 2 times 127 2 times 111 mm

Tickness o secondary d 127 15875(hollow) mm

Effective thickness o Al secondary 127 72 mm

Width o secondary w ge03046 mdash m

Conductivity o Al cap at 20degC σ Al asymp2434 asymp240 times106 Sm

GEC General Electric Company United States LIMVR LIM Research Vehicle

Pueblo CO United States (z 1 ) is the number o hal 1047297lled slots

(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin

Variable reluctance LSMs with (a) 1047298ux barriers and (b) steel laminations






Tis value is different or ull-step and microstepping drives Te maximum startndashstop speed is the

maximum speed that can be used when starting or stopping the motor without ramping that does not

cause the motor to all out o synchronism or lose steps Te maximum speed is the maximum linear

speed that can be achieved without the motor stalling or alling out o synchronism Te maximum

load mass is the maximum allowable mass applied to the orcer against the scale that does not result in

mechanical damage Te ull-step resolution is the position increment obtained when the currents are

switched rom one winding to the next winding Tis is the typical resolution obtained with ul l-step

drives and it is strictly a unction o the motor construction Te microstepping resolution is the position

increment obtained when the ull-step resolution is divided electronically by proportioning the currents

in the two windings Tis resolution is typically 10ndash250 times smaller than the ull-step resolution [13]

HLSMs are regarded as an excellent solution to positioning systems that require a high accuracy

and rapid acceleration With a microprocessor controlled microstepping mode a smooth operation with

standard resolution o a ew hundred stepsmm can be obtained Te advantages such as high efficiencyhigh throughput mechanical simplicity high reliability precise open-loop operation and low inertia

o the system have made these kind o motors more and more attractive in such applications as actory

automation high speed positioning computer peripherals acsimile machines numerically controlled

machine tools automated medical equipment automated laboratory equipment and welding robots

Tis motor is especially suitable or machine tools printers plotters and computer-controlled material

handling in which a high positioning accuracy and repeatability are the key problems

When two or our orcers mounted at 90deg and a special grooved platen (ldquowaffle platerdquo) are used the

xndashy motion (two DOFs) in a single plane is obtained (Figure 3434)

Speci1047297cation data o the xndashy HLSMs manuactured by Normag Northern Magnetics Inc Santa

Clarita CA are given in able 3410

PM linear stepping motors (Photo courtesy o okyo Aircraf Instrument Co Ltd okyo Japan)




345 Switched Reluctance Motors

Te topology o a linear switched reluctance motor is similar to that o a stepping motor with variable

reluctance platen In addition it is equipped with position sensors Te turn-on and turn-off instant o

the input current is synchronized with the position o the moving part Te thrust is very sensitive to

the turn-on and turn-off instant

In the case o a linear stepping or linear switched reluctance motor the speed v o the moving part is

v v s sw= = τ

(348)

where

sw is the undamental switching requency in one armature phase winding

τ is the pole pitch o the reaction rail

For a rotary stepping or switched reluctance motor sw = 2 pr n where 2 pr is the number o rotor poles and

n is rotational speed in revs

A linear switched reluctance motor has a doubly salient magnetic circuit with a polyphase winding

on the armature Longitudinal and transverse 1047298ux designs are shown in Figure 3435 A linear switched

reluctance motor allows precise speed and position-controlled linear motion at low speeds and is not sub-

ject to design constraints (minimum speed limited by minimum easible pole pitch) o linear AC motors

x

y

12

3

4

1

1

2

2

HLSM with a our-unit orcer to obtain the xndashy motion 1 orcers or the x -direction 2 orcers

or the y -direction 3 platen 4 air pressure

Data o xndashy HLSMs Manuactured by Normag Northern Magnetics Inc

Santa Clarita CA

Parameter 4XY0602-2-0 4XY2002-2-0 4XY2004-2-0 4XY2504-2-0

Number o orcer units per axis 1 1 2 2

Number o phases 2 2 2(4) 2(4)Static thrust N 133 400 980 1330

Trust at 1 ms N 111 311 712 980


Resistance per phase Ω 29 33 16 19

Inductance per phase mH 15 40 20 23

Input phase current A 20 20 40 40

Air gap mm 002

Maximum temperature degC 110

Mass kg 32 072 20 15

Repeatability mm 000254

Resolution mm 000254

Bearing type Air




346 Linear Positioning Stages

Linear motors are now playing a key role in advanced precision linear positioning Linear precision posi-

tioning systems can be classi1047297ed into open-loop systems with HLSMs and closed-loop servo systems

with LSMs LBMs or LIMs

A PM LSMndashdriven positioning stage is shown in Figure 3436 A stationary base is made o Al steel

ceramic or granite plate It provides a stable precise and 1047298at platorm to which all stationary position-

ing components are attached Te base o the stage is attached to the host system with the aid o mount-

ing screws

Te moving table accommodates all moving positioning components o achieve maximum accelera-

tion the mass o the moving table should be as small as possible and usually Al is used as a lightweight

material A number o mounting holes on the moving table is necessary to 1047297x the payload to the mount-

ing table

Linear bearing rails provide a precise guidance to the moving table A minimum o one bearing rail

is required Linear ball bearing or air bearings are attached to each rail

Te armature o a linear motor is astened to the moving table and reaction rail (PM excitation sys-tem) is built in the base between the rails (Figure 3436)

A linear encoder is needed to obtain precise control o position o the table velocity and acceleration

Te read head o the encoder is attached to the moving table

(a) (b)

3

3

221

1

Linear switched reluctance motor con1047297gurations (a) longitudinal 1047298ux design and (b) transverse

1047298ux design 1 armature winding 2 armature stack 3 platen

12

3

5

4

7

6

8

Linear positioning stage driven by PM LBM 1 base 2 moving table 3 armature o LBM 4 PMs

5 linear bearing 6 encoder 7 cable carrier 8 limit switch (Courtesy o Normag Santa Clarita CA)




Noncontact limit switches ixed to the base provide an overtravel protection and init ial homing

A cable carrier accommodates and routes electrical cables between the moving table and stationary

connector box 1047297xed to the base

An HLSM-driven linear precision stage is o similar construction Instead o PMs between bearing

rails it has a variable reluctance platen HLSMs usually need air bearings and in addition to the electri-

cal cables an air hose between air bearings and the compressor is requiredLinear positioning stages are used in semiconductor technology electronic assembly quality assur-

ance laser cutting optical scanning water jet cutting gantry systems (x y z stages) color printers

plotters and Cartesian coordinate robotics

References

1 Anorad Linear Motors Inormation Brochure Anorad Hauppauge New York 2007 wwwanoradcom

2 Boldea I and Nasar SA Linear Motion Electromagnetic Systems John Wiley amp Sons New York 1985

3 Boldea I and Nasar SA Linear Electric Actuators and Generators Cambridge University Press

New York 2005

4 Compumotor Digiplan Positioning Control Systems and Drives Parker Hanni1047297n CorporationRohnert Park CA 2011

5 Everes W Henneberger G Wunderlich H and Selig A A linear homopolar motor or a trans-

portation system 2nd International Symposium on Linear Drives or Industry Applications (LDIArsquo98)

okyo Japan 1998 pp 46ndash49

6 Gieras JF Linear Induction Drives Clarendon Press Oxord UK 1994

7 Gieras JF Status o linear motors in the United States International Symposium on Linear Drives

or Industry Applications (LDIArsquo03) Birmingham UK 2003 pp 169ndash176

8 Gieras JF Gientkowski Z Mews J and Splawski P Analytical calculation o electrodynamic

levitation orces in a special-purpose linear induction motor International Electric Machines and

Drives Conerence (IEMDCrsquo11) Niagara Falls Ontario Canada 2011 [on CD-ROM]

9 Gieras JF Piech ZJ and omczuk BZ Linear Synchronous Motors ransportation and Automation Systems aylor amp Francis (CRC Press) Boca Raton FL 2011

10 Hoang E Ahmed AHB and Lucidarme J Switching 1047298ux permanent magnet polyphase syn-

chronous machines 7th European Conerence on Power Electronics and Applications (EPErsquo97)

Vol 3 rondheim Norway 1977 pp 903ndash908

11 Kollmorgen Linear Motors Aim to Cut Cost o Semiconductors and Electronics Manuacture

Kollmorgen Radord VA 1997

12 Laithwaite ER A History o Linear Electric Motors Macmillan London UK 1987

13 Linear Step Motor Inormation Brochure okyo Aircraf Instrument Co Ltd okyo Japan

1998

14 LinMot Design Manual Sulzer Electronics Ltd Zuumlrich Switzerland 1999

15 Locci N and Marongiu I Modelling and testing a new linear reluctance motor InternationalConerence on Electrical Machines (ICEMrsquo92) Vol 2 Manchester UK 1992 pp 706ndash710

16 Rauch SE and Johnson LJ Design principles o 1047298ux-switch alternators AIEE rans Part III

74(12) 1261ndash1269 1955

17 Rosenmayr M Casat Glavitsch A and Stemmler H SwissmetromdashPower supply or a high-

power-propulsion system with short stator linear motors 15th International Conerence on

Magnetically Levitated Systems and Linear Drives Maglevrsquo98 Mount Fuji Yamanashi Japan 1998

pp 280ndash286

18 Sanada M Morimoto S and akeda Y Reluctance equalization design o multi 1047298ux barrier con-

struction or linear synchronous reluctance motors 2nd International Symposium on Linear Drives

or Industrial Applications (LDIArsquo98) okyo Japan 1998 pp 259ndash262




19 Seok-Myeong J and Sang-Sub J Design and analysis o the linear homopolar synchronous motor

or integrated magnetic propulsion and suspension 2nd International Symposium on Linear Drives


20 Synchronous Linear Motor 1FN6 Te Electrical Gear Rack Siemens AG Industry Sector Drive

echnologies Motion Control Erlangen Germany 2008

21 Yamada H Handbook o Linear Motor Applications (in Japanese) Kogyo Chosaki Publishing Cookyo Japan 1986






DISTRIBUTION






EDITED BY

LEONARD L GRIGSBY




DISTRIBUTION














httpwwwcrcpresscom



v

Contents

Preace ix

Editor x i

Contributors xiii


Saiur Rahman -1






Rama Ramakumar -1







vi Contents


George G Karady -1



Joe C Pohlman


















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


















EDITED BY

LEONARD L GRIGSBY




DISTRIBUTION














httpwwwcrcpresscom



v

Contents

Preace ix

Editor x i

Contributors xiii


Saiur Rahman -1






Rama Ramakumar -1







vi Contents


George G Karady -1



Joe C Pohlman


















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


























httpwwwcrcpresscom



v

Contents

Preace ix

Editor x i

Contributors xiii


Saiur Rahman -1






Rama Ramakumar -1







vi Contents


George G Karady -1



Joe C Pohlman


















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















v

Contents

Preace ix

Editor x i

Contributors xiii


Saiur Rahman -1






Rama Ramakumar -1







vi Contents


George G Karady -1



Joe C Pohlman


















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















vi Contents


George G Karady -1



Joe C Pohlman


















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















viiContents





William H Kersting







Andrew P Hanson -1






S Mark Halpin -1





viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















viii Contents







ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















ix

Preface





























Tey are as ollows







x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















x Preface




















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















xi

Editor

































xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286

















xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















xiii

Contributors


Ludvika Sweden


Birmingham Alabama



University

Blacksburg Virginia

Stantec Consulting

Portland Oregon

Quanta echnology


Salt River Project

Phoenix Arizona




Birmingham Alabama


Birmingham Alabama




Blacksburg Virginia


Niskayuna New York

Salt River Project

Phoenix Arizona


Engineering


empe Arizona



Bydgoszcz Poland

Salt River Project

Phoenix Arizona



xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















xiv Contributors

Salt River Project

Phoenix Arizona


Auburn University

Auburn Alabama


Birmingham Alabama

BC Hydro



Engineering

Auburn University

Auburn Alabama

Te Structure Group

Houston exas

Salt River Project

Phoenix Arizona


Engineering

McGill University


Salt River Project

Phoenix Arizona


Duluth Minnesota


Engineering


empe Arizona

Salt River Project

Phoenix Arizona


Atlanta Georgia





Knoxville ennessee




Canyon exas

Consulting Engineer

Fort Worth exas


Holmdel New Jersey

Salt River Project

Phoenix Arizona



xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















xvContributors


Rosemead Caliornia



Engineering

Virginia ech

Arlington Virginia



Stillwater Oklahoma



Zacatecas Mexico


Dameron Maryland

Stantec Consulting

Portland Oregon




Arlington exas

f



Arlington exas

T

Salt River Project

Phoenix Arizona

y T

Southwire Company

Carrollton Georgia





34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286















34-1







bull Hybrid motors






















and Life Sciences














1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


























1047297eld



moving part











1

1

2

2

x

x

v

v

z

z

y

(a)

(b)

y

0

0

1

1

2

2 x

xv

z z

v g

y y

0

0

1 2

21

y

v 0 x

z

d

g 1

g 2

x

z

y

v

0








v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


















v v s= = =2 τ ω

πτ

(341)





F

P

v x

out

s

=

(342)










F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286



















F

p Lx

x

i

=2

(Nm2

τ)

(343)
















0

10000

20000

30000

40000

50000

60000

0 2000 4000 6000 8000 10000 12000 14000

Trust N


LSM OC

LSM WC

LSM AC

LSM NC

LIM NC



























(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286




































(Figure 347)












1 3

(a) (b)

N

S

τ τ

S

N

1 2 3

N S

τ τ

S N






(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
















(a)

(b)



1

2


2

2

3(a)

(b)

3

1

1


2 damper 3 yoke









reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286





















reaction ie

E k v E s=

(344)



S SN N N N N N

N N N N N N

N N N N N N

S S S S

S S S S S S

S

(b)

(a)

S S S S S









Peak thrust (025 s) N 303 455 606 909

Peak current (025 s) A 92 138 184 276

Peak orce (10 s) N 248 373 497 745

















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286



















(345)

















Peak thrust N 300 500 1000 2000









structure degCW

164 099 050 025




(a)

N S N SN S N S

N S N SN S N S

(b)


system









N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286





















N

(a) (b)

S N S N S N S

S N NS









Less PM material X






Parameter 310-2 310-4 310-6




Peak power W 900 1800 2700




351 725 1095



















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286






















(b)(a)

N S N S N S

N S N S N S

N S N S

SNN S


excitation system



Number o phases 2

PMs NdFeB






Stator mass kg 0265 0450 0740 1385



































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286












































5

(a) (b)

5

N S

N

N

3

4

4

3

2

6

1

3

6

1

6

1

i

S

2

2

N

N

SNN

S













2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286























2 3 244 1

N

S

S

N

N

S

S

N

5



1

1

2 343

5

Fe Fe Fe Fe





Max Speed at

Rated Trust

mmin

Max Speed at

Max Trust

mmin

Rated


1FN6008-1LC17 235ndash350 900 263 103 17ndash26 90

1FN6008-1LC37 235ndash350 900 541 224 35ndash53 180

1FN6016-1LC30 470ndash710 1800 419 176 54ndash80 280

1FN6016-1LC17 935ndash1400 3590 263 101 70ndash105 360

1FN6024-1LC12 705ndash1060 2690 176 69 35ndash53 180

1FN6024-1LC20 705ndash1060 2690 277 114 54ndash80 280

1FN6024-1LG10 2110ndash3170 8080 172 62 105ndash160 540

1FN6024-1LG17 2110ndash3170 8080 270 102 162ndash243 840
















to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


























to manuacture








A AB BC C

1

2

3

4

5

v

τ2

τ1



1

3

τ τ

2

S

d d q q q

4

N























1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286

































1

2A

B

C B

A

A

C

S SN

τ τ τ τ τ

N N

CBA















































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


























































g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


























g

g

g 1

g 2

(c)

(b)

(a)

d

v

v

v

1

1

1 1

1

1

2

2

2

2

2

2


























1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286




































1 2 3 4 1 2 3 4


4 internal core

v

v

1 1

1

1

(a)

(b)

22

22







v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286

















v s v s= minus( )1 (346)

where

s is the slip




F

m

v I

R

sdx

s

= prime( ) prime1

2

2 2

(347)

where





s is the slip






and weather



































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286










































(a) (b)

(c) (d)







(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
















(a) (b)















magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
























magnetic 1047298ux







Quantity

LIM



in the ollowing F x

125 90 35 17 07 kN








Pole pitch τ 027 02868 030 025 020 m


Coil pitch wc 0225 01673 025 01944 01555 m

Air gap g 150 126 120 150 182 mm












Width o Al cap 030 032 040 0201 02985 m







344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
















344 Stepping Motors






o Vehicles

Quantity

LIM

UnitGEC LIMVR
























(a) (b)

q q d d d q d q d d

Laminations

τ τ τ τ

Epoxy resin







































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286


















































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
















































v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286






















v v s sw= = τ

(348)

where









x

y

12

3

4

1

1

2

2




Santa Clarita CA




Trust at 1 ms N 111 311 712 980





Air gap mm 002


Mass kg 32 072 20 15



Bearing type Air











ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286























ing screws




ing table






(a) (b)

3

3

221

1



12

3

5

4

7

6

8














References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286
























References




New York 2005



















1998




74(12) 1261ndash1269 1955




pp 280ndash286






















Documents

Power Handbook