Full Text

Title
Design, analysis and application of low-speed permanent

magnet linear machines
Advisor(s)
Chau, KT
Author(s)
Li, Wenlong;
Citation
Issued Date
URL
Rights
2012
http://hdl.handle.net/10722/173931
The author retains all proprietary rights, (such as patent rights)

and the right to use in future works.
Design, Analysis and Application of Low-speed

Permanent Magnet Linear Machines
by
LI, Wenlong
B.Sc.(Eng), M.Sc.(Eng.)
A thesis submitted in partial fulfillment

of the requirements for the degree of
Doctor of Philosophy
at the
Department of Electrical and Electronic Engineering
The University of Hong Kong
in
September 2012
DECLARATION
I hereby declare that this thesis represents my own work, except where due
acknowledge is made, and that it has not been previously included in a thesis,
dissertation or report submitted to this University or to any other institution for a
degree, diploma or other qualifications.
Signed
LI, Wenlong
September 2012
To my parents
Abstract of thesis entitled

Design, Analysis and Application of Low-speed
Permanent Magnet Linear Machines
Submitted by
LI Wenlong
for the degree of Doctor of Philosophy
at The University of Hong Kong in September 2012
With the growing interests and high requirements in low-speed linear drives, the
linear machines possessing high force density, high power density and high efficiency
feature become in great demands for the linear direct-drive applications. There are
many available linear machine topologies, but their performances for exhibiting the
high-force density capability dissatisfy the industrial requirements. In order to solve
this problem, the new machine topologies emphasizing on high force density are
explored and studied. The objective of this thesis is to present the design, analysis,
and application of permanent magnet (PM) linear machines which can offer a higher
force density at the same magnetic loading and electric loading than the conventional
machines.
Although in recent years there are many emerging advanced PM rotational
machines for direct-drive rotational drives, the development of advanced PM linear
machines for direct-drive linear drives is sparse. In spite of the motion type of electric
machines, the inherent operating principle is the same. By studying and borrowing
concepts of the high torque density rotational electric machines, the linear machine
morphologies of the promising candidates are designed and analyzed. The problems
and side effects resulting from the linearization are discussed and suppressed.
Two main approaches for machine design and analysis are developed and applied,
namely the analytical calculation and the finite element method (FEM). By
analytically solving the magnetic field problem, the relationships between the field
quantities and the machine geometry are unveiled. With the use of analytical
calculation, the machine design and dimension optimization are conveniently
achieved. With the use of FEM, the machine design objective and its electromagnetic
performance are verified and evaluated.
Finally, the proposed low-speed PM linear machine is applied for direct-drive
wave power generation. By mathematically modeling the wave power, generation
system and the generator, the conditions for maximum power harvesting are
determined. By using the vector control, the generator output power is maximized
which is verified by the simulation results.
II
ACKNOWLEDGEMENTS
Firstly and foremost, I greatly appreciate and express my deepest gratitude to my
supervisor Professor K.T. Chau, for his generous support and guidance on my
academic and professional career. His profound knowledge and extensive
professional experience and invaluable discussion lead me into the science world and
make me understand what the in depth research is. He helps me grasp the research
skills and enrich my study in the academic ocean. His academic knowledge and life
attitude benefit me all my life.
I also would like to express my thanks to Prof. C.C. Chan, Prof. J.Z. Jiang and
Prof. M. Cheng. Prof. C.C. Chan is always full of energy in his career and is an
amiable person. Prof. J.Z Jiang is an extremely nice teacher. His experience and
knowledge are the treasure for me. Prof. M. Cheng provides me greatly convenience
in fabrications for machine prototype and its test-bed. Here, I am very grateful to
them again.
My sincere thanks also owns to Mr. Raymond S.C. Ho, who always give his
selfless help to me. Whatever my research or daily life, he always supports me
quickly.
Many thanks are also given to my research group, my teachers and my friends.
Their help, advice, guidance, encouragement and support are very helpful during my
study, most notably Dr. Y.B. Li, Dr. Y. Fan, Dr. S. Ye, Dr. Z. Wang, Dr. X.Y. Zhu,
III
Dr. W.X. Zhao, Dr. C. Liu, Dr. S. Niu, Dr. C. Yu, Dr. L. Jian, Dr. X. Zhang, Miss J.
Li, Miss. S. Gao, Miss. D. Wu, Mr. Z. Zhang, Mr. F. Li, Mr. M. Chen, Mr.
Christopher H.T. Lee, Mr. D. Yi, and Miss R.Y. Ma.
I would like to express my deepest appreciation to my parents and my sisters.
Their love gives me the power and strength. With their understanding and
encouragement, my life is always energized and full-hearted.
This work was supported in part by a grant (Project No. HKU 710711E) from the
Research Grants Council, Hong Kong Special Administrative Region, China.
IV
CONTENTS
DECLARATION
ABSTRACT
ACKNOWLEDGMENTS
III
CONTENTS
CHAPTER 1
INTRODUCTION
1.1
Background .........................................................................1
1.2
Objective and Contribution.................................................4
1.3
Overview of Emerging Advanced PM Machines ...............5
1.4
1.3.1
Stator-PM Machines ..................................................... 6
1.3.2
Variable Reluctance Machines.................................... 11
1.3.3
Magnetic Gear and its Integrated Machines ............... 13
Thesis Outlines..................................................................15
CHAPTER 2
ANALYSIS
PERMANENT
APPROACHES
MAGNET
FOR
LINEAR
MACHINES
2.1
Introduction .......................................................................17
2.2
Maxwells Equations.........................................................18
2.2.1
Integral Form .............................................................. 18
2.2.2
Differential Form ........................................................ 18

V
2.3
Analytical Calculation.......................................................19
2.3.1
Magnetic Scalar Potential ........................................... 20
2.3.2
Magnetic Vector Potential........................................... 20
2.3.3
Boundary Conditions .................................................. 21
2.4
Finite Element Method......................................................22
2.5
Parameter Calculation .......................................................26
2.6
2.5.1
Induced Voltage Calculation ....................................... 26
2.5.2
Inductance Calculation ............................................... 26
2.5.3
Force Calculation........................................................ 27
Summary ...........................................................................28
CHAPTER 3
TRANSVERSE-FLUX
PERMANENT
MAGNET LINEAR MACHINES

3.1
Introduction .......................................................................29
3.2
Linear Morphology of Transverse-flux Machines ............30
3.3
Cogging Force Migration..................................................35
3.4
Proposed TFPM Linear Machine and its Improvement....38
3.5
VI
3.4.1
Proposed Machine Structure....................................... 38
3.4.2
Thrust Force Generation Principle.............................. 40
3.4.3
Analytical Results ....................................................... 41
Summary ...........................................................................46
CHAPTER 4
LINEAR MAGNETIC GEARS AND THE

INTEGRATED MACHINES
4.1
Introduction .......................................................................47
4.2
Linear Magnetic Gears......................................................50
4.3
4.2.1
Operating Principle ..................................................... 50
4.2.2
Transmission Capacity Improvement ......................... 55
Analytical Computation ....................................................59

4.3.1
Analytical Model ........................................................ 59
4.3.2
Magnetic Field Solution ............................................. 64

4.3.2.1 Field Solution in Regions without PMs ............ 64
4.3.2.2 Field Solution in the Region with PMs ............. 64
4.3.2.3 Boundary Conditions......................................... 66
4.3.3
4.4
Calculation Results and Verification .......................... 68
Linear Magnetic-geared Machines ...................................74

4.4.1
Linear Machine Selection ........................................... 76
4.4.2
Performance Analysis ................................................. 79
4.5
Quantitative Comparison ..................................................86
4.6
Summary ...........................................................................88
CHAPTER 5
PERMANENT MAGNET LINEAR VERNIER

MACHINES
5.1
Introduction .......................................................................89
VII
5.2
Vernier Structure ...............................................................91

5.2.1
Configurations ............................................................ 91
5.2.2
Operating Principle ..................................................... 94
5.3
Design Procedure ............................................................100
5.4
Mathematical Modeling ..................................................103
5.5
Analysis...........................................................................105
5.6
Discussion ....................................................................... 112
5.7
Summary ......................................................................... 114
CHAPTER 6
INDUSTRIAL
DIRECT-DRIVE
APPLICATION
WAVE
FOR
ENERGY
HARVESTING
VIII
6.1
Introduction ..................................................................... 115
6.2
Overview of Wave Energy Harvesting Techniques ........ 116

6.2.1
Rotational Type......................................................... 116
6.2.2
Linear Type ............................................................... 121
6.3
Modeling of the Oceanic Waves .....................................123
6.4
Modeling of Direct-drive Wave Energy Converter.........125
6.5
Modeling of PMLV Machine ..........................................126
6.6
Power Conditioning System............................................128
6.7
Summary .........................................................................135
CHAPTER 7
CONCLUSIONS
AND
RECOMMENDATIONS
7.1
Conclusions .....................................................................136
7.2
Recommendations ...........................................................138
LIST OF FIGURES
140
LIST OF TABLES
147
REFERENCES
148
APPENDICES
162
PUBLICATIONS
167
IX
CHAPTER 1
INTRODUCTION
1.1 BACKGROUND
Linear motion is a fundamental motion type that an object travels in a straight
line. It is quite universal in industrial field, such as transportation and factory
automation system, etc. For conventional industrial application, the linear motion is
usually converted from the rotational motion by a rotational electric motor with the
intermediate mechanical components such as ball screw, lead screw and rack and
pinion, etc. As shown in Figure 1.1, the motion type conversion is commonly realized
by teeth of the different mechanical devices meshing with each other. The meshing
engagement of the mechanical devices for motion type conversion inevitably incurs
loss, noise, vibration, regular maintenance, and degrades the precious positioning
capability. Therefore, the direct-drive electric machines are highly expected.
The linear machine operation principle can described as the following model. As
show in Figure 1.2, when the switch is closed on, the DC current flows anticlockwise
in the circuit. Since the sliding bar is exposed into a magnetic field directed out of the
page, a Lorentz force is exerted on the sliding bar which drives the sliding bar
straightly forward to the left hand side. When the battery is short circuited, the sliding
bar is driven by man hand, a current can also be drawn in the circuit. At this situation,
the linear machine operates as a generator. The linear machine was firstly invented by
Sir Charles Wheatstone in 1840s [1]. This prototype has the same structure as modern
Introduction
linear machines which can be considered as slitting the rotational one longitudinally
and unrolling it into a flat one. Due to the low efficiency and difficulty in control, the
linear machine in its early ages was not applied widely. Since 1960s, with
advancement of the material industry, computer technology and control theory,
development and application of linear electric machines are in an accelerated pace.
Particularly with the widespread applications of the high energy product permanent
magnet (PM) material for providing the excitation magnetic field, the research and
development of PM machines attracts more and more attention. Compared to the
electrically excited machine, the PM machines possessing features of simple
structure, robust, high energy density, and high efficiency, etc., are widely used in
industrials and household appliances. As its rotational counterpart, the linear machine
topologies ranges in induction, synchronous, stepping, reluctance, etc. Its application
spreads in various fields, such as industrial automation, robotics, power generation,
and transportation, etc [2]-[6].
Low-speed drives attract more and more attention in recent years with the active
demands for renewable energy related industrials, such as wind power generation and
electric vehicle motor drives, etc [7]-[10]. For the conventional electric machine
which usually operates at a high speed compared to the speed of wind turbine or
vehicle wheels, the low-speed gearless drives usually render a large physical volume
and relative low efficiency at the same power rating. In order to solve these problems,
mechanical gearboxes for speed reduction and torque transmission are applied which
can improve the efficiency of the whole driving system. However, the mechanical
transmission units inevitably incur the system complexity, increased cost and further
Introduction
deteriorate the control performance and reliability. Therefore, direct and gearless
driven approaches are put on the agenda. In order to satisfy the above requirement,
the electric machine possessing high thrust density, high power density and high
efficiency features is high expected.
Figure 1.1 Rack and pinion for linear-rotational motion conversion.
Figure 1.2 Idealized linear DC machine model.
Introduction
1.2 OBJECTIVE AND CONTRIBUTION

Although various direct-drive rotational machines are proposed and studied,
there is not much literature focusing on the direct-drive and low-speed linear drives.
The objective of this thesis is to develop PM linear machines exhibiting high force
density, high power density and high efficiency for low-speed, direct-drive and linear
motion applications. This thesis deals with the following aspects:
Extending the promising rotational PM machine morphologies into linear

morphologies. Study and discuss the problems raised by the morphology
extension. Propose a design methodology for PM linear machine design.
Analyzing electromagnetic performances of the proposed PM linear machine

with both numerical method and analytical method. The two analysis
methods have their own pros and cons which can be complementary to each
other to some extent. The numerical method gives a detailed and precious
evaluation, but lack of physical insight and time consuming. The analytical
method describes the relationship between the machine performances with its
geometry which can guide the machine design. In addition, the analytical
method gives fast and relatively precious results.
Based on the two analysis methods, optimal design for machine structure can
be carried out. According to the analytical expressions of the machine
performance, the needed field quantities are optimized under several
limitations. Finally, the results are verified by the numerical methods.
Application for oceanic wave power generation is assessed. Wave energy has
an abundant storage with low-frequency and time-varying feature. In order to
Introduction
maximize the harvesting efficiency, the vector control of the PM linear
machine is applied and evaluated.
1.3 OVERVIEW OF EMERGING ADVANCED PM MACHINES

The electric machine what ever it operates in linear or rotational motion has the
same the operating principle that is to engage for the mechanical energy and electric
energy inter-convention. The thrust force/torque in electrical machines can be
developed by two traveling/rotating magnetic field interactions or by switching
magnetic field with variable reluctance mover/rotor. For PM linear machines, the
force generation can be deduced by derivative of the magnetic field co-energy [11].
The stored magnetic field co-energy can be expressed as:
W co
1 2
Li PM i W PM
2
(1)
where L is the synchronous inductance, i is the armature current, Y PM is the armature

flux linkage produced by PMs, W PM is the magnetic field co-energy only produced by
PMs.
Consequently, the thrust force can be easily obtained by derivative of the
magnetic co-energy field when the current is kept unchanged:
Fem
dWco 1 dL 2 dPM
i Fcog
i
2 dx
dx
dx
(2)
The thrust force consists of three force components: reluctance force component,
PM force component, and cogging force component. For non-saliency machines, the
synchronous inductance is space-invariant, and the reluctance force component can
Introduction
be ignored. The cogging force component is a parasitic component caused by sloteffect and end-effect.
The research and development of low-speed and direct-drive rotational machines
for renewable energy application becomes a hot topic in recent years. However, the
machine topologies of PM linear machines are not diversiform as that of PM
rotational machines. In order to fulfill the research objective research and
development of low-speed PM linear machines, it is necessary to draw on experience
from that of the PM rotational machines. Due to the booming development of wind
power generation and electric vehicles, advanced PM machine topologies emerge in
an endless stream. The following overview reviews representatives of these PM
machines.
1.3.1 Stator-PM Machines

Switched reluctance machines (SRMs) utilizing a double salient structure for
torque production, has many distinct merits: simple structure, inherent fault tolerance
and high reliability, etc. Therefore, they are widely applied in wind power generation,
and wave power generation. However, due to only one excitation source, they suffer
some major drawbacks: excitation penalty, acoustic noise, torque jerk, and relative
low torque density. In order to solve the above problems, a new class machine which
incorporates PMs into the stator of SRM was proposed to overcome the shortcomings
[12]. Thanks to the PMs, the torque production of this machine can be greatly
improved. According to the PM location in the stator, they are classified as following
categories.
Introduction
A. Doubly Salient PM (DSPM) Machines [13]-[15]
In DSPM machines, the PMs usually located in the stator yoke as shown in
Figure 1.3. Due to the doubly saliency of the stator and the rotor, the flux links the
armature winding in a variation mode along with the rotating of the rotor. Although it
has salient poles in the stator and rotor, the PM torque significantly dominates the
reluctance torque, hence exhibiting low cogging torque. Thus, the torque density of
DSPM machine is higher than that of the SR machine. Since the variation of flux
linkage with each coil as the rotor rotates is unipolar, it is very suitable for the BLDC
operation.
Figure 1.3 DSPM machine.
B. Flux-reversal PM (FRPM) Machines [16], [17]

PMs in the FRPM machine are placed on surface of stator teeth, as shown in
Figure 1.4. Each stator tooth has a pair of magnets of different polarity mounted at its
surface. When a coil is excited, the field under one magnet reduced while another one
is increased, and the salient rotor pole rotates towards the stronger magnetic field.
Introduction
The flux-linkage with each coil reverse polarity as the rotor rotates. Thus, the phase
flux-linkage variation is bipolar, while the phase back-EMF waveform is trapezoidal.
Such a machine topology exhibits a low winding inductance, while the magnets are
more vulnerable to partial irreversible demagnetization.
Figure 1.4 FRPM machine.
C. Flux-switching PM (FSPM) Machines [18], [19]

PMs in the FSPM machines are located in the stator teeth. As shown in Figure
1.5 , the stator consists of U-shaped segments with PMs sandwiched between them.
The PMs are circumferentially magnetized, thus they possess the flux-focusing and
low energy density PMs can be employed. In addition, the PMs are immune to the
armature reaction, thus the electric loading can be set very high which results in a
high per-unit winding inductance. Therefore, they are very suitable for constant
power operation over a wide speed range. The phase flux-linkage waveform is
bipolar. The back-EMF waveform of this kind of machines is sinusoidal.
Introduction
Figure 1.5 FSPM machine.
D. Flux-controllable PM (FCPM) Machines

The field excitation of the stator-PM machine introduced above is provided by
the PMs. Due to the unchangeable work point, the air-gap flux density can not be
achieve flexible adjust which may not satisfy the high demand drives. In order to
online tune the air-gap flux, DC field windings are invited to online regulate the airgap flux density which results in a new class machine named FCPM machine. With
the DC field windings for flexible flux control, the constant power operation range of
FCPM machines can further extended. The two types of FCPM are introduced as
following:
1) PM Hybrid Brushless (PMHB) Machines [20]-[22]
As shown in Figure 1.6, this machine has a similar structure with DSPM machine,
but it has a DC field winding located in the inner stator. With this field winding, the
hybrid excitation of this machine can enable an online flux controllable ability. Thus,
the flux strengthening can be used in the starting and acceleration stage and the flux
weakening function can be applied in the high-speed operation range which can
enhance the machine performances.
Introduction
Figure 1.6 PMHB machine.
Figure 1.7 Memory machines. (a) Single-magnet arrangement. (b)Dual-magnet

arrangement.
2) Memory Machines [23]-[25]
The PMHB machine adopts a field winding for flux control, but due to a
continuous dc current fed for hybrid excitation, it suffers an extra copper loss. In
10
Introduction
order to avoid this loss, the AlNiCo PM alloy is adopted for flux control. The high
effectiveness is due to its direct magnetization of PMs by magnetizing windings,
whilst the high efficiency is due to the use of temporary current pulse for PM
magnetization. The memory machine can be designed with only AlNiCo PM for
excitation [9] or AlNiCo PM and NdFeB PM for hybrid excitation [10], as shown in
Figure 1.7.
1.3.2 Variable Reluctance PM Machines

The variable reluctance PM (VRPM) machine is a class of PM brushless
machines dedicated to low-speed high-torque direct-drive applications. The essential
of this machine family is that the interaction of multi-pole PMs with a group of teeth
which results in the variation of flux linkage in the stator windings [26].
A. Transverse-flux PM (TFPM) Machines
The TFPM machine featuring as high-force density is very suitable for directdrive applications. Since their magnetic flux paths are orthogonal to the current flow
plane of the armature winding, the magnetic loading is totally decoupled from the
electric loading, as shown in Figure 1.8 [26]-[27]. The corresponding electric loading
can be much higher than that of conventional one which can achieve a higher
electromagnetic force. As shown in Figure 1.8, another merit of the TFPM machine is
that the phases are decoupled and have little influence on each other which may have
a good capability of fault-tolerance applications. However, due to the 3-D flux path,
the complicated machine structure is often criticized by the users.
11
Introduction
Figure 1.8 3-phase TFPM machine.
B. PM Vernier (PMV) Machines

The PMV machine is another key member of the VRPM machine family. The
PMV machine has a conventional flux path and its magnetic circuit is featured as the
slotted structure and multi-pole PM configuration [28]-[31]. As shown in Figure 1.9,
it can be designed as a toothed-pole stator with PMs mounted on its rotor, and a stator
with PM mounted on its tooth surface and a slotted rotor. The first one operates due
to the two rotating magnetic field, and the second one works as the FSPM machine. A
small movement of the rotor can cause a large flux-linkage variation in the armature
winding which further results in a high torque. This is also known as the magnetic
gearing effect which results from the interaction between the PMs and toothed-pole
structure. Due to features of the high torque/force density and the compact structure,
it is very suitable for the direct-drive applications.
12
Introduction
Figure 1.9 PMV machine. (a) Rotational morphology. (b) Linear morphology.
1.3.3 Magnetic Gear and its Integrated Machines

The Magnetic gear is reported as a high torque density and high power density
device for torque transmission and speed reduction. Compared to the mechanical one,
the torque transmission is realized by the interaction between two rotating magnetic
fields, and no physical contact is needed. Therefore, they have many distinct merits
such as high efficiency, reduced acoustic noise, and maintenance free, etc. By
integrating the magnetic gear with a conventional PM brushless machine, the
integrated machine can retain the merits of magnetic gears, and adopt a high-speed
machine design to improve its efficiency [32], [33]. As shown in Figure 1.10, it is
proposed to replace the conventional power train system where combination of the
13
Introduction
mechanical gear and the electric motor is often used. Due to the prominent
advantages, the integrated machines are very suitable for direct-drive application,
such as electric vehicle drive system and wind power generation.
Figure 1.10 A magnetic-geared machine.
The literature review covers the emerging PM machines of the near decades
which gives us enough knowledge of various machine topologies and their
performances. Three promising machine topologies fall into our research and
development candidates, namely transverse-flux permanent magnet (TFPM) machine,
magnetic-geared machine (MGM), permanent magnet vernier (PMV) machine. The
research will be carried out based on the above three machine topologies.
14
Introduction
1.4 THESIS OUTLINES

This thesis consists of seven chapters. The content of each chapter is briefly
introduced as follows:
In Chapter 2, the analysis approaches for PM linear machine which provides
theoretical background for this thesis are presented. This chapter focuses on the
analytical approach and numerical approach for magnetic field calculation and
electromagnetic performance assessment. The cogging force minimization for PM
linear machine is discussed.
Chapter 3 devotes the design and analysis for linear TFPM machine. Due to the
end-effect of linear machines, the design consideration and faced problem is
discussed which is different from the design of a rotational machine. For further
improve the force density, the high temperature superconductor (HTS) bulks are
utilized for field shielding which contributes much for force improvement.
In Chapter 4, the linear magnetic gear operating principle and its mathematical
modeling is intensively studied. The analytical computation modeling for the linear
magnetic gear in cylindrical coordinates is developed. Thereafter, the linear
magnetic-geared machine is proposed. Its static performance and dynamic
performance are assessed.
In Chapter 5, a new machine structure named vernier machine is proposed which
can be regarded as evolution from the linear magnetic-geared machine. This machine
attains the magnetic field modulation effect of the magnetic gear but has only one airgap and one moving parts. Based on the analytical expression, the toothed-pole
15
Introduction
structure for field modulation is optimized. A prototype is also fabricated to testify
the analytical results which show good agreement.
The application of PM linear vernier machine for wave power generation is
discussed in Chapter 6. Firstly, the wave power generation techniques are reviewed.
Then, the direct-drive wave energy conversion is selected. In order to maximize the
harvesting power, vector control of PMLV machine is applied.
Chapter 7 is the last chapter and gives the conclusion of the whole thesis and
recommendations for future work.
16
CHAPTER 2
ANALYSIS
APPROACHES
FOR
PERMANENT
MAGNET LINEAR MACHINES
2.1 INTRODUCTION
Permanent magnet (PM) electric machines apply PMs for providing excitation
field without external excitation circuit, therefore the machine structure can be
simplified and efficiency can be improved.
The PM in the PM machines not only serves as a magnetomotive force (MMF)
source, but also composes part of the magnetic circuit. Due to special features of the
PMs, design and analysis approach of PM machines can not totally refer to that of the
electrically-excited machines. In general, there are two main approaches for PM
machine analysis [34]. One is based on the equivalent magnetic circuit method, and
the other is based on the magnetic field. The first approach simplifies the magnetic
field problem into magnetic circuit with PM considered as MMF source or flux
source. The computation complexity is low but accuracy is not high. Although the
magnetic circuit method can satisfy the industrials at some situation, it can not
preciously predict the flux distribution, some nonlinear characteristics and the
saturation problems which are common in the real cases. The magnetic field approach
can give preciously assessment of the PM machines, since the saturation of
ferromagnetic materials, motion of the mover, tooth-slot effect and the skin effect etc.
The magnetic field problems describe by a set of Maxwells equations. By solving
17
Analysis Approaches for Permanent Magnet Linear Machines

these equations, the field quantities can be obtained, and the electromagnetic
performance of PM machines can be predicted. Two popular methods for solving the
Maxwells equations are analytical method and numerical method. They are
introduced in the following section.
2.2 MAXWELLS EQUATIONS [35]

Maxwells equations are organized and improved from the Amperes law,
Faradays law and Gausss law by James Clerk Maxwell. These equations express the
sources, field quantities and the interaction between them.
2.2.1 INTEGRAL FORM

D
H dl I t
s
E dl t
c
dA
dA
(1)
(2)
B dA 0
(3)
E dA Q
(4)
where H is the magnetic field intensity, I s is the free current within the surface s,
D is the electric displacement, E is the electric field intensity, B is the magnetic
flux density, Q is the net electric charge within the surface s, and c is the closed
boundary of the surface s.
2.2.2 DIFFERENTIAL FORM
18

By using the Stokes theorem and Gauss theorem, the integral form of Maxwells
equation can be converted into the differential form which is most used for solving
the field problems.
H J
D
t
B
t
(5)
(6)
B 0
(7)
(8)
where J is the free current density and is the free charge density.
The above quantities obey following conditions:
J E
(9)
D E
(10)
B 0 H
(11)
B Br 0 H
(12)
where is the electric conductivity, is the electric permittivity, is the magnetic

permeability of the free space, and Br is the remanence of the magnetic material. Eq.
(11) is applicable for the electromagnetic field in the free space, whereas (12) is
applicable for the electromagnetic filed in the magnetic materials.
2.3 ANALYTICAL CALCULATION

The field density B and intensity H can not be easily obtained from the above
differential equations in the most cases. In order to simplify the problem and reduce
19

the variables, the potential functions are usually used as the assistant quantities [35].
According to the Curl of intensity H , the vector field can be classified as the
irrotational field and the solenoidal field.
2.3.1 MAGNETIC SCALAR POTENTIAL
In vector calculus, the curl of a gradient of a scalar field always gains the zero
vector. Therefore, in the irrotational field, the field vector can be expressed as a
gradient of a function in terms of the magnetic scalar potential :
H ( ) 0
H (
y
x
i
j z k)
y
x
z
(13)
(14)
In the PM region, Eq. (13) can be re-organized as:
2 M
(15)
where M is the magnetization vector of PM materials.

In other region, Eq. (13) can be re-organized as:
2 0
(16)
2.3.2 MAGNETIC VECTOR POTENTIAL
In the solenoidal field, the field vector can be expressed as a curl of a function in
terms of the magnetic vector potential A [36]. In Cartesian coordinates, the magnetic
field density can be expressed as:
B A (
Ay Ax
A A
Az Ay
)i ( x z ) j (
)k
y
z
z
x
x
y
The equation in current region:
20
(17)
H (H ) ( A ) J
(18)
( A ) J (Br )
(19)
( A ) 0
(20)
In the PM region:
In other region:
2.3.3 BOUNDARY CONDITIONS [35]
The analytical calculation of the magnetic field can be conducted by the above
two approaches which are finally deduced into a set of partial differential equations.
To solve these equations, a set of expression called general solution can be achieved.
In order to gain the unique solution for the partial differential equations, the
conditions for describing the field boundaries and initial values can make the problem
solvable. In most cases, only the boundary conditions can be listed out. There are
three kinds of conditions which are elaborated as follows.
(1) First type boundary condition
It is also called the Dirichlet condition. For this situation, the potential u along
the boundary s can be expressed by a function.
u f1 ( s )
(21)
When the value is zero, the boundary condition is also called homogenous
Dirichlet condition.
(2) Second type boundary condition
It is also called the Neumann condition. For this situation, the normal derivative
of the potential u along the boundary s can be expressed by a function.
21

u
f 2 (s)
n
(22)
When the value is zero, the boundary condition is also called homogenous
Neumann condition.
(3) Third type boundary condition
It is also called the Robin condition which is the linear combination of the first
type and second type boundary conditions.
k1u k2
u
f 3 (u )
n
(23)
where k 1 and k 2 are constants.

In electrical machine analysis, the first type and second type boundary conditions
are applied in most cases. For the boundary between two different media, the normal
component of the flux density and the tangential component of the field intensity are
kept unchanged which indicate that:
B1n B2 n
(24)
H1t H 2t
(25)
2.4 FINITE ELEMENT METHOD [37]-[39]

The analytical calculation can give sufficient insight of machine performance and
its dimension. However, for the complicated structure and nonlinear materials, the
analytical calculation may have no closed solutions. In order to simplify the
calculation process, some assumptions are made such as reluctivity, saturation effect,
and core losses for ferromagnetic material which are usually ignored.
In order to consider the nonlinear feature for PMs and ferromagnetic materials,
the numerical analysis including the finite element method (FEM), the boundary
22

element method (BEM) and the finite difference method (FDM) can have a precious
result and a general application. Especially the finite element method (FEM) is
applied widely for electrical machine design and analysis.
FEM uses discrete method to solve the partial differential equations raised by
Maxwells equation. The triangles are often adopted for space variable discretization
as show in Figure 2.1 where the target surface is split into 5 regions with 6 nodes.
1
6
4
3
Figure 2.1 FEM using triangles.
In each triangle, the potential can be expressed by its geometry and the potential
at the three vertexes.
n
u N i ( x, y )ui
(26)
i 1
where N i (x, y) is the shape function and u i is the potential at each vertex of the
triangle.
As shown in Figure 2.2, the shape function can be expressed as:
23

Ni
Nj
ai bi x ci y
2
a j bj x c j y
2
a b x cm y
Nm m m
2
(27)
where the coefficients a i , b i , c i , a j , b j , c j , a m , b m and c m can be determined by:

ai x j xm xm y j , bi yi ym , ci xm x j
a j xi xm xi ym , b j ym yi , c j xi xm ,
am xi y j x j yi , bm yi y j , cm x j xi
and D is the triangle area, D = (b i c j - b j c i )/2.
Figure 2.2 Vector potential presentation using a triangle.
Therefore, the regions to be solved in the electrical machine can be discretized

according to the above approaches.
In the stator winding region, according to (18), it yields:
N i 3
i
N i 3
dxdy Ni dxdy
v
N
A
N
A
j
j
j
j
x x j1
S
y y j 1
In the PM region, according to (19), it yields:
24
(28)
N i 3
A
N i 3
N j A j dxdy PM N i i dxdy
N
A
v
j j
x x
t
y y j 1
j 1
3
3
v Brx N j Bry N j dxdy
y j 1
x j 1

(29)
In the airspace region including air-gap, according to (20), it yields:
N i 3
N i 3
v
N
A
N j A j dxdy 0
j j
x x
y y j 1
j 1
(30)
In the iron core, if the eddy current effect is taken into account, it yields:
N i 3
N i 3
A
dxdy Fe N i i dxdy 0
v
N
A
N
A
j
j
j
j
x x j1
y y j 1
t
(31)
The above discretized equation in each region can be reformed into the following
matrix:
A

A
[C ] [ D] t [ P]
i
i

t
(32)
where [A] is the vector potential matrix, [i] is the current matrix, [C] and [D] are the
coefficient matrix, and [P] is the matrix related to the output voltage and PM material.
The variables in (32) all relate to time, thus time discretization of these variables
should be carried out for solving the matrix. By applying the implicit Euler method, ()
can be expressed as:
[C t t
t t
t t
D t t A D t t A
] t t [
] t t [ P t t ]
t i
t i
(33)
Due to the use of the ferromagnetic material, coefficients in (33) contain the
electric resistivity which depends on the electric field intensity. For solving the
25

nonlinear problem, the Newton-Raphson method is commonly used. After equation
linearization, the ICCG method is adopted for solving these linear equations.
2.5 PARAMETER CALCULATION

2.5.1 INDUCED VOLTAGE CALCULATION
According to (2), the induced voltage can be calculated by derivative of the flux
linkage in the coil. With the knowledge of magnetic vector potential, it is easy to find
out the flux linking one coil by the following equation:
A1 A2 lef
(34)
where A 1 and A 2 is the magnetic vector potential at the two sides of one coil and l ef is
the effective length of the coil. When the 2-D analysis is applied, the magnetic vector
potential is degraded to a scalar value.
Therefore, the induced voltage in one coil can be deduced by:
eN
d dx
dx dt
(35)
where N is the number of turns of the coil.

When the induced voltage of one coil is obtained, the voltage of one phase can
be determined by summing of the each coil of that phase.
2.5.2 INDUCTANCE CALCULATION
The phase inductance can also be determined by the flux linkage method. Due to
the PM excitation, the total flux linkage of the winding sum of the flux linkage
produced by current and PMs. The inductance of one winding is determined by:
26
i tot PM
i
i
(36)
where Y i and Y PM is the flux linkage produced by current i and PMs respectively, and
Y tot is the sum of the two items.

When the flux density in the iron core goes to saturation, the winding inductance is
different from the calculation by (). The actual inductance should be calculated by the
incremental inductance:
i
i
(37)
2.5.3 FORCE CALCULATION
With the information of magnetic field, the thrust force of the linear machine can
be determined by Maxwell stress tensor which expresses the force pre unit area on a
surface produced by the magnetic field.
The tangential force of a point which is parallel to the surface can be calculated
by:
f t Bn H t
Bn Bt
(38)
where B n and B t is the normal and tangential component of flux density at one point
in the air-gap respectively, and H t is the field intensity at that point.
The normal force of a point which is perpendicular to the surface can be
calculated by:
f n Bn H n
Bn2
(39)
Therefore, the thrust force acting on the surface is:
27

F f t ds
s
(40)
2.6 SUMMARY
In this chapter, the analysis approaches for PM linear machine are discussed. The
two approaches are focused, namely analytical calculation and the FEM analysis. The
first one deals with a set of partial differential equation derived from the Maxwells
equation. Since the analytical expression shows the relationship of field quantities
with the machine structure, it is helpful for machine design and parameter
optimization. The latter one is a numerical approach to find the approximate solution
of the partial differential equation using the discretization. The FEM method can
gives accurate solution of a particular machine structure with considering the
nonlinear characteristics. With the assist of the two approaches, the design and
analysis of PM linear machines are carried out in the following chapters.
28
CHAPTER 3
TRANSVERSE-FLUX PERMANENT MAGNET LINEAR
MACHINES
3.1 INTRODUCTION
In the conventional machines, the developed torque/thrust is determined by the
magnetic loading and the electrical loading. Thus, the average thrust force developed
in a linear electrical machine can be estimated in terms of Lorentz force equation:
Fem IlBag p
bt
Bt Il p
bt
Bt JS s l
(1)
where l is the stack length of the flat linear machines and the circumferential length
of the tubular linear machines, B ag is the air-gap flux density, p is the mmf pole-pair
numbers of the field excitation, b t is the tooth width, t is the tooth pitch, B t is the
flux density in stator tooth, J is the current density in one slot, and S s is the slot area.
The thrust density per unit area can be obtained by:
Fd
Fem
b
b
p t Bt JS s l t Bt JS s
S ag
t
m t
(2)
where S ag is the total area of the air-gap and m is the mmf pole-pitch of the field
excitation.
According to (2), for improving the thrust density, the flux density in the tooth,
current density, slot area and tooth width should be increased. The flux density in the
tooth and the current density depends on the ferromagnetic permeability and the
cooling method respectively. Therefore, it is quite straightforward to increase thrust
29
Transverse-flux Permanent Magnet Linear Machines

density by enlarging the tooth width b t and slot area S s . However, in the radial-flux or
longitudinal-flux electrical machines, the product of two variables b t and S s which
has the inverse relationship can not be increased.
To solve this problem, a new class of electric machine named transverse-flux
permanent magnet (TFPM) machine was proposed by H. Weh [40]. In this kind of
electric machines, the flux path plane is orthogonal to the rotor movement plane, the
magnetic loading and electrical loading which related to b t and S s can be adjusted
independently. Therefore, the torque density is higher compared to their radial-flux
counterparts.
3.2
LINEAR
MORPHOLOGY
OF
TRANSVERSE-FLUX
MACHINES
Figure 3.1 TFPM machine arrangements. (a) U-shaped core stator. (b) C-shaped core
stator.
Figure 3.1 (a) shows the principle model of a typical TFPM motor [40]. It adopts
the double-stator arrangement with the rotor/mover sandwiched between the two
stators. Its stator consists of U-shaped cores and windings on both sides of the
30

translator. The U-shaped cores of the upper stator and the lower stator have a
separation of a PM pole-pitch to form the flux path. Its mover consists of two rows of
PMs and flux concentrators with nonmagnetic material in between. The stator has
two sets of windings placed in the upper and lower stator core respectively. Since
their magnetic flux paths via the upper and lower U-shaped stator cores are
orthogonal to the current flow of the armature winding, the magnetic loading is
totally decoupled from the electric loading. Hence, the corresponding electric loading
can be much higher than that of its longitudinal-flux counterpart. Figure 3.1 (b)
shows the TFPM machine model with C-shaped cores [41]. Compared to the Ushaped ones, the stator configuration is simpler. It consists of outer stator core, stator
joint core and inner stator-core to form a stator core unit. Then several of the same
units are assembled to compose a single phase. These two topologies suffer from the
drawbacks that it involves too many components which make the structure
complicated and cause manufacturing difficulty. Thus, several other shaped stators
are invited for TFPM design to ease the fabrication, such as E-shaped core [42] and
soft material composite (SMC) stator core [43]. In this chapter, a new C-shaped core
is adopted for the linear TFPM machine design.
Figure 3.2 depicts the proposed C-shaped stator core of the linear TFPM
machine, in which the PM mover lies between the core teeth. The dimensions of the
C-shaped stator core are w 1 = 52 mm, w 2 = 20 mm, w 3 = 30 mm, h 1 = 34 mm and
h 2 = 18 mm. It can be observed that it retains the orthogonal feature between the
magnetic loading and electric loading, which enables the motor to achieve high force
density. Compared with the two U-shaped stator cores, the proposed C-shaped core
31

takes the definite advantage of simple structure and hence easy manufacturing. Also,
it can provide a larger cross-sectional area for armature windings, leading to further
increase the electric loading and hence force density.
Figure 3.2 Cross-section of proposed linear TFPM machine.
Figure 3.3 Linear TFPM machine with C-shaped cores.

This linear TFPM machine is depicted in Figure 3.3, in which the stator contains
three segments of C-shaped iron cores as embraced by armature windings, while the
translator consists of 7 PM poles moving in between the C-shaped iron cores with the
length of each air-gap equal to 1.5mm. It can be seen that plane of the magnetic
loading is perpendicular to the plane of electric loading, and this characteristic
ensures a high power density because of no competition between magnetic circuit and
32

electric circuit, however, in those longitude flux linear machines these two planes are
parallel.
Figure 3.4 Performance analyses. (a) Back-EMF waveforms. (b) Cogging force. (c)
Normal force.
33

For assessing its performance, the finite element method (FEM) analysis is
adopted for evaluating its static features. Figure 3.4 shows the back-electromagnetic
force (EMF) waveforms, cogging force and normal force features. It can be found
that phase B of the back-EMF waveform is distorted which shown that the magnetic
circuit of the 3-phase TFPM linear machine is not symmetrical. The cogging force is
very large which may cause large force ripples at operation mode. Due to the doublesided design, the normal force is appropriate for application which does not require a
high strength linear bearing.
The distorted EMF waveform and large cogging force are resulted from the endeffect of the PM linear machine. In linear machines, there are two kinds of end-effect.
One is the transverse end-effect which also exists in the rotational electric machine.
When the stack length of the linear machine is far more than its air-gap length, the
influence of the transverse end-effect can be ignored. The other is the longitudinal
end-effect which is due to the finite length of the stator or mover. Compared to the
rotational one, the field distribution in the linear machine is distorted at the two ends
in its traveling direction. The unsymmetrical field distribution causes unbalanced
magnetic structure and thrust ripple. This is the appearance of the longitudinal endeffect which can also contribute a cogging force component and further deteriorate
the linear machine performance.
Because of the finite length of the stator, its unbalanced magnetic circuit is not
symmetrical, thus the flux linkages in three phases are asymmetrical. In order to solve
the above problem, the 3-phase machine is modified into 2-phase machine, as show
in Figure 3.5. Figure 3.6 gives the electromagnetic performance of the 2-phase
34

machine. It can be observed that the back-EMF waveforms are symmetrical, but its
cogging force still keeps a high value. Therefore, the cogging force should be
minimized for industrial applications.
Besides above method for solving the magnetic asymmetry, in design practice,
when stator poles are increased to 6 or above, the phenomenon of magnetic
asymmetry also can be alleviated [44], [45].
Figure 3.5 2-phase linear TFPM machine.
3.3 COGGING FORCE MIGIRATION

Cogging force is an important parameter in PM linear machines, which is caused
by two effects: (i) the PM segments on the mover prefer to align with the teeth of the
stator core (so-called the slot-effect); (ii) there are attractive forces between the ends
of the stator core and the PM mover (so-called the end-effect). This cogging force
causes force ripples superimposed on the thrust force, thus causing annoying jerk and
vibration of the mover.
The cogging torque due to slot-effect is intensively studied in design of rotational
35

PM electric machines. It can be suppressed by the various approaches, namely
increasing the least common multiplier (LCM) of the slot number and PM pole
number [46], [47], skewing the PMs or stator stack [48], optimizing the PM width or
shape [49], and asymmetrically arranging PMs [50], etc.
Figure 3.6 Performance analyses. (a) Back-EMF waveforms. (b) Cogging force
waveform.
Firstly, the cogging force of the proposed TFPM linear machine due to the
interaction between stator teeth and PM segments can be reduced by using the
36

technique adopted by rotational PM motors. Namely, the cogging force is governed
by the LCM of the number of stator slots Q and the number of PM poles p. The larger
the LCM value, the smaller the cogging force is resulted. For this design, Q = 11 and
p = 19 are selected.
Secondly, the cogging force due to the end-effect of stator core is modeled as a
slotless PM linear machine as illustrated in Figure 3.7, where F Lx and F Rx are the
attractive forces at the left and right ends of the stator core exerted on the PM mover,
respectively [51]-[53]. These two forces can be expressed as the summation of a real
Fourier series:
FLx Fx 0 Fk sin k0 x
(3)
k 1
FRx Fx 0 Fk sin(k 0 x )
(4)
k 1
where F x0 is the DC component, F k is the coefficient of the k-th harmonic

component, w 0 = 2 / is the fundamental frequency, is the pole pitch, d is the
phase difference between F Lx and F Rx . Thus, the resultant cogging force is given by:
Fx FRx FLx 2 Fk sin(k 0 x ) cos

2
2
k 1
(5)
It can be found that F x will become zero if q= (2n1) , where n is an integer. Since q
is governed by the magnetic length of the stator L sm and , the condition for F x = 0
can be rewritten as:
Lsm (2n 1) , n is the natural number
(6)
37

Practically, the magnetic length is not exactly equal to the physical length of the
stator L s . So, after obtaining L sm from (6), the optimal value of L s needs to be further
tuned. Figure 3.8 shows the relationship between F x and the L s / ratio.
Figure 3.7 Cogging force component due to end-effect of stator core.
Figure 3.8 Variation of cogging force with respect to physical stator length.
3.4
PROPOSED
TFPM
LINEAR
MACHINE
AND
ITS
IMPROVEMENT
3.4.1 PROPOSED MACHINE STRUCTURE
Figure 3.9 shows the detailed structure of the proposed motor. The stator consists
of 12 C-shaped iron cores with a stack length of 10 mm. The cores alternate with
phases A, B and C, while every four of them are grouped together to form a phase.
38

The machine specifications are listed in Table 3.1. For this design, Q = 11 and p = 19
are selected. It can be seen that the minimal cogging force is about 5 N occurred at
the ratio of 19.25. Therefore, when the PM pole-pitch is sized as 12 mm, the physical
length of the stator is selected as 231 mm
Figure 3.9 Proposed machine structure.

TABLE 3.1 Specifications of Proposed Machine
Rated power
300 W
Phase number
Rated phase voltage (RMS)
30 V
Rated phase current (RMS)
3.3 A
Rated speed
1 m/s
No. of turns per armature coil
50
Stator length
231 mm
Air-gap length
1 mm
Stack length
52 mm
PM dimension
4 mm 12 mm 30 mm
PM material
NdFeB
PM coercivity
940 kA/m
PM remanence
1.05 T
39

3.4.2 THRUST FORCE GENERATION PRINCIPLE
The principle of thrust force generation of the proposed motor can be illustrated
by Figure 3.10. There are two stator teeth and an effective air-gap (including two
actual air-gaps and the PM) between them. The magnetic flux generated by the
armature winding flows through the air-gap from one stator tooth to another. Because
of the fringing effect, there is a portion of flux passing through the air-gap beside the
stator teeth. So, the thrust force F exerted on the PM can be expressed as [30]:
F F1 F2 ( B1 B2 ) I pm l pm
(7)
where F 1 and F 2 are the magnetic forces developed at the left and right hand sides of
the PM, respectively, B 1 is the magnetic flux density under the stator teeth, B 2 is the
magnetic flux in the fringing areas, I pm is the equivalent current sheet of the PM, and
l pm is the length of the PM. Also, I pm can be written as:
I pm H c hpm
(8)
where H c and h pm are the coercive force and thickness of the PM, respectively. From
(7), it is obvious that the thrust force can be maximized by increasing the difference
between B 1 and B 2 . In order to achieve this goal, HTS bulks are inserted into the slot
between the stator teeth so as to provide magnetic shielding of the fringing flux.
Thus, B 2 is suppressed to almost zero while B 1 is improved, hence maximizing the
difference between them.
In order to enlarge the difference of B 1 and B 2 , the high temperature
superconductor (HTS) bulks are placed between two teeth for field shielding. Due to
the Meissner effect of HTS materials, the use of HTS bulks can force all PM flux
passing through the stator teeth [54], thus significantly decreasing the flux leakage in
40

the slot area. The concept machine is shown in Figure 3.11. In this design, we focus
on proposing a new machine structure. So, the analysis is based on the standard FEM
and the HTS bulk is considered as an ideal superconductor. The property of HTS is
only considered as a material with ultra-low permeability which shielding the
fringing magnetic field. Practically, for using HTS inside the machine, the
refrigerator is engaged which provides cooling liquid for avoiding the so-called
quench effect.
Figure 3.10
Principle of thrust force generation.
Figure 3.11 Improved machine structure with HTS bulks.
3.4.3 ANALYTICAL RESULTS
As the proposed motor has a simple magnetic circuit in which the yoke of each
stator core is equivalent to the tooth with periodic boundary, the two-dimensional (241

D) FEM is adopted for analysis. For simplification of analysis, since the HTS bulks
serve as flux barriers, they are considered as an ideal superconductor where the
induced magnetization always opposes the field attempting to cross it. When the
magnetic flux is solely excited by the armature winding with 200 A-turn, the
magnetic flux distributions with and without using HTS bulks are shown in Figure
3.12. It can be observed that the use of HTS bulks can effectively shield the fringing
flux. The corresponding air-gap flux density is shown in Figure 3.13. It can be found
that the air-gap flux density under the slots is nearly zero, thus confirming the
effectiveness of the HTS bulks. As shown in Figure 3.13, the use of HTS bulks can
shield the fringing flux which then reduces the magnitude of flux density at the
positions causing force retardation. So, even though their fundamental components
are essentially unchanged, the thrust force can be significantly improved. Actually,
the reduction of force retardation due to the use of HTS bulks can be interpreted as
the force contribution by the harmonic components of the flux density distribution.
When the magnetic flux is solely excited by the PM, the air-gap flux density is
shown in Figure 3.14. It further confirms that the HTS bulks can effectively shield the
fringing flux, and hence improve the thrust force. Then, the no-load electromotive
(EMF) waveform is deduced when the mover travels at 1 m/s. As shown in Figure
3.15, this EMF waveform is trapezoidal which enables the motor to perform brushless
DC operation, hence offering higher force density than that at brushless AC
operation. Consequently, when both of the phase A and phase B windings are excited
by 0 A-turn, 200 A-turn and 400 A-turn, the thrust force waveforms with and without
using the HTS bulks are plotted in Figure 3.16. It confirms that the peak thrust force
42

can be improved by 175% at 200 A-turn and 183% at 400 A-turn due to the use of
HTS bulks.
Under no excitation, the thrust force is simply due to the cogging force. Figure
3.17 shows the cogging force normalized by the rated thrust force under 400 A-turn.
Although the cogging force also increases with the use of HTS bulks, the
corresponding peak value is less than 6% which is actually due to the improvement of
the thrust force.
Finally, in order to verify the design using the 2-D FEM analysis, the thrust force
at the rated armature current excitation of 400 A-turn is also calculated by using the
3-D FEM analysis as shown in Figure 3.18. It can be found that the maximum error
and root-mean-square error between them are 8.7% and 4.8%, respectively. However,
based on a standard PC with Intel Core 2 Duo Processor 2.66 GHz and 2 GB
SDRAM, the computational time of the thrust force waveform using the 2-D FEM is
52 min whereas that using the 3-D FEM is 644 min (over 12 times longer time).
Therefore, the 2-D FEM is preferred to the 3-D FEM for the analysis of the proposed
motor design, since the corresponding errors are acceptable.
Figure 3.12 Magnetic flux distributions with and without HTS bulks under
armature winding excitation.
43
Figure 3.13 Air-gap flux density waveforms with and without HTS bulks under
armature winding excitation.
PM excitation.
Figure 3.15
44
No-load EMF waveforms.
Figure 3.16 Thrust force waveforms with and without HTS bulks under different
armature winding excitations.
Figure 3.17
Normalized cogging force waveform with HTS bulks.
Figure 3.18 Comparison of thrust force waveforms with HTS bulks using 2-D
FEM and 3-D FEM.
45
3.5 SUMMARY
In this chapter, a novel linear TFPM machine has been designed and analyzed.
Firstly, with the introduction of C-shaped stator cores, the motor possesses a simple
structure which is easy to fabricate. Secondly, by properly selecting the numbers of
stator slots and PM poles as well as tuning the physical stator length, the cogging
force can be significantly suppressed to less than 6%. Thirdly, by using the HTS
bulks to perform magnetic shielding, the rated thrust force can be significantly
improved by 183%. Therefore, the proposed motor is very promising for those
applications desiring high thrust force, low cogging force and easy to manufacture
such as industrial linear actuators and vehicular linear drives.
46
CHAPTER 4
LINEAR MAGNETIC GEARS AND THE INTEGRATED
MACHINES
4.1 INTRODUCTION
Mechanical gears are widely used in industry as the tools for transmission of
torque/thrust, speed scaling up/down and direction conversion. Especially for lowspeed applications, such as wind power generation, electrical vehicle power train
system, the electrical machines can operate at a high efficiency working condition via
mechanical gear transmission system. However, the drawbacks of mechanical gears,
namely noise, vibration, regular maintenance, mechanical loss and wear and tear,
may degrade the performance and efficiency of the whole system accordingly.
In order to solve the above problems, the magnetic gears which imitate the
operation of mechanical ones were proposed and developed. These magnetic gears
employ magnetic field interaction for torque transmission without physical contact,
hence eliminating the transmission loss and wear-and-tear problem [55]. In the early
stage, the magnetic gear adopts the topology resembles the mechanical gears [56]. As
shown in Figure 4.1, only parts of PMs are engaged for torque transmission, thus it
exhibits a low torque density. In order to fully utilize PMs, the coaxial magnetic gear
was proposed. Coaxial magnetic gears consist of three main parts: the outer-rotor, the
stationary ferromagnetic segments and the inner-rotor, as shown in Figure 4.2. The
key of coaxial magnetic gears is the ferromagnetic segments which locate between
47
Linear Magnetic Gears and the Integrated Machines

the inner rotor and the outer rotor. When the sum of the outer-rotor PM pole-pair
number N 1 and the inner-rotor PM pole-pair number N 2 equals the number of
ferromagnetic segments N s , torque transmission between the inner rotor and the outer
rotor can be achieved without any mechanical assistance [57]-[61].
Figure 4.1 Gears. (a) Mechanical spur gear. (b) Magnetic spur gear.
Figure 4.2 Coaxial magnetic gear.
48

Since they take some distinct advantages over the mechanical ones and magnetic
spur gears, such as higher efficiency, higher reliability, lower acoustic noise, inherent
overload protection, and free from maintenance, coaxial magnetic gears are becoming
attractive in some niche areas such as electric vehicle propulsion and wind power
generation [62], [32]. By readily integrating the magnetic gears into various electric
machines, hence the so-called geared machines which exhibit some distinct merits are
created. As for the electric vehicle application, they can enable high-speed rotatingfield design to increase the torque density while offering low-speed output rotation
for in-wheel direct-drive electric vehicles [62]. Also, they can perform online power
splitting of the engine power for electric variable transmission, hence offering the
optimal operation line for hybrid electric vehicles [63].
For satisfying the low-speed application in linear motion, the concept of coaxial
magnetic gears has been extended to the linear morphology so as to improve the force
capability of a linear motor [58], [64]. The linear magnetic gear, flat or tubular, has a
similar structure as its rotational counterpart. As shown in Figure 4.3, the tubular
linear magnetic gear consists of three parts: the low-speed mover, the high-speed
mover and the stationary field-modulation ferromagnetic rings. Due to principle of
field modulation, the two movers with different PM pole-pair numbers interact with
one another to achieve force transmission.
49
Figure 4.3 Structure of a tubular linear magnetic gear.
Figure 4.4 Model of conventional tubular linear magnetic gear in cylindrical

coordinates.
4.2 LINEAR MAGNETIC GEARS

4.2.1 OPERATING PRINCIPLE
For unveiling the operating principle, magnetic circuit approach is adopted which
gives a visual and understandable expression. In order to derive the analytical model
of the magnetic circuit, some assumptions are made: the permeability of the back
irons of two movers and the ferromagnetic rings is assumed to be infinite, the
50

permeability of the PMs is assumed to be equal to that of air, and the magnetic field
only varies in the longitudinal direction. In this modeling, the one-dimensional (1-D)
path is adopted so that the flux go straightly up and down and close at the infinite
distance [65]. Figure 4.4 shows the model of the tubular linear magnetic gear in the
two-dimensional (2-D) cylindrical polar coordinates. Based on the aforementioned
assumptions, the magnetic circuit can be considered as linear so that the resultant
magnetic field can be treated as the superposition of the fields separately excited by
PMs on the two movers. Figure 4.5 shows the equivalent magnetic circuit when
excited by PMs on the high-speed mover only. Thus, the equivalent total magnetic
permeance in the longitudinal direction can be expressed as:
1
1
1
1
1
1
( z ) hpm oag fm ( z ) iag lpm
(1)
where hpm = 0 /h hpm , oag = 0 /h oag , iag = 0 /h iag , and lpm = 0 /h lpm are the
magnetic permeances in the longitudinal direction of the PMs on the high-speed
mover, outer air-gap, inner air-gap and PMs on the low-speed mover, respectively;
fm (z) is the magnetic permeance in the longitudinal direction of the field modulation
segment area which is a function of the axial position z; and h hpm , h oag , h iag , h lpm and
h fm are the longitudinal lengths of PMs on the high-speed mover, outer air-gap, inner
air-gap, PMs on the low-speed mover and ferromagnetic ring, respectively. When the
segment area is the ferromagnetic ring, the corresponding fm (z) is infinite. On the
contrary, when the segment area is air space, fm (z) = 0 /h fm ; and when it is the HTS
bulk, fm (z) = 0.
51
Figure 4.5 Magnetic circuit excited by PMs on high-speed mover.
Figure 4.6 Magnetic permeance waveform.

Figure 4.6 shows the magnetic permeance waveform of the equivalent magnetic
circuit of a conventional linear magnetic gear. It can be resolved into a Fourier series:
( z ) 0 m cos(mN s
m 1
2
z)
L
(2)
where 0 is the DC offset of the total equivalent magnetic permeance, m is the

amplitude of the mth harmonic magnetic permeance, N s is the number of
ferromagnetic rings, and L is the active length of the linear magnetic gear which is
also equal to the total length of the high-speed mover.
The magnetomotive force (MMF) of PMs on the high-speed mover can also be
expressed in a Fourier series:
Fhpm ( z )
n ,odd
52
n H
hc hpm
cos(nN hpm
2
4
2
z1 )
H hc hhpm cos[nN hpm
( z z 0 )]
L
n
L
n ,odd
(3)

where H hc is the coercive force of PMs on the high-speed mover, h hpm is the magnet
thickness, N hpm is the number of PM pole-pairs on the high-speed mover, z 1 is the
axial position of PMs on the high-speed mover with respect to z 0 , and z 0 is the
corresponding initial position as shown in Figure 4.4. Thus, the magnetic flux density
excited by PMs on the high-speed mover can be calculated:
2
2
4

Bhpm Fhpm ( z ) ( z ) H hc hhpm cos[ N hpm
( z z 0 )] 0 1 cos( N s
z)
L
L

4
2
2
2
H hc hhpm 0 cos N hpm

( z z 0 ) H hc hhpm 1 cos ( N hpm N s )
z N hpm
z0
L
L
L
2
2
2
H hc hhpm 1 cos ( N s N hpm )

z N hpm
z0
L
L
1
2
3
Bhpm
Bhpm
Bhpm
(4)
where B1 hpm has the same pole-pair number with that of PMs on the high-speed
mover, and B3 hpm has the same pole-pair number with that of PMs on the low-speed
mover. Thus, a thrust force can be produced by B3 hpm and PMs on the low-speed
mover.
In order to obtain the expression of the thrust force, an equivalent current sheet is
used to substitute the MMF of PMs on the low-speed mover. The fundamental MMF
component of PMs on the low-speed mover is given by:
Flpm1 ( z )
H lc hlpm cos[ Nlpm
2
( z z2 )]
L
(5)
where H lc , h lpm and N lpm are the coercive force, thickness and pole-pair number of
PMs on the low-speed mover, and z 2 is its initial position as shown in Figure 4.4.
Thus, the corresponding equivalent current sheet is given by:
I lpm ( z )
H lc hlpm sin[ N lpm
2
( z z2 )]
L
(6)
53

Consequently, by using Lorentz force law, the thrust force exerted on the lowspeed mover can be obtained by:
Flm ( )
L/2
D B
l
3
hpm lpm
dz
L / 2
where
is
the
angular
displacement
(7)
N lpm 1 Dl H hc H lc hhpm hlpm cos
between
the
centers
of
PMs
of the two movers, hence written as = 2N hpm z 0 /L+2N lpm z 2 /L, and D l is the
diameter of the low-speed mover. The maximum thrust force occurs at equal to
zero:
Flm _ Max
N lpm 1 Dl H hc H lc hhpm hlpm
(8)
By using the same derivation, the magnetic flux density due to PMs on the lowspeed mover can be expressed as:
3
Blpm
H l c hlpm 1 cos( N hpm
2
2
z N hpm
z2 )
L
L
(9)
Then, the thrust force exerted on the high-speed mover can be obtained as:
Flm ( )
L/2
D B
h
3
lpm hpm
dz
L / 2
N hpm 1 Dh H hc H lc hhpm hlpm cos
(10)
where D h is the diameter of the high-speed mover.

From (8), it can be found that the developed thrust force is directly proportional
to 1 , namely the fundamental harmonic of the magnetic permeance of the equivalent
magnetic circuit, which is governed by the field-modulation segment area. As shown
in Figure 4.6, the longitudinal magnetic permeance waveform of a conventional
linear magnetic gear is a symmetrical square wave. By using Fourier analysis, the
analytical formula 1 can be expressed as:
54

1
2(h l )
sin
h
fm
(11)
where h = 0 /(h hpm + h oag + h iag + h lpm ), l = 0 /(h fm + h hpm + h oag + h iag + h lpm ), h
is the length of ferromagnetic ring in z direction, and fm is the pole-pitch of
ferromagnetic ring. When h equals one half of fm , 1 achieves the peak value which
is 2( h - l )/.
4.2.2 TRANSMISSION CAPACITY IMPROVEMENT

If the thrust force of the linear magnetic gear can be improved, its transmission
capability will be enhanced as a result. According to equations (7) and (10), the thrust
force can be improved by increasing the PM thickness, PM pole-pair numbers, the
mover diameter and the first harmonic component of the magnetic permeance 1 . In
this section, only the last item is improved. According to (11), in order to increase 1 ,
the difference between h and l should be enlarged. Therefore, the magnetic material
which presents the lower permeability than the airspace is favorable. The high
temperature super conductor (HTS) material is adopted.
In this analytical model, the HTS bulks are considered to be an ideal
superconductor, in which the magnetic field is totally ejected. Thus, the
corresponding permeability is zero so that the value of l becomes zero. Consequently,
it yields 1 = 2 h /, which physically means that the developed thrust forces of both
movers can be improved from 1 = 2( h - l )/ to 1 = 2 h /. This theoretical
improvement is then verified by applying finite element analysis to simulate the
thrust forces of the proposed tubular linear magnetic gear with and without using
HTS bulks.
55

The finite element method (FEM) is employed for field calculation. In order to
take into account magnetic saturation during analysis, the permeability of back irons
and ferromagnetic rings is based on practical data of iron materials. On the other
hand, the permeability of PMs is a constant based on the NdFeB material, while the
permeability of HTS bulks is set to zero.
The field-modulation segments of the proposed gear adopts the zebra-striped
design, namely the HTS bulks are inserted between the ferromagnetic rings while
they have the same pole-pitch. The HTS bulks are located in airspaces of the
stationary rings, thus facilitating the cooling arrangement. Also, it can achieve the
thrust force density of 3.2 MN/m3.
Firstly, the inner air-gap flux densities of the two magnetic gears are analyzed
when only PMs on the high-speed mover serve as field excitation whereas PMs on
the low-speed mover are set as air space. Figure 4.7 shows the corresponding
waveforms and harmonic spectra. It can be found that by using the HTS bulks, the
amplitude of air-gap flux density can be improved greatly. By using spectrum
analysis, it can also be found that the 6th and 15th harmonic components improve
dramatically by using the HTS bulks. The largest asynchronous space harmonic
which has 15 pole-pairs interacts with the 15 pole-pair number PMs on the low-speed
mover, hence developing the desired steady thrust force.
Secondly, the outer air-gap densities are analyzed when only PMs on the lowspeed mover serve as excitation whereas PMs on the high-speed mover are set as air
space. Figure 4.8 shows their waveforms and spectra. It can be also found that the 6th
and 15th harmonic components improve greatly. The corresponding largest
56

asynchronous space harmonic which has 6 pole-pairs interacts with the 6 pole-pair
number PMs on the high-speed mover, hence developing the desired thrust force.
Thirdly, when their low-speed movers travel at 1 m/s while their high-speed
movers are fixed, the static thrust force characteristics of the low-speed mover are
analyzed. As shown in Figure 4.9, the maximum thrust force of the proposed
magnetic gear is improved by 1.8 times than that of the conventional one, which
agrees with the theoretical 2.1 times as predicted by (8).
(a)
(b)
Figure 4.7 Comparison of inner air-gap flux densities excited by PMs on high-speed
mover. (a) Waveforms. (b) Spectra.
57
(a)
(b)
Figure 4.8 Comparison of outer air-gap flux densities excited by PMs on low-speed
mover. (a) Waveforms. (b) Spectra.
Figure 4.9 Comparison of static thrust force characteristic of low-speed mover.
58
4.3 ANALYTICAL COMPUTATION

The finite element method is an excellent tool for numerical field calculation, but
it provides little information on the relationship of the machine geometry and its
performance, and usually needs lengthy computation [66]-[68]. To complement the
FEM, the analytical calculation for field analysis of machines including magnetic
gears is highly desirable.
4.3.1 ANALYTICAL MODEL

In the linear tubular magnetic gear, the magnetic fields are only produced by
PMs and no current source is involved. Thus the magnetic scalar potential is
adopted for the magnetic field calculation. In order to facilitate the analytical
modeling, the following assumptions are made:
(1) The permeability of back irons of two movers is assumed to be infinite.
(2) The relative recoil permeability of PMs is assumed to be linear.
(3) The axial length is infinite so that the field distribution is axially symmetric
and periodic.
(4) The field-modulation region is considered to be composed of anisotropic
magnetic material in which the permeabilities along the r-direction and the zdirection are different.
Figure 4.10 shows the model of the linear tubular magnetic gear. The fieldmodulation region consists of field-modulation rings and airspaces interleaving one
another. From the point of view of the magnetic circuit, it can be decomposed into the
r and z directions. Namely, in the r-direction, the field-modulation ring reluctance R fm
and airspace reluctance R as are connected in parallel, whereas in the z-direction, the
59

two reluctances are connected in series. Therefore, the permeabilities along the two
directions can be expressed as:
fm _ r 0 (1
fm _ z
bt
) ic
bt
0 ic t
ic t bt ( 0 ic )
(12)
(13)
where 0 is the airspace permeability, ic is the iron core permeability, b t is the width
of the field-modulation rings, and t is the pole-pitch of the field-modulation ring.
In order to ease the modeling, PMs on the high-speed mover and the low-speed
mover are handled individually. Then, by using the superposition law, the resultant
magnetic field distribution can be obtained. Firstly, PMs on the high-speed mover are
considered while PMs on the low-speed mover are considered as airspace. Taking the
abovementioned assumptions, the calculation areas can be divided into four regions,
namely the high-speed mover PM region I, the inner air-gap region II, the fieldmodulation region III, and the outer airspace region IV, as shown in Figure 4.11. The
field density B and field intensity H in each region can be deduced accordingly.
In region I, where PMs are involved, it yields:
B 0 ( rm H M )
(14)
where rm is the relative recoil permeability of PMs, and M is the residual

magnetization vector.
In region III, where the material is anisotropic along the r and z directions, it
yields:
Br fm _ r H r
60
(15)

Bz fm _ z H z
(16)
In regions II and IV, they are simply governed by:
B 0 H
(17)
Due to the symmetry of the tubular structure, the 3-D problem can be reduced to
a 2-D problem in which only the radial and axial components exist. The governing
field equations in the four regions can be derived by using the Laplaces and
Poissons equations accordingly.
In region I, the governing equation can be expressed as:
2 I 1 I 2 I
1
(rM r )
2
2
r
z
r r
r rm r
(18)
where M r is the radial component of the residual magnetization vector.

In regions II and IV, the governing equation can be written as:
2 II , IV 1 II , IV 2 II , IV
0
r r
r 2
z 2
(19)
In region III, the governing equation can be deduced as:
fm _ r (
2 III 1 III
2 III
)
0
fm _ z
r 2
r r
z 2
(20)
In order to solve the above equations, the boundary conditions need to be

identified. As shown in Figure 4.11, there are five boundaries formed by the four
regions where r i, r m , r fi, r fo and r o are the radii of the high-speed mover yoke, the
surface of PMs on the high-speed mover, the inner surface of the field-modulation
region, the outer surface of the field-modulation region and the low-speed mover
yoke respectively.
When r = r i , it yields:
61
H zI (ri , z ) 0
(21)
H zI (rm , z ) H zII (rm , z )
(22)
BrI (rm , z ) BrII (rm , z )
(23)
H zII (rfi , z ) H zIII (rfi , z )
(24)
BrII (rfi , z ) BrIII (rfi , z )
(25)
H zIII (rfo , z ) H zIV (rfo , z )
(26)
BrIII (rfo , z ) BrIV (rfo , z )
(27)
H zIV (ro , z ) 0
(28)
When r = r m , it yields:
When r = r fi , it yields:
When r = r fo , it yields:
When r = r o , it yields:
It should be noted that since the axial length of the linear tubular magnetic gear is
assumed to be infinite, all the boundary conditions are only radially dependent.
(a)
62
(b)
(c)
Figure 4.10 Linear tubular magnetic gear model. (a) Schematic diagram. (b)
Equivalent magnetic circuit of field-modulation region along r-direction. (c)
Equivalent magnetic circuit of field-modulation region along z-direction.
Figure 4.11 Field regions and boundaries.
63

4.3.2 MAGNETIC FIELD SOLUTION
By using the separation of variables, the magnetic field equations in regions II,
III and IV governed by the Laplaces equation can be decomposed into a Helmholtz
equation and a Bessel equation. Then, by solving the two equations, a general
solution can be obtained.
4.3.2.1 Field Solution in Regions without PMs
In region II, the solution of can be expressed as:
II [anII I 0 (kn r ) bnII K 0 (kn r )] [cnII sin(kn z ) d nII cos(kn z )]
(29)
n 1
where I 0 () and K 0 () are the modified Bessel functions of the first kind and the
second kind of order zero, respectively.
In region III, the solution of can be written as:
III [anIII I 0 ( pn r ) bnIII K 0 ( pn r )] [cnIII sin(k n z ) d nIII cos(k n z )]
(30)
n 1
where
pn
fm _ z
fm _ r
kn
(31)
In region IV, the solution of can be deduced as:
IV [anIV I 0 (kn r ) bnIV K 0 (kn r )] [cnIV sin(kn z ) d nIV cos(kn z )]

n 1
4.3.2.2 Field Solution in the Region with PMs
64
(32)

For region I, the magnetic field equation is governed by the Poissons equation.
Its solution consists of a general solution and a particular solution. The general
solution has the same form as the other three regions:
o I [anI I 0 (kn r ) bnI K 0 (kn r )] [cnI sin(kn z ) d nI cos(kn z )]
(33)
n 1
The special solution depends on the magnetization distribution of PMs. Figure

4.12 depicts the PM magnetization distribution M r on the high-speed mover. Since
the PMs are radially magnetized, the magnetization function is only z-dependent. In
general, it can be expressed as [69]:
Mr
R1 ( R2 r 2 )
M n sin( n z )
r
n 1
(34)
where
R1
1
ri rm
(35)
R2 ri rm
n
Mn
2n 1
4 Bres
(36)
(37)
1
(2n 1)
(38)
where r i and r m are the radii of the high-speed mover and the PMs on the high-speed
mover respectively, and B res is the residual flux density of PMs. Thus, by using the
separation of variables, the particular solution can be deduced as:
pI
2 R1
rm
Mn
n 1
2
n
sin( n z ) 2 R0
n 1
Mn
n2
sin( n z )
(39)
65
Figure 4.12 PM magnetization distribution.
4.3.2.3 Boundary Conditions
Based on the boundary conditions of each region, the coefficients of the above
equations can be determined accordingly.
Firstly, on the surface of the high-speed mover back iron, from (21), it yields:
[ AnI I 0 (kn ri ) BnI K 0 (kn ri )] cos(k n z ) 2 R0
Mn
n2
cos(n z ) 0
(40)
Thus, it further yields:

k n n
AnI
(41)
2 R0 M n
F (n , n , ri ,0) BnI
2
I 0 (n ri )n
(42)
Secondly, on the surface of the low-speed mover back iron, from (28), it yields:
AnIV I 0 (n ro ) BnIV K 0 (n ro ) 0
(43)
Thirdly, on the surface of the PMs on the high-speed mover, from (22) and (23),
it yields:
66
AnI I 0 (n rm ) BnI K 0 (n rm ) 2 R0
Mn
rm [ AnI I1 (n rm ) BnI K1 (n rm )]
Mn
2
n
AnII I 0 (n rm ) BnII K 0 (n rm )
(44)
AnII I1 (n rm ) BnII K1 (n rm )
(45)

where I1 () and K1 () are the modified Bessel functions of the first kind and the
second kind of order one, respectively.
Fourthly, on the inner surface of the field-modulation region, from (24) and (25),
it yields:
AnII I 0 (n rfi ) BnII K 0 (n rfi ) AnIII I 0 ( pn rfi ) BnIII K 0 ( pn rfi )
(46)
0n [ AnII I1 (n rfi ) BnII K1 (n rfi )] fm _ r pn [ AnIII I1 ( pn r fi ) BnIII K1 ( pn rfi )]
(47)
Finally, on the outer surface of the field-modulation region, from (26) and (27), it
yields:
AnIII I 0 ( pn rfo ) BnIII K 0 ( pn rfo ) AnIV I 0 (n rfo ) BnIV K 0 (n rfo )
(48)
fm _ r pn [ AnIII I1 ( pn r fo ) BnIII K1 ( pn r fo )] 0 n [ AnIV I1 (n r fo ) BnIV K1 (n rfo )]
(49)
By solving (29)-(38), the coefficients can be determined. The corresponding

details are given in the Appendix. With these solutions, the magnetic scalar potential
expression in each region can be expressed in a Fourier series. Namely, in the inner
air-gap, it is given by:
II [ AnII I 0 (n r ) BnII K 0 (n r )] sin(n z )
(50)
n 1
Meanwhile, in the outer air-gap, it is given by:
IV [ AnIV I 0 (n r ) BnIV K 0 (n r )] sin(n z )
(51)
n 1
where A n II , B n II , A n IV , and B n IV are the coefficients determined by the boundary

conditions which are given in the Appendix.
67

TABLE 4.1 Key Data of Linear Tubular Magnetic Gear
High-speed mover yoke radius
16 mm
High-speed mover PM pole-pitch
12 mm
Low-speed mover PM pole-pitch
6 mm
PM height
4 mm
Air-gap length
1 mm
Field-modulation ring height
6 mm
Field-modulation ring width
4 mm
Field-modulation ring pitch
8 mm
Field-modulation ring relative permeability
4000
PM relative permeability
1.09
PM remanence
1.23 T
PM coercivity
890 kA/m
4.3. 3 CALCULATION RESULTS AND VERIFICATION
In order to verify the proposed calculation, a practical linear tubular magnetic

gear is adopted for exemplification. Table I lists its key data.
According to (39) and (40), the magnetic scalar potential distributions at both the
inner inner and outer air-gaps can be calculated as shown in Figure 4.13 in which the
effects due to PMs on the high-speed and low-speed movers are determined
separately. In order to determine the performance of the linear tubular magnetic gear,
the magnetic flux density distributions at the inner and outer air-gaps can be deduced
from the corresponding magnetic scalar potential distributions.
68

Firstly, when the PMs on the high-speed mover are considered while those on the
low-speed mover are ignored, the magnetic flux density distributions in the inner airgap are given by:
BrII 0 n [ AnII I1 (n r ) BnII K1 (n r )] sin(n z )
(52)
n 1
BzII 0 n [ AnII I 0 (n r ) BnII K 0 (n r )] cos(n z )
(53)
n 1
Similarly, the magnetic flux density distributions in the outer air-gap are given by:
BrIV 0 n [ AnIV I1 (n r ) BnIV K1 (n r )] sin(n z )
(54)
n 1
BzIV 0 n [ AnIV I 0 (n r ) BnIV K 0 (n r )] cos(n z )
(55)
n 1
Consequently, the corresponding air-gap flux density distributions are calculated

as depicted in Figure 4.14 in which the radial and tangential components are
separately plotted. In order to verify the analytical calculation, the air-gap flux
density distributions are also numerically computed by using the FEM. By comparing
the analytical results with the FEM results, it can verify that the proposed analytical
calculation can provide the same level of accuracy as the FEM. It should be noted
that the analytical calculation takes the definite advantages that it can provide insight
of the relationship between the machine geometry and its performance, and can avoid
lengthy computation for design optimization.
Secondly, when the PMs on the high-speed mover are ignored while that on the
low-speed mover are considered, the corresponding air-gap flux density distributions
are calculated as depicted in Figure 4.15 which are obtained based on the same
approach. Again, by comparing the analytical results with the FEM results, it can
69

further verify that the proposed analytical calculation can provide the same level of
accuracy as the FEM.
Finally, by applying the superposition law, the analytically calculated magnetic
flux density distributions in the two air-gaps due to PMs on both movers can be
deduced from Figure 4.14 and Figure 4.15. As shown in Figure 4.16, the analytical
distributions are well verified by comparison with the numerical distributions
obtained from using the FEM.
(a)
(b)
Figure 4.13 Magnetic scalar potentials at inner and outer air-gaps. (a) Due to PMs on
high-speed mover. (b) Due to PMs on low-speed mover.
70
(a)
(c)
(b)
(d)
Figure 4.14 Magnetic flux density distributions due to PMs on high-speed mover. (a)
Radial component in inner air-gap. (b) Tangential component in inner air-gap. (c)
Radial component in outer air-gap. (d) Tangential component in outer air-gap.
71
(a)
(b)
(c)
(d)
Figure 4.15 Magnetic flux density distributions due to PMs on low-speed mover. (a)
72
(a)
(b)
Analytical
FEM
0.8
0.4
0
-0.4
-0.8
(c)
60
120
180
240
Electrical angle (degree)
300
360
(d)
Figure 4.16 Magnetic flux density distributions due to PMs on both movers. (a)
73
4.4 LINEAR MAGNETIC-GEARED MACHINES

Due to its high-thrust density, the linear magnetic gear can be used to design the
integrated machine which can meet the low-speed application but adopt high-speed
design to improve the whole power density and efficiency. As shown in Figure 4.17,
there are two possible ways to combine the linear magnetic gear with the linear PM
machine, namely the series integration and the parallel integration.
2-D schematic
3-D schematic
(a)
74
2-D schematic
3-D schematic
(b)
Figure 4.17 Linear magnetic-geared machine. (a) Series integration. (b) Parallel
integration.
(a)
75
(b)
Figure 4.18 Flux distributions. (a) Series integration. (b) Parallel integration.
In the series integration, the gear and the machine share the same shaft, and their
magnetic circuits can be designed independently as shown in Figure 4.18 In the
parallel integration, the magnetic gear and the machine share the high-speed mover,
thus a smaller volume can be achieved. However, the parallel integration usually
involves three air-gaps so that the configuration becomes very complicated.
Therefore, the series integration is adopted in this design.
4.4.1 LINEAR MACHINE SELECTION
The conventional high-speed linear machines such as linear induction machine,

linear synchronous machine, and linear switched-reluctance machine can be
considered as candidates for integration with the linear magnetic gear. In view of the
efficiency and power density, the PM linear synchronous machine is selected. As a
relatively matured machine topology, the force density can be analytically derived.
When the magnetic permeability of stator iron core is assumed to be infinite while the
magnetic flux leakage in the stator back iron is negligible, the average air-gap flux
density can be expressed as:
76
Bg Br
hm
khm r kc hag
sin(
m
)
2
(56)
where B r is the PM remanence, r is the PM recoil permeability, h m is the PM height,

h ag is the air-gap length, k is the leakage coefficient, k c is the Carter coefficient, m is
the PM length, and is the pole-pitch. Consequently, the developed thrust force per
pole-pitch is given by:
Fx Bg S f As Jl
(57)
where S f is the slot fill factor, A s is the slot area, J is the current density, and l is the
stack length. Under natural cooling, the current density is limited to 10 A/mm2. When
the slot fill factor is set to 0.7 and the PM remanence is selected at 1.1 T, the force
density can be calculated by using (57) which gives the value of 0.5 MN/m3.
Figure 4.19 shows the structure of the proposed machine, which consists of a
linear magnetic gear cascaded with a linear PM generator, thus artfully sharing with
the same shaft (the high-speed mover of the gear and the translator of the generator).
The integrated machine consists of two moving parts separated by two air-gaps. For
mechanical realization, two sets of linear bearing are engaged for supporting the two
moving parts. One set of linear bearings is implemented between the gear stator and
the low-speed mover; the other one is implemented between the machine stator and
the high-speed mover. The detailed design data of the linear magnetic gear is listed in
Table 4. 2, and the key design data of the linear integrated machine is listed in Table
4.3.
77
Table 4.2 Design Data of Linear Magnetic Gear
Stator outside diameter
120 mm
Stator inside diameter
100 mm
Axial length of stator
127.3 mm
Low-speed mover outside diameter
98 mm
Low-speed mover inside diameter
86 mm
Axial length of low-speed mover
150 mm
High-speed mover outside diameter
84 mm
High-speed mover inside diameter
40 mm
Axial length of high-speed mover
100 mm
Air-gap length
1.0 mm
No. of active pole-pairs in stator
11
No. of active ferromagnetic rings in low-speed mover
15
No. of active pole-pairs in high-speed mover
PM remanence
1.2 T
Figure 4.19 Proposed linear magnetic-geared machine.
78
Figure 4.20 Linear PM generator winding connection.
4.4.2 PERFORMANCE ANALYSIS

A. Static analysis
Because of its linear tubular structure, the 2D-FEM analysis can give satisfactory
results for the performance analysis, since the transverse end-effect can be neglected.
Firstly, Figure 4.21 and Figure 4.22 show the flux density waveforms and their
spectra in the inner air-gap and the outer air-gap of the linear magnetic gear,
respectively. It can be observed that the dominant harmonic components in the inner
and outer air-gaps match with the corresponding numbers of active PM pole-pairs,
namely 4 pole-pairs in the high-speed mover and 11 pole-pairs in the stator. The high
flux density in these air-gaps confirms a high developed force density. Figure 4.23
depicts the waveform of static thrust force over one pole pitch of the low-speed
mover when the high-speed mover is fixed. It can be observed that a thrust force up
to 2020 N can be developed. Thus, a continuous thrust force of 1800 N is selected as
the operating force so as to avoid losing synchronism. When the low-speed mover is
driven by the wave motion with 1800 N at 1 m/s, the speed of the high-speed mover
is amplified while the force is scaled down accordingly. Figure 4.24 shows its force
transmission characteristics. It can be seen that the thrust force of the high-speed
mover is about 3.9 times lower than that of the low-speed mover, which is slightly
79

higher than 3.75. It is due to the fact that there are inevitable flux leakage and
magnetic saturation, and also the tubular structure that the air-gap area of the lowspeed mover is larger than that of the high-speed mover. Moreover, it can be
observed that the force ripples of the low-speed mover and high-speed mover are
within 2% and 4%, respectively, which are very desirable.
Secondly, the air-gap flux density of the linear PM generator is plotted in Figure
4.25. Its peak value exceeds 0.9 T, thus ensuring the desired power density. Figure
4.26 shows the cogging force waveform. It can be seen that the peak value is less than
5% of the rated thrust force. This merit is actually due to the use of fractional-slot
design to suppress the interaction between stator teeth and translator PMs, and the
arrangement of proper length of the generator stator to suppress forces at the left and
right ends of the stator core exerted on the PM translator. When the low-speed mover
travels at 1 m/s, the translator moves at 3.75 m/s, hence producing 3-phase induced
electromotive force (EMF) waveforms as shown in Figure 4.27 When the translator
speed varies, the induced EMF changes the amplitude accordingly.
(a)
80
(b)
Figure 4.21 Gear inner air-gap flux density waveform and spectrum.
(a)
(b)
Figure 4.22 Gear outer air-gap flux density waveform and spectrum.
81
Figure 4.23 Static thrust force waveform of linear magnetic gear part.
Figure 4.24 Force transmission capability of linear magnetic gear part.
Figure 4.25 Generator air-gap flux density waveform.
82
-4
0
10
15
Position (mm)
20
25
Figure 4.26 Generator cogging force waveform.
Figure 4.27 Induced no-load EMF waveforms of linear PM generator part.
Figure 4.28 Dynamic model of the linear mechanical system.

83
B. Dynamic analysis
To assess the dynamic performance of the proposed machine, the dynamic model
is built as shown in Figure 4.28. The equation of the system can be given as:
Fe Fs Fem F f mg m
d 2x
dt 2
(58)
where F e is the force of the buoy, F s is the force of the spring, F em is the generator
electromagnetic force, F f is the viscous friction force, g is the gravitational
acceleration, m is the mass of the translator, and x is the displacement of the
translator.
When a time-varying sinusoidal buoy force is exerted on the low-speed mover as
shown in Fig 4.29(a), the machine terminals are connected to a resistance load of
20 W. As shown in Figure 4.29(b), the speeds of the two movers vary accordingly.
Due to the magnetic gearing effect, the speed of the high-speed mover is 3.75 times
that of the low-speed mover, thus a low-speed force is converted to a high-speed
force. As shown in Figure 4.29(c), the instantaneous EMF is proportional to the speed
of the high-speed mover. Figure 4.29(d) shows the total power losses in which the
core loss is higher than the copper loss. On the other hand, a conventional low-speed
linear PM synchronous machine, which has the same power rating as the proposed
one, is analyzed and simulated under the same condition. The conventional machine
has about 4 times volume as the proposed one. The required volumes of PMs, iron
cores and copper windings are respectively 167%, 214% and 271% of the proposed
one, resulting in a much higher cost. The corresponding power losses are shown in
Figure 4.30. It can be found that its core loss is similar to that of the proposed
84

machine, but the copper loss is much higher. Therefore, by incorporating the linear
magnetic gear into the linear PM generator, the overall cost can be reduced while the
Force (N)
system efficiency and power density can be improved.
(a)
(b)
(c)
85
(d)
Figure 4.29 Dynamic responses of proposed machine. (a) Buoy force. (b) Mover
speeds. (c) Induced EMF. (d) Power losses.
Figure 4.30 Power losses of conventional linear PM synchronous machine.
4.5 QUANTITATIVE COMPARISON

In order to verify the practicability of the proposed machine system, it is
quantitatively compared with the conventional linear PM machine for wave power
generation. For the sake of fair comparison, both systems are designed under the
same rated power and rated voltage. Since the reciprocating speed of wave motion is
typically 1 m/s, it is taken as the rated speed of both systems. With the use of G r =
3.75, the rated speed of the generator itself within the proposed system is actually
3.75 m/s. Both systems adopt the same generator structure with the same electric
86

loading, thus having the same thrust force density. In order to harness the same power
from the reciprocating wave with lower speeds, the low-speed generator has to have a
larger size. The comparative data of the proposed machine system (linear magneticgeared linear PM generator) and the conventional low-speed linear PM generator are
summarized in Table 4.3.
Table 4.3 Quantitative Comparison
Proposed machine system
Low-speed generator
Rated power
1.8 kW
1.8 kW
Rated voltage
110 V
110 V
Rated speed
1 m/s
1 m/s
Overall outside diameter
120 mm
302 mm
Generator stator inside

diameter
Generator stator axial length
68 mm
250 mm
181.5 mm
181.5 mm
66 mm
248 mm
40 mm
222 mm
Generator translator outside

diameter
Generator translator inside
diameter
Generator translator axial
length
Overall axial length
250 mm
250 mm
350 mm
250 mm
Total PM volume
461.6 cm3
766.6 cm3
Total iron core volume
2007.0 cm3
4299.5 cm3
Total copper winding

volume
Total volume
236.87 cm3
641.26 cm3
3958.4 cm3
16310 cm3
87

It can be found that when the generator stator axial length of both cases are kept
the same, the stator outside diameter of the conventional generator is 2.5 times larger
than that of the proposed system. Also, the translator outside diameter of the
conventional generator is 3.8 times larger than that of the proposed one. The overall
size of the proposed system is only 24.3% of the conventional one, thus improving
the power density by over 4 times. Additionally, the required volumes of PMs, iron
cores and copper windings of the proposed system are respectively 60.2%, 46.7% and
36.9% of the conventional one. Such reduction of raw material cost can well
outweigh the increase of cost due to the manufacturing complexity of the proposed
system. Thus, the overall cost of the proposed machine system can be very
competitive.
4.6 SUMMARY
In this chapter, design and analysis of the linear magnetic gear and its integrated
machine are discussed and studied in details. Firstly, using the magnetic circuit
modeling, the operating principle, field modulation characteristic, force production
and transmission are presented. Then, using the analytical calculation method, the
detailed information of the magnetic field distribution in the linear magnetic gears is
deduced by solving Maxwells equations with corresponding boundary condition.
With these analysis tools, topologies of the linear magnetic-geared machine are
proposed and designed. Finally, FEM analysis is applied for its performance
evaluation. Both static and dynamic characteristics are given to testify the design
objectives and its feasibility.
88
CHAPTER 5
PERMANENT
MAGNET
LINEAR
VERNIER
MACHINES
5.1 INTRODUCTION
The magnetic-geared machine exhibits a high efficiency and high performance
for the low-speed applications in virtue of the force transmission and speed reduction
capability from the magnetic gear. The magnetic gear, either rotational or linear,
consists of two moving parts and one stationary part. One moving part operates at a
low speed and other at a high speed. Thus, the low-speed drives can be transmitted to
the high-speed drives via the so-called magnetic gear effect. Figure 5.1 shows the
linear tubular morphology of the coaxial rotational magnetic gear [57]. The two
movers have surface-mounted permanent magnets (PMs) with different pole-pair
numbers. The stationary part locating between the two movers consists of iron rings
and airspaces interpolating each other. By integration of the magnetic gear with the
conventional high-speed machine, the integrated machine can enable low-speed
operation but with high efficiency. Thus, the magnetic-geared machine becomes a hot
research topic in recent several years. However, the magnetic-geared machine suffers
the penalty of high material cost and manufacturing cost due to the integration
structure. In order to retain its merits and improve its deficiency, a novel machine
topology was proposed. By borrowing the magnetic gear operation principle, the
novel machine named as PM vernier machine was proposed which uses a toothed-
89
Permanent Magnet Linear Vernier Machines

pole structure for magnetic field modulation and exhibits a low-speed and hightorque nature , as shown in Figure 5.2 [30], [70]-[71].
Air-gaps
Low-speed mover
Field modulation
rings
High-speed mover
PMs
Figure 5.1 A linear tubular magnetic gear.
Figure 5.2 A linear tubular vernier machine.
In this chapter, design procedure, analysis, optimization of the PM linear vernier
90

(PMLV) machineis studied. By studying its operation principle, its design procedure
is introduced. Then, by analytically expressing the field modulation effect of the
toothed-pole structure, its dimension is optimized and the performance is improved
accordingly. Finally, a PMLV machine is dimensioned and prototyped for
experimental verification. Moreover, the major drawback of this kind of machine,
namely low power factor, is intensively studied, and several suggestions for power
factor improvement are presented and discussed.
Figure 5.3 Vernier machine. (a) Vernier structure. (b) Air-gap permeance waveform.
5.2
VERNIER STRCTURE
5.2.1 CONFIGUATIONS
The electric machine with vernier structure was proposed in 1960s [72]. The
vernier structure is composed by the tooted-pole stator and moving part. Along with
91

the motion, the air-gap permeance varies regularly with the teeth of moving part
aligning or misaligning with the stator teeth as show in Figure 5.3. This alignment
and misalignment of two sets of teeth resemble the operation of a vernier, thus the
machine with this structure is called a vernier machine. A small displacement of the
moving part can result in a large change of the air-gap permeance waveform which
can render a high force. Therefore, the vernier machine exhibits a high force at very
low speed which is suitable for direct-drive application.
Due to the high demand for low-speed and direct-drive application, especially
with the application of high energy density PM materials, the PM vernier machines
are developed in the near two decades [73]-[78]. In terms of PM location, there are
two categories, namely active mover type (PM on the mover) and passive mover type
(PM on the stator). Figure 5.4 illustrates topologies of these two categories. The PM
vernier machine with active mover operates by two traveling magnetic fields, while
the PM vernier machine with passive mover operates as the flux-reversal machine.
Due to more utilization of PMs, the active mover type exhibits a higher force density.
92
Figure 5.4 PM vernier machine. (a) Active mover type. (b) Passive mover type.
Figure 5.5 Toothed-pole structure.
93

5.2.2 OPERATING PRINCIPLE
In this design, we choose the active mover configuration. Before design, the
toothed-pole structure which is also called vernier structure should be studied firstly.
The concept of vernier machine lies in its toothed-pole stator configuration which
resembles to the filed modulation rings in the magnetic gear, as shown in Figure 5.5,
the toothed-pole structure. Due to the distinct difference in the permeability of
ferromagnetic material and air space, the toothed-pole structure can make the
different pole-pair number magnetomotive forces (MMFs) of stator and mover
develop a steady force. From the point view of the magnetic circuit, the air-gap flux
density can be expressed as:
2Z 1 x
2P ( x vt )
( 0 1 sin
)
l
l
2 ( Z 1 P ) x 2Pvt
2P ( x vt ) 1
Fm 0 sin
Fm 1 cos
l
l
2
2 ( Z 1 P ) x 2Pvt
1
Fm 1 cos
2
l
Bag ( x, t ) F ( x) ( x, t ) Fm sin
(1)
where F(x) is the MMF of PMs, (x,t) permeance function of the air-gap, Z 1 is the
teeth number of the stator, Z 2 and P is the pole-pair number PMs of the mover and
MMFs of the armature winding respectively. The first item of the equation has the
same pole-pair number as that of the PMs. The second and third items have much
more pole-pair numbers than that of the PMs.
According to (1), the pole-pair number of MMFs and the stator teeth number
should satisfy the following relationship for developing a steady thrust force:
Z 2 Z1 P
(2)
when ac current with an angular frequency w is fed into the armature winding, the
resultant magnetic field of armature excitation rotates at a speed of w/P, and the rotor
94

speed is w/Z 2 . By borrowing concept of gear ratio in magnetic gear, the gear ratio of
this machine is Z 2 /P. Please be noted that the above relationship is only valid for
rotational machines, since its magnetic field rotating speed is P times of that of the
mechanical speed. For the linear machines, the magnetic field speed is the same as
that of the mechanical speed.
Figure 5.6 Geometry of the toothed-pole structure.
Figure 5.7 PMLV machine analytical model in cylindrical coordinates.
As shown in Figure 5.6, the toothed-pole structure of the vernier machine takes
the function of flux modulation which inherently governs the machine operation.
95

Therefore, it is important to study the underlaid relationship between its structure
dimension and the machine performance. In order to take a physical insight of
contributions of the toothed-pole structure for flux modulation, an analytical
calculation is carried out. By taking the toothed-pole structure as an anisotropic
material, the calculation can be easily handled. In the calculation, the tubular linear
machine configuration is considered. In order to ease the computation, some
assumptions have been taken into consideration. The permeability of the back iron of
the mover and the yoke of the stator are considered to be infinite. The relative recoil
permeability of PMs is considered to be unity. The saturation effect of the
ferromagnetic material is ignored.
As shown in Figure 5.7, the three regions are the region I (PM), region II (airgap) and region III (toothed-pole structure), respectively. For optimization of the
toothed-pole structure dimension, only the magnetic field excited by PMs is
evaluated. Thus, there is not current involved, and the magnetic scalar potential is
applied for solving the Maxwells equations. The governing Maxwells equations in
the aforementioned three regions are listed as below:
In the region I:
2 I (r , z )
( M res )
(3)
In the region II:
2 II ( r , z ) 0
(4)
In the region III:
tp _ r
96
2 III (r , z ) tp _ r III (r , z )
2 III (r , z )
0
tp _ z
r 2
r
r
z 2
(5)
where tp _ z
0 fe t
b
and tp _ r 0 t ( fe 0 ) .
fe t bt ( 0 fe )
t
The unique solutions of the above partial differential equations are restricted by
the boundary conditions. There are four boundaries formed by three regions and its
conditions are listed as following:
BIz (r0 , z ) 0
(6)
BIr (r1 , z ) BIIr (r1 , z )
(7)
H Iz (r1 , z ) H IIz (r1 , z )
(8)
BIIr (r2 , z ) BIIIr (r2 , z )
(9)
H IIz (r2 , z ) H IIIz (r2 , z )
(10)
BIIIz (r3 , z ) 0
(11)
Using separation of variables, the general solution of the Laplaces equations can
be easily obtained. By ignoring the right term of (12), the Poissons equation can be
reduced to the Laplaces equation. The general solution can be simplified as:
I o (r , z ) [anI I 0 (k n r ) bnI K 0 (k n r )] sin( k n z )
(12)
n 1
The special solution of this Poissons equation is:

2M n
sin( n z )
n 1 ( 2 r0 hm )
I p (r , z )
2
n
(13)
Therefore, the solution of (12) is the sum of (23) and (24).

The general solution of the region II has the same form as that of the region I:
II (r , z ) [anII I 0 (k n r ) bnII K 0 (k n r )] sin(k n z )
(14)
n 1
By using the same approach, the general solution of region III is described as:
97
III (r , z ) [a nIII I 0 (
k n tp _ z
n 1
tp _ r
r ) bnIII K 0 (
k n tp _ z
tp _ r
r )] sin( k n z )
(15)
By using the boundary conditions, the unknown coefficients can be determined.

On the bottom boundary of region I and II, from (6), it yields:
[a nI I 0 ( k n r0 ) b nI K 0 ( k n r0 )] cos( k n z )
2K 0 M n
cos( n z ) 0
n2
(16)
On the boundary of region I and II, from (7) and (8), it yields:
anI I1 (n r1 ) bnI K1 ( n r1 )
Mn
a nI I 0 ( n r1 ) bnI K 0 ( n r1 )
anII I1 ( n r1 ) BnII K1 ( n r1 )
2K 0 M n
2
n
(17)
a nII I 0 ( n r1 ) bnII K 0 ( n r1 )
(18)
On the boundary of region II and III, from (9) and (10), it yields:
0 n [a nII I 1 ( n r2 ) bnII K 1 ( n r2 )] tp _ r n [a nIII I 1 (
k n tp _ z
tp _ r
r2 ) bnIII K 1 (
k n tp _ z
tp _ r
r2 )]
(19)
a nII I 0 ( n r2 ) bnII K 0 ( n r2 ) a nIII I 0 (
k n tp _ z
tp _ r
r2 ) bnIII K 0 (
k n tp _ z
tp _ r
r2 )
(20)
On the outer boundary of region III, from (11), it yields:
a nIII I 0 ( mn r3 ) bnIII K 0 ( mn r3 ) 0
(21)
Then, the Fourier coefficients aI n , bI n , aII n , bII n , aIII n , and bIII n can be easily
obtained from (16)-(21). For assessing the flux modulation of the toothed-pole
structure, the pth order harmonic component flux density in the stator back-iron is
investigated which is given by:
98

b fe
0 k n tp _ z
BIIIr 1 t (
1)
tp _ r
t 0
[ a
n 1
III
n
1
I (
k n tp _ z
tp _ r
r ) bnIII K1 (
k n tp _ z
tp _ r
r )] sin(k n z )
(22)
Figure 5.8 shows the Pth harmonic component flux density versus the PM
remanence according to the variation of the tooth width b t and slot depth h t over the
tooth pitch t . It can be observed that when the tooth width equals to one half of the
tooth pitch and the slot depth equals about 0.55 of the tooth pitch, the flux modulation
efficiency is optimal.
Bsp/Br
(a)
(b)
Figure 5.8 Pth harmonic component of flux density versus tooth width and slot depth.
(a) 3-D view. (b) 2-D view.
99
5.3 DESIGN PROCEDURE
Figure 5.9 PM Vernier machines with active mover. (a) Stator morphologies. (b)
Mover morphologies.
Figure 5.9 shows the existing vernier machine topologies, only non-homopolar
structures considered here. There are two main morphologies of stator: namely
conventional tooth-slot type and auxiliary-tooth type. The auxiliary teeth are split
from the main teeth at the end, which can be made in a tapered or rectangular shape
for field modulation. Morphologies of the mover can be divided into 2 classes
according to the magnets location: namely surface-mounted and consequent-pole In
this design, the auxiliary-tooth type stator and surface-mounted magnet mover are
adopted. At the end of each main tooth, three auxiliary teeth were split. The
advantages of the proposed generator configuration can be listed as below:
The mover with surface-mounted magnets can be easily manufactured.
By using auxiliary teeth for field modulation, the main slots for housing
armature coils can be decreased, thus ease the space dispute for slots and teeth.
By using concentrated armature winding, the end-winding can be reduced,
100

thus the copper utilization can be improved accordingly.
A.
Mover Design
The mover configuration with PMs can be classified into 3 categories, namely
surface-mounted PM (SPM), surface-inset PM (SIPM), and interior PM (IPM). Each

configuration has its own merits. In this design, only the SPM machine is considered
which has a low-inertia and simple structure.
If the current frequency f in the armature winding is given, the mover speed v can
be determined by:
v vs 2 f m
Z2
p
(23)
where v s is the synchronous speed, is the pole-pitch of PMs on the mover. For a
given operation speed and current frequency, the PM pole-pitch can be easily
determined.
According to the analytical results, the fundamental component of air-gap flux
density B ag1 can be expressed as:
Bag1
B.
II

II
a n I 1 ( r ) bn K 1 ( r ) sin( z )
m
m
m
m
(24)
Stator Design
According to (1), the stator tooth pitch t can be calculated by the following
equation with the information of the magnet pole-pitch:
2Z 2
m
Z1
(25)
The linear machine developed thrust force is determined by the electrical loading
which limits by the cooling method. Most of the heat is caused by the copper loss
101

expressed as:
pCu 2mNI 2
lef
Ac
(26)
where m is the phase number, N is the turns of coil of each phase, I is the phase
current, is the copper resistivity, l ef is the conductor effective length, and A c is the
area of he conductor cross section.
The heat produced by armature winding dissipates to the air space via the stator
yoke. The relationship of the total copper loss with the coil temperature rise T and the
heat transfer coefficient h can be expressed as [25]:
pCu 2 phTlef
(27)
According to (5) and (6), the machine electrical loading can be determined
depends on the cooling method and its temperature limit.
B.
Thrust Estimation
With the information of air-gap flux density and the electrical loading in the
windings, the pull-out developed thrust force can be easily estimated from the
magnetic field view point:
Fem
4m
NI
Bag1 hm sin 2 ( z )dz
1
m
(28)
where 1 is the fundamental component amplitude of the magnetic reluctance of the

toothed-pole structure.
Therefore, given the basic design requirements, the initial specifications of the
linear machine can be determined according to the above equations.
102

For developing a high thrust, the air-gap flux density and toothed-pole structure
should be carefully designed according to (22). According to (24), the air-gap flux
density depends on the PM width and thickness. A larger PM width, a higher air-gap
flux density can be resulted. It can be found that the fundamental component of the
air-gap flux density increases with the PM length, thus the full-pitch length is adopted.
Figure 5.10 PMLV machine model. (a) Phasor diagram. (b) Equivalent circuit.
5.4 MATHEMATICAL MODELING

In generator mode, the prime mover drives the proposed generator mover to
convert the input mechanical energy into electrical energy according to Faradays law
of induction. The flux linkage of three phases due to magnets on the mover and
armature reaction can be expressed as below:
103
s m Ls is
(29)
where L s is the synchronous inductance, i s is the phase current, and m is the effective
harmonic component of flux linkage produced by magnets. The effective harmonic
component means P 2 pole-pair number of MMFs produced by P 1 pole-pair number
of PMs via the field modulation of N s auxiliary teeth.
Therefore, the electromotive force (EMF) can be generated due to flux linkage
variation in the armature winding:
di
dL
d
[ Es ] s E0 s vt is Ls [ s ]
dt
dt
dx
(30)
where E 0 is the no-load EMF due to the magnets, x is the mover displacement, and v t
is the mover velocity.
The voltage equation can be expressed below, when the generator is on-load.
v Ra is dLs vt is Ls [ dis ] E0
dx
dt
(31)
where v is the terminal voltage, R a is the phase resistance and the phase leakage
inductance is ignored.
Figure 5.10 shows the phasor diagram and its equivalent circuit of the proposed
generator. m , a and s are the effective harmonic component flux due to magnets,
flux due to the armature reaction and its resultant flux respectively. The power
delivered to the load can be calculated by:
Pout 3VI cos
(32)
where V and I are terminal voltage and phase current in RMS value, and is the
power factor angle.
For determining the developed electromagnetic force, the magnetic co-energy
104

stored in the magnetic field can be expressed by:
Wco
1 T
is Ls is is T m Wm
2
(33)
where W m is the magnetic field energy due to the magnets stored in the air-gap.
Thus, the electromagnetic force of the generator can be determined by:
Fem
1 T dLs
is is is T dm dWm
2
dx
dx dx
(34)
It should be noted that the third item in (8) is the cogging force component. Due
to the non-saliency nature, the first item in (8) can be ignored. The wave power
absorbed by generator can be expressed:
dWm dx
T d dx
Pin Fem vt is m
dx dt
dx dt
(35)
Thus, the efficiency of the proposed generator can be calculated:
3VI cos
Fem vt
(36)
5.5 ANALYSIS
In order to preciously assess the proposed generator, the finite element method
(FEM) is applied for its key parameter calculation. Then, using modeling of section
II, its performances can be evaluated. Table I gives the key design data of the
proposed generator. The prototype assembly schematics are given in Appendix B.
105
TABLE 5.1 Key Design Data
106
Rated power
200 W
Phase number
Rated phase voltage (RMS)
15 V
Rated phase current (RMS)
4.3 A
Rated speed
1 m/s
No. of turns per armature coil
50
Stator length
318 mm
Air-gap length
1 mm
Main slot area
200 mm2
Stack length
100 mm
Auxiliary tooth dimension
6 mm 6mm
Auxiliary tooth number
27
PM pole-pair number
24
PM dimension
6.625 mm 4 mm
PM material
NdFeB
PM coercivity
940 kA/m
PM remanence
1.2 T
Figure 5.11 Flux distributions in 2-D model.
Figure 5.11 shows the flux distributions at no-load condition. Due to limited
space, only a third model is shown here. It can be seen that there are multiply polepairs MMFs at the mover side, but at the stator side, seldom pole-pairs are left which
confirms the field modulation function of the toothed-pole structure. The flux
distributions show that the flux links phase A and phase B, respectively when the
mover at different positions. As shown the arrow pointer in Figure 5.11, even with a
tiny movement of the mover, the flux linkage in the armature winding is changed
dramatically. The whole model air-gap flux density waveform is shown in Figure
5.12 whose peak value is about 0.85 T. When phase A is applied a DC current of the
rated value, the flux linkage waveforms of 3 phases are shown in Figure 5.13. Thus,
the phase inductance can be calculated by its definition. When no current is fed to
armature winding, and the mover travels at the rated speed, the no-load EMF can be
obtained and its waveform is shown in Figure 5.14. The cogging force due to
variation of magnets stored energy can be obtained as shown in Figure 5.16. When
DC currents is applied to 3 phases under the rated condition, viz. i b = 8A, i a = i c =
-4A, the static thrust characteristic can be obtained via (34) and its waveform is
107

shown in Figure 5.15. It can be observed that the cogging force is within about 5% of
the rated thrust which is very satisfactory. Figure 5.16 presents the core loss of the
proposed machine at no-load and the rated condition. When the proposed generator
works at the rated condition, its efficiency can be calculated according to (36) which
is up to 82%. Figure 5.17 illustrates the efficiency at different mover speeds. For
verification, the proposed machine is fabricated as shown in Figure 5.18. The test-bed
is shown as shown as Figure 5.19 in which the proposed PMLV machine is driven by
a DC reducer machine via mechanical linkage. By using the cam and linkage, the
constant speed of DC reducer motor is converted into the variable speed of a simple
harmonic motion for driving the linear machine. Therefore, amplitudes of the no-load
EMF vary along with the instantaneous speed. As shown in Figure 5.20, the no-load
EMF is measured when the mover travels at a variable speed with a peak speed of 0.5
m/s. It can be observed that the highest induced voltage of 22 V per 1 m/s can be
generated which agrees well with the analytical result. When the coils of phase A and
C are connected in parallel, and then are connected in series with Phase B, the whole
coils powered by a DC power source, the static thrust can be measured. Figure 5.21
compares the pull-out force under different current with the analytical result. Before
the iron core going to saturation, the thrust force waveform has a slope of 30 N per
Ampere which is much desirable. The phase inductance is measured with comparison
of the FEM results as shown in Table 5.2.
108
Figure 5.12 No-load flux density waveform.
Figure 5.13 Flux linkage in three phases due to PMs and excitation of Phase A.
Figure 5.14 No-load EMF waveform.
109
Figure 5.15 Cogging force and static force waveforms.
Figure 5.16 Core loss at no-load and rated condition.
Figure 5.17 Machine efficiency at different speeds.
110
Coil
Stator
lamination
Air-gap
PM
Auxiliary teeth
Figure 5.18 Proposed PMLV machine prototype.
Figure 5.19 Test-bed for PMLV machine.
Figure 5.20 Measured no-load EMF waveform at variable speed.
111
Figure 5.21 Measured static thrust force.
TABLE 5.2 Phase Inductance
Items
FEM
Measured
Self-inductance (mH)
7.35
7.21
Mutual-inductance (mH)
3.28
3.15
5.6 DISCUSSION
The power factor of the low-speed machine such as TFPM, PM vernier machine
is claimed not very high. In this section, the problem of low power factor is discussed.
The machine power factor can be expressed as [79]:
IX
cos cos tan 1
E
(37)
where I is the phase current, X is the stator reactance, E is the back-EMF. The ratio of
IX and E represents the ratio of flux produced by stator winding and PMs.
112

For the PM vernier machine, the back-EMF of the stator winding is produced by
the effective harmonic component of PM flux. Compared to the fundamental
component, the amplitude of the effective harmonic component is not very high even
after optimization of the toothed-pole structure. In addition, according to Figure 5.22,
it can be observed that the flux leakage is severe which also contributes a large
leakage inductance. In order to examine the leakage flux, the no-load flux leakage
coefficient of the vernier machine is expressed as:
Figure 5.22 Model for no-load flux leakage coefficient calculation.
m 6 P A1 A2 A2 A3 A3 A4 A4 A5 A51 A6
Z1
A7 A8
(38)
where m is the main flux produced by PMs, is the active flux linking the stator
winding, and A n (n=1, ,8) represents the vector potential at certain points
respectively as shown in Figure 5.23.
According to (38), the no-load flux leakage coefficient is 7.65 which indicates
that only less than 20% of the main flux is utilized. The major problem of the severe
flux leakage owes to the multi-pole PM configuration which leads to a large flux
113

leaking at the stator tooth-tip. For solving this problem, the tooth width and air-gap
length needed to be tuned for an optimal value.
5.7 SUMMARY
In this chapter, a PMLV machine is proposed, analyzed, prototyped and verified.
By adopting the auxiliary-tooth stator and surface-mounted PM mover, the machine
can be easily fabricated but attain the low-speed and high-force operation feature. By
mathematically modeling the proposed generator, relationships between the generator
parameter and its performance are established. Using FEM, the proposed generator
performances are evaluated according to its modeling. Then, experimental
verification is engaged to confirm the analytical results. Finally, the power factor
problem of low-speed machine is discussed.
114
CHAPTER 6
INDUSTRIAL APPLICATION FOR DIRECT-DRIVE
WAVE ENERGY HARVESTING
6.1 INTRODUCTION
In recent years, the global issues such as environment deterioration and fossil
fuel crisis have forced people to develop a clean and sustainable energy source.
Renewable energy sources such as wind, solar, hydropower, tidal, wave, geothermal
and biomass, possessing features of green, environment-friendly, tremendous and free
of charge, are becoming attractive [80], [81]. Among those renewable sources, wave
energy from ocean is paid little attention. The ocean is a potential treasure trove for
renewable energy. A NASA study estimated that more than 91 trillion kilowatt-hours
of accessible energy worldwide from the oceans can be harnessed annually [82].
According to the report of the Electrical and Mechanical Services Department,
Government of Hong Kong SAR, an annual wave power density is 374 MJ/m2 [83].
As Hong Kong has about 1,600 km2 area of coastal water [84], the whole wave
energy per year can be estimated as 598,400 TJ which is about 4 times of the total
electricity consumption in Hong Kong in 2006 [85]. As a clean and sustainable
alternative resource, wave energy is becoming attractive when fossil energy crises
rise and the negative side effects of the traditional resources. Therefore, the
development of wave power generation has a very bright future for the ever
increasing demand for electricity.
115
Industrial Application for Direct-drive Wave Energy Harvesting
6.2
OVERVIEW
OF
WAVE
ENERGY
HARVESTING
TECHNIQUES
From the origin where the wave energy comes from, it can be categorized as a
special form of solar energy. The earth is heated by the sun unevenly, and the unequal
quantity of heat energy causes air pressures differ from here and there. The different
air pressures produce the winds and the winds flowing through the water surface
invite the waves. In order to absorb the wave energy, it is necessary to harness the
mechanical energy of wave motion to drive the electric machines for electricity
generation. Thus the proper mechanical devices for mechanical energy conversion
and suitable and efficient electric machines are the key aspects in this research field.
Along with development of wave power generation technology in about several
decades, many kinds of wave energy converter topologies are presented and testified,
and some of those have already been put into commercial operation. Basically, there
are two types of wave power generation system: the rotational generator type which
converts the reciprocating wave motion into rotational motion by using mechanical
system and then adopts a conventional generator to produce electricity, and the linear
generator type which directly utilizes the wave motion to drive a linear generator for
electricity generation.
6.2.1 Rotational Generator Type

1) Oscillating water column (OWC) [86]
The OWC system is placed close to the shoreline. A brief schematic of OWC
system is depicted in Figure 6.1. When a wave crest comes into the air chamber of the
116

OWC, the air in the air chamber is pressed out to drive the air turbine. When the
wave flows out of the air chamber, the air outside the OWC is sucked into the air
chamber and drives the air turbine. Thus, the wave energy is converted into the
mechanical energy of the rotating air turbine which is connected to a generator, and
finally can be converted to electricity.
Figure 6.1 Oscillating wave column. (a) A wave crest comes into the air chamber.
(b) A wave crest flows out of the air chamber.
2) Tapered channel (TAPCHAN) [87]

TAPCHAN is a system for wave energy conversion as shown in Figure 8.2.
TAPCHAN consists of a tapered channel, a reservoir several meters above the sea
level and a turbine house. When the waves invade into the tapered channel, the
amplitude of the waves is improved as it approaches the reservoir, and part of the
water may spill out of the wall of the tapered channel into the reservoir. The water in
the reservoir flows back to the sea through the turbine house, and drives a water
turbine connected to a generator for electricity production.
117
Figure 6.2 TAPCHAN wave energy converter.
3) Pendulor device [88]

Figure 8.3 illustrates a structure of a pendulor device wave energy converter. It
consists of a rectangular box with a one side open to the sea, a pendulum installed at
the open side of this box, a hydraulic pump, and a generator. The pendulum is a
damper to the waves from the sea. As the waves flow forth and back, the pendulum
flaps forth and back with the waves. The motion of the pendulum drives a hydraulic
pump which powers a generator to produce electricity.
Figure 6.3 A pendulor device wave converter.
4) Pelamis [89]
As shown in Figure 8.4, the Pelamis consists of several cylinder sections linked
118

by hinged joints. These cylinder sections contain a power conversion segment and
two main tube segments. As the waves rise and fall, the three sections move up and
down separately. The different motion of hinged joints drives hydraulic rams which
push high pressure oil through hydraulic motor by hydraulic accumulators. The
hydraulic motor is connected to a generator for electricity generation.
Figure 6.4 Pelamis.
5) Wave dragon [90]

Wave dragon consists of a reservoir higher than the sea level, water turbines and
permanent magnet generators installed in the outlet. As shown in Figure 6.5, the
reservoir has a ramp on one side. When the waves come, the water flows into the
reservoir through the ramp. Then, the water in the reservoir returns to the sea from
the outlet and powers the turbines and generators.
Figure 6.5 Wave dragon.
119

6) Hose pump [91]
The hose pump is a buoy type converter as shown in Figure 6.6. It consists of a
reactionary plate, a float, a hose pump, a water turbine and a generator. The
reactionary plate keeps stationary. The float moves up and down as waves propagate.
The hose is stretched and constricted when the float moves up and down, thus the sea
water is pulled into and out of the hose pump. The movement of the sea water drives
the water turbine, and finally powers the generator.
Figure 6.6 Hose pump.
7) Danish wave power (DWP) float [91]

The DWP float pump converter consists of a float, a piston pump, a water turbine
and a generator. As shown in Figure 6.7, the rise and fall motion of the float powers
the pump which drives a turbine and generator mounted on the pump. The flow of
water through the turbine is maintained as unidirectional through the incorporation of
a non-return valve.
120
Figure 6.7 DWP float.
6.2.2 Linear Generator Type

1) Archimedes wave swing (AWS) [92], [93]
The AWS consists of a float, a chamber and a linear generator as shown in
Figure 6.8. The float embraces the chamber with three sides. When the float is under
the crest of a wave, the chamber is constricted; when the float is under the trough of
the wave, the chamber scratches. The translator of the linear generator is connected to
the axis of the float, and moves up and down to generate electricity.
Figure 6.8 Archimedes wave swing.
2) Tube type [93]

This type has a similar structure as the hose pump type, but using a hollow tube
to substitute the hose pump and with a piston installed in the hollow tube. When the
121

water flows into and out of the tube, it causes the rise and fall movement of the piston,
which can drive a linear generator.
Since the rotational type inevitably desires mechanism such as a water turbine or
hydraulic pump to convert linear motion to rotational motion, it suffers from the
problems of maintenance, low efficiency, low power density and high cost. The linear
type utilizes the linear machine to directly harness reciprocating wave motion,
eliminating the bulky linear-to-rotary transmission mechanism and the associated
power losses. Therefore, this direct-drive type is becoming attractive for wave power
generation.
In order to evaluate performance of 3 machine topologies for generator purpose,
the comparison of generator in 3 topologies interns of power density, efficiency, and
power factor under conditions of the same size and losses, as shown in Table 6.1. For
fair comparison, the machine size and losses refer to that of the magnetic-geared
which are 3958 cm3 and 45 W.
In this chapter, the AWS based wave energy converter and the permanent magnet
linear vernier (PMLV) machine is selected for assessing its performance in harvesting
the wave energy. Although the MGM shows the best performance, in this application
PMLV is selected, since all 3 topologies belong to synchronous machine and the
inherent governed equations are identical.
TABLE 6.1 Performance Comparisons of Generators in 3 Topologies
122
Items
TFPM
MGM
PMLV
Power density
0.16 W/cm3
0.45 W/cm3
0.21 W/cm3
Efficiency
71.3%
97.2%
84.9%
Power factor
0.35
0.92
0.44
6.3 MODELING OF THE OCEANIC WAVES

If the wave form is assumed to be sinusoidal as shown in Figure 6.9, the wave
energy can be quantitatively determined. The wave energy density, the wave power
density and the wave power per meter of wave front can be expressed as [94]-[96]:
Ed
Pd
C
w gH 2
8
w gA2
(1)
Ed w gH 2
T
8T
(2)
L
T
Pwf C Ed
(3)
w gH 2 L
8T
w g 2 H 2T w g 2 A2T
32
8
(4)
where E d is the wave energy density (J/m2), P d is the wave power density (W/m2),
P wf is the wave power per meter of wave front (W/m), w is the water density(1025
kg/m3), C is the velocity of the waves (m/s), g is the gravitational constant (9.81m/s2),
H is the wave height (m), A is the wave amplitude (m), L is the wave length (m), and
T is the wave period (s).
Figure 6.9 An ideal sinusoidal sea waveform.
123
Power density
(kW/m2)
Figure 6.10 Wave power density.
Figure 6.11 Wave power per meter of wave front.
Figure 6.10 and Figure 6.11 show the relationship of wave height and wave
period with wave power density and wave power per meter wave front. It can be seen
that the larger the wave height, the larger wave energy power, but the wave period
has a totally different influence on the wave power density and the wave power per
meter of wave front.
124
6.4 MODELING OF DIRECT-DRIVE WAVE ENERGY

CONVERTER
Figure 6.12 AWS based wave energy converter.
As shown in Figure 6.12, the AWS based wave energy converter operates based
on the water pressure difference above its air chamber. For easing the problem, the
force exerted on the mover by the incident wave is only in vertical direction.
According to the Newtons second law of motion, the generator mover motion
equation is governed by:
Fe Fr F f Fem m
d 2x
dt 2
(5)
where F e is the incident wave force on the buoy, F r is the radiated force of buoy
acting on the water, F f is the force due to friction between mechanical parts and the
water, F em is the electromagnetic force of the linear generator, m is the mass of the
total moving part, and x is the displacement of the moving part.
By multiplying the velocity to (5), the power equation of the system can be
expressed as below:
125
Pe Pr Pf Pem m
dx d 2 x
dt dt 2
(6)
The power P e , P r , P f , and P em are developed by force F e , F r , F f and F em ,

respectively. The power P r is the radiated power that returns to the sea from the buoy
which is similar to the reactive power in electrical circuits. The power F f is consumed
by friction and P em is the power absorbed by the generator and its load which is the
key part of wave energy conversion.
In order to obtain the maximal absorbed power P em , the radiated power P r and
the power P f due to friction should be minimized when the incident wave power P e
keeps as a constant. The absorbed wave power by the proposed linear machine can be
expressed as:
~
~
Pem Fem v~t
(7)
where v t is the velocity of the linear generator translator, and ~ denotes the variable
is a complex variable.
According to (7), the generator force F em should be controlled in phase with the
speed of the translator v t , thus the absorbed power P em can be maximized [97], [98].
It means that the current should be injected from the load part to satisfy the above
condition.
6.5 MODELING OF PMLV MACHINE

As discussed in section III, the generator force F em should be controlled with the
translator speed v t for maximizing the wave power absorption. In order to regulate the
generator force of the generator, a bi-directional AC/DC converter is deployed
between the generator and the DC link voltage source.
126

The voltage, flux linkage and force equations of the linear generator in d-q
reference frame are given as below [98]:
u d Ra i d
u q Ra iq
d d
t q 0
dt
dq
dt
t d 0
(8)
(9)
d Ld id pm
(10)
q Lq i q
(11)
Fem
3
[id iq ( Ld Lq ) pm iq ]
2 pm
(12)
where u d , u q , i d , i q , d and q are the terminal voltage, current, flux linkage of the
direct-axis and quadrature-axis, respectively, R a is the armature winding resistance,
w t is the translator velocity in radian per second, pm is the flux linkage due to
permanent magnet, pm is the pole-pitch of permanent magnets on the translator.
In order to control the generator force, the vector control for PMLV machine is
adopted which is also called field-oriented control (FOC), since the torque and flux
control can be achieved by controlling the direct-axis I d and quadrature-axis I q
current. According to (12), the generator force is only a function of the quadratureaxis current I q , thus the direct-axis current I d = 0 strategy is adpoted. The phasor
diagram is shown as Figure 6.13. The quadrature-axis current I q reference signal can
be determined based on (7) and (12):
iq*
cv~t 2 pm
pm 3
(13)
where c is a constant depending on the system.
127
PM
Figure 6.13 Phasor diagram of vector control using I d = 0 strategy.
6.6 POWER CONDITIONING SYSTEM

Since the sea condition varies from time to time, it is dispensable to utilize the
power conditioning circuit for processing the irregular power harvested from the
ocean. Figure 6.14 shows the basic power conditioning system which uses full-bridge
rectifier with six diodes. The diodes works in passive mode and its conduction state
depends on the generator back-EMF and the DC link voltage. Thus, the active power
and reactive power of the system is uncontrollable which results in a low efficiency
of the whole system. In order to fully control and maximize the harvesting power, a
bidirectional AC/DC converter is to apply for achieving flexible control of the
harvesting power. With the bidirectional AC/DC converter, the energy from DC link
energy buffer can flow back to the generator to satisfying the condition (7), therefore
the absorbed power from the sea waves can be maximized.
128
A
B
Figure 6.14 Passive power conditioning system.
A
B
C
Figure 6.15 Bidirectional AC/DC converter.

Figure 6.15 illustrates the bidirectional AC/DC converter. The bidirectional
AC/DC converter uses 6 IGBT power switches to form a full-bridge converter. The
snubber circuits consisting of RC components are also engaged for reducing high
voltage spikes during the turning on/off of these power switches. The switching
frequency is set at 10 kHz to smooth the voltage ripple of the DC link. The current
regulator adopts current hysteresis control strategy which is simple, effective and
easy to implement. Based on current regulator signals, the pulse generator generates
appropriate firing signals to turn on and off the six power switches at appropriate
timing.
129

Figure 6.16 gives the whole system control block diagram. The control system
only applies a single current control loop to achieve the active and reactive power
control. From encoder signals, the mover velocity v t and its position can be easily
obtained. With the mover velocity information, the reference signal of quadratureaxis current i q * can be calculated according to (13). With the mover position
information, the dq0/abc transformation for the direct-axis and quadrature-axis
current reference signal i d * and i q * can be executed for obtaining the 3-phase current
reference signals i a *, i b * and i c *. By comparing the actual current signals with the
current reference signals, the error signals are put to the current regulator for
generating a set of firing signals. With these firing signals, the power switches can be
turned on and off at the right time for tracing the reference signals.
Bi-directional
AC/DC converter
Linear vernier
generator
DC link
energy buffer
Current
sensor
Firing signals
ia,b,c
Encoder
Pulse
generator
Current
regulator
ia,b,c*
dq0/abc
transformation
Position
Velocity
estimation
vt
iq*
Current reference
signal calculation
Figure 6.16 System control block diagram.
130
id*=0
Items
TABLE 6.2 PMLV Machine Parameters

Value
Rated voltage (RMS)
60 V
Rated current (RMS)
5.6 A
Rated power
1 kVA
Phase number
PM remanence
1.2 T
PM coercivity
940 kA/m
Air-gap length
1 mm
Pole pitch
6.5 mm
Phase resistance
2.8 W
Direct-axis inductance
54.2 mH
Quadrature inductance
54.2 mH
Translator mass
3.2 kg
In order to testify the proposed control method to maximize the harvested wave
power, a simulated program is built based on Matlab/Simulink environment. A
PMLV machine prototype with 1 kVA is dimensioned as listed in Table 6.2. The
mathematical model of the generator is built according to (8)-(12). Figure 6.17 shows
the translator velocity waveform when a sinusoidal external force acts on the system.
Figure 6.18 depicts the 3-phase induced voltage waveforms with variable peak values
due to non-constant speed of the mover. With the speed information, the current
reference signals can be obtained. Thus, the actual current can be controlled by
current controller. Figure 6.19 and Figure 6.20 show the controlled direct-axis i d and
quadrature-axis current i q waveforms which both coincide with the reference signals.
131

The quadrature-axis current i q is controlled and the generator electromagnetic force
can be controlled accordingly. The generator force F em waveform is shown in Figure
6.21 It can be found that the generator force F em almost has a phase difference of 180
degree with the mover speed, thus the maximal wave power absorption can be
resulted. Figure 6.22 and Figure 6.23 depict the active power and reactive power
absorbed and contributed by the DC link energy buffer. It can be observed that the
generated power can achieve a peak value of more than 900 W with only less than
100 W power injected into the generator.
Figure 6.17 The mover speed waveform.
132
Figure 6.18 The generator induced voltage waveforms.
Figure 6.19 The controlled direct-axis current waveform.
Figure 6.20 The controlled quadrature-axis current waveform.

133
Force (kN)
Figure 6.21 The generator force waveform.
Figure 6.22 The active power generated by the generator.
134
Figure 6.23 The reactive power injected into the generator.
6.7 SUMMARY
In this chapter, the low-speed linear machine, PMLV machine, is applied for
harvesting the oceanic wave energy. Firstly, the various wave energy converter
techniques are overviewed. By comparing the complexity, the AWS based wave
energy converter is selected for the application. Then, the wave energy and AWS
based wave energy converter and the PMLV machine are discussed and
mathematically modeled. For maximizing the absorbed wave power, conditions for
the generator operation are discussed. Finally, performances of the generator and its
control strategy are assessed by simulations. The simulation results verify the
feasibility of the PMLV generator and the proposed control strategy for harvesting
the maximized wave energy.
135
CHAPTER 7
CONCLUSIONS AND RECOMMENDATIONS
7.1 CONCLUSIONS
This thesis deals with design, analysis and application of the PM linear machines
which exhibit high force density and low-speed operation features. Although three
topologies are studied, namely transverse-flux permanent magnet (TFPM) machine,
magnetic-geared machine (MGM) and permanent magnet vernier (PMV) machine,
the underlying operating principle of the three topologies is identical: the TFPM
machine and PMV machine belongs to the variable reluctance permanent magnet
(VRPM) machine family in which the flux-linkage to the armature windings changes
along with the interaction between a set of magnets and a set of teeth; the magnetic
gear and PMV machine use the so-called magnetic gear effect for converting the lowspeed mechanical speed into high-speed traveling magnetic field. The research
objectives have been achieved and concluded as following:
Discuss and study the problems caused by machine morphology conversion.
In the linear machines, the longitudinal end-effect which is incurred by the finite
length of the stator and mover is alleviated by multi-pole design and special
tuning the stator length. The phenomena such as large cogging force and
unsymmetrical magnetic circuit are greatly relieved. Thus, performances of the
PM linear machine can be improved and the control complexity is reduced.
136
Conclusions and Recommendations
The analytical calculation of magnetic field by solving Maxwells equation
in terms of magnetic scalar potential is developed. By considering the fieldmodulation area as a material with anisotropic permeability, the expressions of
the magnetic field can be concise and unified. Based on the analytical expression,
the machine structure parameters can be optimized for a better performance.
The electromagnetic performances of all the designed linear machines are
verified by finite element method (FEM). For TFPM machine, the high
temperature superconductor (HTS) bulk materials are ideally invited to shield the
leakage flux between teeth for maximizing the developed thrust. For linear MGM,
the two possible integration approaches are presented, and the static and dynamic
behaviors of the series integration machine are intensively studied. The
comparison with a gearless machine shows the MGM as the promising candidate
for low-speed application. For permanent magnet linear vernier (PMLV)
machine, the mathematical modeling is built for verifying the performance with
FEM. A 200W prototype is fabricated and experimentally evaluated on the test
bed. Its static electromagnetic effects agree well with the analytical results. In
addition, the problems for the low power factor are discussed and several
methods for improvement are proposed.
A PMLV machine of 1 kW for direct-drive wave power generation is
designed and dimensioned. The oceanic wave model, the system dynamic model
and the PMLV machine model are built and analyzed. In order to control the
generator thrust for harvesting a maximal power, a bidirectional AC/DC
converter is placed between the generator and the DC link. By using the field-
137

oriented control (FOC), the generator thrust can be forced to track the mover
speed, thus a maximal absorbed power can be resulted. The generating system is
verified by the simulation results which realize the expected goal.
Although the three machine topologies possess high force density, they have
their own advantages. The TFPM linear machine can exhibit a high thrust due to the
decoupling of magnetic loading and electric loading, however the sacrifice is the
complicated structure and low power factor. The linear MGM uses magnetic gear for
speed reduction, thus the machine can be designed at high-speed operation which
gives a high efficiency of the whole integrated machine. The PMLV machine adopts
the magnetic gear effect but only retains the low-speed mover which greatly
simplifies the machine structure. Therefore, the topology selection should depend on
the application.
7.2 RECOMMENDATIONS
For future research, some suggestions are given as following:
The minimization of the tooth-tip flux leakage needs to be further investigated.
Because of the low-speed design, multi-pole PMs design is usually adopted. The
adjacent PMs are partially short-circuited by the stator teeth which result in a low
utilization of the PM materials and a large leakage inductance.
Since all the mover design adopts a surface-mounted PMs, the direct-axis
inductance and quadrature-axis inductance is the same. The flux weakening
capability is limited by the non-salient structure.
138

The DC-field winding can be incorporated into the proposed machine for
hybrid excitation. With the DC-field for air-gap flux strengthening or weakening,
the machine performance can be improved to some extent.
The thermal modeling and mechanical realization are also important issues in
machine design and could be further investigated.
139
List of Figures
LIST OF FIGURES
Figure 1.1 Rack and pinion for linear-rotational motion conversion............................3
Figure 1.2 Idealized linear DC model...........................................................................3
Figure 1.3 DSPM machine............................................................................................7
Figure 1.4 FRPM machine ............................................................................................8
Figure 1.5 FSPM machine ............................................................................................9
Figure 1.6 PMHB machine .........................................................................................10
Figure
1.7
FRPM
Memory
machines.
(a)
Single-magnet
arrangement.
(b)Dual-magnet arrangement machine ......................................................10

Figure 1.8 3-phase TFPM machine.............................................................................12
Figure 1.9 PMV machine. (a) Rotational morphology. (b) Linear morphology .........13
Figure 1.10 A magnetic-geared machine ....................................................................14
Figure 2.1 FEM using triangles...................................................................................23
Figure 2.2 Vector potential presentation using a triangle............................................24
Figure 3.1 TFPM machine arrangements. (a) U-shaped core stator. (b) C-shaped core
stator ........................................................................................................30
Figure 3.2 Cross-section of proposed linear TFPM machine .....................................32
Figure 3.3 Linear TFPM machine with C-shaped cores .............................................32
Figure 3.4 Performance analysis. (a) Back-EMF waveforms. (b) Cogging force. (c)
Normal force............................................................................................33
Figure 3.5 2-phase linear TFPM machine...................................................................35
140
List of Figures
Figure 3.6 Performance analysis. (a) Back-EMF waveforms. (b) Cogging force
waveform.................................................................................................36
Figure 3.7 Cogging force component due to end-effect of stator core .......................38
Figure 3.8 Variation of cogging force with respect to physical stator length .............38
Figure 3.9 Proposed machine structure.......................................................................39
Figure 3.10 Principle of thrust force generation .........................................................41
Figure 3.11 Improved machine structure with HTS bulks ..........................................41
Figure 3.12 Magnetic flux distributions with and without HTS bulks under armature
winding excitation ...................................................................................43
armature winding excitation....................................................................44
Figure 3.14 Air-gap flux density waveforms with and without HTS bulks under PM
excitation .................................................................................................44
Figure 3.15 No-load EMF waveforms ........................................................................44
Figure 3.16 Thrust force waveforms with and without HTS bulks under different
armature winding excitations ..................................................................45
Figure 3.17 Normalized cogging force waveform with HTS bulks............................45
Figure 3.18 Comparison of thrust force waveforms with HTS bulks using 2-D FEM
and 3-D FEM...........................................................................................45
Figure 4.1 Gears. (a) Mechanical spur gear. (b) Magnetic spur gear..........................48
Figure 4.2 Coaxial magnetic gear ...............................................................................48
141
List of Figures
Figure 4.3 Structure of a tubular linear magnetic gear................................................50

Figure 4.4 Model of conventional tubular linear magnetic gear in cylindrical
coordinates...............................................................................................50
Figure 4.5 Magnetic circuit excited by PMs on high-speed mover ............................52
Figure 4.6 Magnetic permeance waveform.................................................................52
Figure 4.7 Comparison of inner air-gap flux densities excited by PMs on high-speed
mover. (a) Waveforms. (b) Spectra..........................................................57
Figure 4.8 Comparison of outer air-gap flux densities excited by PMs on low-speed
mover. (a) Waveforms. (b) Spectra..........................................................58
Figure 4.9 Comparison of static thrust force characteristic of low-speed mover
machine ...................................................................................................58
Figure 4.10 Linear tubular magnetic gear model. (a) Schematic diagram. (b)
Equivalent magnetic circuit of field-modulation region along r-direction.
(c) Equivalent magnetic circuit of field-modulation region along
z-direction................................................................................................63
Figure 4.11 Field regions and boundaries ...................................................................63
Figure 4.12 PM magnetization distribution ................................................................66
Figure 4.13 Magnetic scalar potentials at inner and outer air-gaps. (a) Due to PMs on
high-speed mover. (b) Due to PMs on low-speed mover ........................70
Figure 4.14 Magnetic flux density distributions due to PMs on high-speed mover. (a)
Radial component in inner air-gap. (b) Tangential component in inner
142
List of Figures
air-gap. (c) Radial component in outer air-gap. (d) Tangential component

in outer air-gap........................................................................................71
Figure 4.15 Magnetic flux density distributions due to PMs on low-speed mover. (a)
in outer air-gap........................................................................................72
Figure 4.16 Magnetic flux density distributions due to PMs on both movers. (a)
in outer air-gap........................................................................................73
Figure 4.17 Linear magnetic-geared machine. (a) Series integration. (b) Parallel
integration ...............................................................................................75
Figure 4.18 Flux distributions. (a) Series integration. (b) Parallel integration ...........76
Figure 4.19 Proposed linear magnetic-geared machine ..............................................78
Figure 4.20 Linear PM generator winding connection ...............................................79
Figure 4.21 Gear inner air-gap flux density waveform and spectrum ........................81
Figure 4.22 Gear outer air-gap flux density waveform and spectrum ........................81
Figure 4.23 Static thrust force waveform of linear magnetic gear part ......................82
Figure 4.24 Force transmission capability of linear magnetic gear part.....................82
Figure 4.25 Generator air-gap flux density waveform................................................82
Figure 4.26 Generator cogging force waveform.........................................................83
143
List of Figures
Figure 4.27 Induced no-load EMF waveforms of linear PM generator part...............83

Figure 4.28 Dynamic model of the linear mechanical system....................................83
Figure 4.29 Dynamic responses of proposed machine. (a) Buoy force. (b) Mover
speeds. (c) Induced EMF. (d) Power losses ............................................86
Figure 4.30 Power losses of conventional linear PM synchronous machine linear
magnetic-geared......................................................................................86
Figure 5.1 A linear tubular magnetic gear...................................................................90
Figure 5.2 A linear tubular vernier machine ...............................................................90
Figure 5.3 Vernier machine. (a) Vernier structure. (b) Air-gap permeance waveform91
Figure 5.4 PM vernier machine. (a) Active mover type. (b) Passive mover type93
Figure 5.5 Toothed-pole structure...............................................................................93
Figure 5.6 Geometry of the toothed-pole structure.....................................................95
Figure 5.7 PM-LVM analytical model in cylindrical coordinates ..............................95
Figure 5.8 Pth harmonic component of flux density versus tooth width and slot depth.
(a) 3-D view. (b) 2-D view........................................................................99
Figure 5.9 PM Vernier machines with active mover. (a) Stator morphologies. (b)
Mover morphologies...............................................................................100
Figure 5.10 PMLV machine model. (a) Phasor diagram. (b) Equivalent circuit. .....103
Figure 5.11 Flux density distribution in 3-D model..................................................107
Figure 5.12 No-load flux density waveform.............................................................109
Figure 5.13 Flux linkage in three phases due to PMs and excitation of Phase A .....109
144
List of Figures
Figure 5.14 No-load EMF waveform........................................................................109

Figure 5.15 Cogging force and static force waveforms ............................................110
Figure 5.16 Core loss at no-load and rated condition ...............................................110
Figure 5.17 Machine efficiency at different speeds ..................................................110
Figure 5.18 Proposed PMLV machine prototype......................................................111
Figure 5.19 Test-bed for PMLV machine..................................................................111
Figure 5.20 Measured no-load EMF waveform at variable speed............................111
Figure 5.21 Measured static thrust force...................................................................112
Figure 5.22 Model for no-load flux leakage coefficient calculation.........................113
Figure 6.1 Oscillating wave column. (a) A wave crest comes into the air chamber. (b)
A wave crest flows out of the air chamber............................................117
Figure 6.2 TAPCHAN wave energy converter. ........................................................118
Figure 6.3 A pendulor device wave converter...........................................................118
Figure 6.4 Pelamis.....................................................................................................119
Figure 6.5 Wave dragon. ...........................................................................................119
Figure 6.6 Hose pump...............................................................................................120
Figure 6.7 DWP float. ...............................................................................................121
Figure 6.8 Archimedes wave swing..........................................................................121
Figure 6.9 An ideal sinusoidal sea waveform. ..........................................................123
Figure 6.10 Wave power density...............................................................................124
Figure 6.11 Wave power per meter of wave front.....................................................124
145
List of Figures
Figure 6.12 AWS based wave energy converter. ......................................................125

Figure 6.13 Phasor diagram of vector control using I d = 0 strategy. ........................128
Figure 6.14 Passive power conditioning system.......................................................129
Figure 6.15 Bidirectional AC/DC converter. ............................................................129
Figure 6.16 System control block diagram. ..............................................................130
Figure 6.17 The mover speed waveform. .................................................................132
Figure 6.18 The generator induced voltage waveforms............................................133
Figure 6.19 The controlled direct-axis current waveform.. ......................................133
Figure 6.20 The controlled quadrature-axis current waveform. ...............................133
Figure 6.21 The generator force waveform. .............................................................134
Figure 6.22 The active power generated by the generator. .......................................134
Figure 6.23 The reactive power injected into the generator......................................135
146
List of Tables
LIST OF TABLES
Table 3.1 Specifications of Proposed Machine ...........................................................39
Table 4.1 Key Data of Linear Tubular Magnetic Gear................................................68
Table 4.2 Design Data of Linear Magnetic Gear.........................................................78
Table 4.3 Quantitative Comparison.............................................................................87
Table 5.1 Key Design Data .......................................................................................106
Table 5.2 Phase Inductance .......................................................................................112
Table 6.1 Performance Comparisons of Generators in 3 Topologies........................122
Table 6.2 PMLV Machine Parameters.......................................................................131
147
References
REFERENCES
[1] Brian Bowers, Sir Charles Wheatstone, London: The Institution of Electrical
Engineers, London, UK, 2001.
[2] L. Lu, Z. Chen, B. Yao, and Q. Wang, Desired compensation adaptive robust
control of a linear-motor-driven precision industrial gantry with improved
cogging force compensation, IEEE/ASME Transactions on Mechatronics, vol.
13, no. 6, December 2008, pp. 617-624.
[3] Y.G. Guo, J.X. Jin, J.G. Zhu, and H.Y. Lu, Design and analysis of a prototype
linear motor driving system for HTS maglev transportation, IEEE Transactions
on Applied Superconductivity, vol. 17, no. 2, June 2007, pp. 2087-2090.
[4] H. S. Lim, R. Krishnan, and N.S. Lobo, Design and control of a linear
propulsion system for an elevator using linear switched reluctance motor
drives, IEEE Transactions on Industrial Electronics, vol. 55, no. 2, February
2008, pp. 534-542.
[5] Z.Z. Liu, F.L. Luo, and M.A. Rahman, Robust and precision motion control
system of linear-motor direct drive for high-speed X-Y table positioning
mechanism, IEEE Transactions on Industrial Electronics, vol. 52, no. 2,
October 2005, pp. 1357-1363.
[6] F. Lin, P. Huang, and W. Chou, Recurrent-fuzzy-neural-network-controlled
linear induction motor servo drive using genetic algorithms, IEEE Transactions
on Industrial Electronics, vol. 54, no. 3, June 2007, pp. 1449-1461.
148
References
[7] K.T. Chau, D. Zhang, J.Z. Jiang, C. Liu and Y.J. Zhang, Design of a magneticgeared outer-rotor permanent-magnet brushless motor for electric vehicles,
IEEE Transactions on Magnetics, vol. 43, no. 6, June 2007, pp. 2504-2506.
[8] Y. Fan and K.T. Chau, Design, modeling, and analysis of a brushless doubly
fed doubly salient machine for electric vehicles, IEEE Transactions on Industry
Applications, vol. 44, no. 3, May-June 2008, pp. 727-734.
[9] S. Niu, K.T. Chau, J.Z. Jiang and C. Liu, Design and control of a new doublestator cup-rotor permanent-magnet machine for wind power generation, IEEE
Transactions on Magnetics, vol. 43, no. 6, June 2007, pp. 2501-2503.
[10] L. Jian, K.T. Chau and J.Z. Jiang, A magnetic-geared outer-rotor permanentmagnet brushless machine for wind power generation, IEEE Transactions on
Industry Applications, vol. 45, no. 3, May/June 2009, pp. 954-962.
[11] A. E. Fitzgerald, C. Kingsley, and S. D. Umans, Electric Machinery, Boston,
USA: McGraw-Hill Press, 2003.
[12] C. Liu, K.T. Chau, J.Z. Jiang and S. Niu, Comparison of stator-permanentmagnet brushless machines, IEEE Transactions on Magnetics, vol. 44, no. 11,
November 2008, pp. 4405-4408.
[13] Y. Liao and T.A. Lipo, A new doubly salient permanent magnet motor for
adjustable speed drives, Electric Machines and Power Systems, Vol. 22, No. 1,
pp. 259-270, 1994.
[14] M. Cheng, K.T. Chau, and C.C. Chan, Design and analysis of a new doubly
salient permanent magnet motor, IEEE Transactions on Magnetics, vol. 37, no.
4, July 2001, pp. 3012-3020.
149
References
[15] Y. Fan, K.T. Chau and M. Cheng, A new three-phase doubly salient permanent
magnet machine for wind power generation, IEEE Transactions on Industry
Applications, vol. 42, no. 1, January/February 2006, pp. 53-60.
[16] I. Boldea, J. Zhang, and S.A. Nasar, Theoretical characterization of flux
reversal machine in low-speed servo drives-the pole-PM configuration, IEEE
Transactions on Industry Applications, vol. 38, no. 6, Nov/Dec 2002, pp. 15491557.
[17] C. Wang, S.A. Nasar, and I. Boldea, Three-phase flux reversal machine
(FRM), IEE Proceedings Electric Power Applications, vol. 146, no. 2, March
1999, pp. 139-146.
[18] Z. Q. Zhu, Y. Pang, D. Howe, S. Iwasaki, R. Deodhar, and A. Pride, Analysis
of electromagnetic performance of flux-switching permanent-magnet machines
by nonlinear adaptive lumped parameter magnetic circuit model, IEEE
Transactions on Magnetics, vol. 41, no. 11, November 2005, pp. 4277-4287.
[19] W. Hua, M. Cheng, Z. Q. Zhu, and D. Howe, Analysis and optimization of
back-emf waveform of a novel flux-switching permanent magnet motor, IEEE
Transactions on Energy Conversion, vol. 23, no. 3, September 2008, pp.727-733.
[20] K.T. Chau, Y.B. Li, J.Z. Jiang and S. Niu, Design and control of a PM
brushless hybrid generator for wind power application, IEEE Transactions on
Magnetics, vol. 42, no. 10, October 2006, pp. 3497-3499.
[21] C. Liu, K.T. Chau, and J.Z. Jiang, A permanent-magnet hybrid brushless
integrated- starter-generator for hybrid electric vehicles, IEEE Transactions on
Industrial Electronics, vol. 57, no. 12, December 2010, pp. 4055-4064.
148
References
[22] C. Liu, K.T. Chau and X. Zhang, An efficient wind-photovoltaic hybrid
generation system using doubly-excited permanent-magnet brushless machine,
IEEE Transactions on Industrial Electronics, vol. 57, no. 3, March 2010, pp.
831-839.
[23] C. Yu and K. T. Chau, Design, analysis, and control of DC-Excited memory
motors, IEEE Transactions on Energy Conversion, vol. 26, no. 2, June 2011,
pp. 479-489.
[24] C. Yu, K.T. Chau, X. Liu and J.Z. Jiang, A flux-mnemonic permanent magnet
brushless motor for electric vehicles, Journal of Applied Physics, vol. 103, no.
7, April 2008, paper no. 07F103, pp. 1-3.
[25] Y. Gong, K.T. Chau, J.Z. Jiang, C. Yu and W. Li, Analysis of doubly salient
memory motors using Preisach theory, IEEE Transactions on Magnetics, vol.
45, no. 10, October 2009, pp. 4676-4679.
[26] M.R. Harris, Comparison of alternative topologies for VRPM (transverse-flux)
electrical machines, IEE Colloquium on New Topologies for Permanent
Magnet Machines, June 1997, pp. 2/1-2/7.
[27] S. Baserrah, K. Rixen and B. Orlil, Transverse flux machines with distributed
windings for in-wheel applications, Proceeding of IEEE International
Conference on Power Electronics and Drive Systems, November 2009, pp. 102108.
[28] A. Toba and T. A. Lipo, Novel dual-excitation permanent magnet vernier
machine, Proceeding of IEEE Industry Application Conference, vol. 4,
1999, pp. 2539-1999.
151
References
[29] Shuangxia Niu, S.L. Ho, W.N. Fu, and L.L. Wang, Quantitative comparison of
novel vernier permanent magnet machines, IEEE Transactions on Magnetics,
vol. 46, no. 6, June 2010, pp. 2032-2035.
[30] E. Spooner and L. Haydock, Vernier hybrid machines, IEE Proceedings of
Electric Power Applications, vol. 150, no. 6, November 2003, pp. 655-662.
[31] P.R.M. Brooking and M.A. Mueller, Power conditioning of the output from a
linear vernier hybrid permanent magnet generator for use in direct drive wave
energy converters, IEE Proceedings of Generation, Transmission and
Distribution, September 2005, Vol. 152, No. 5, pp. 673-681.
[32] L. Jian, K.T. Chau and J.Z. Jiang, A magnetic-geared outer-rotor permanentmagnet brushless machine for wind power generation, IEEE Transactions on
Industry Applications, Vol. 45, No. 3, May/June 2009, pp. 954-962.
[33] W.N. Fu and S.L. Ho, A quantitative comparative analysis of a novel fluxmodulated permanent-magnet motor for low-speed drive, IEEE Transactions
on Magnetics, vol. 46, no. 1, January 2010, pp. 127-134.
[34] R. Tang, Modern Permanent Magnet MachinesTheory and Design, China
Machine Press, Beijing, 1997.
[35] Z. Hu and G. Tu, Analysis and Calculation of Electromagnetic Field for Electric
Machines, China Machine Press, Beijing, 1982.
[36] J. Wang, G.W. Jewell, D. Howe, A general framework for the analysis and
design of tubular linear permanent magnet machines, IEEE Transactions on
Magnetics, vol. 35, no. 3, May 1999, pp. 1986-2000.
148
References
[37] Yong Wang, K.T. Chau, C.C. Chan, and J.Z. Jiang, Transient analysis of a new
outer-rotor permanent-magnet brushless DC drive using circuit-field-torque
coupled time-stepping finite-element method, IEEE Transactions on Magnetics,
vol. 38, no. 2, March 2002, pp. 1297-1300.
[38] S.J. Salon, Finite Element Analysis of Electrical Machines, Kluwer Academic
Publishers, Boston, 1995.
[39] Yu Gong, Research and Application of the Finite-Element Time-Stepping
Method for Permanent-Magnet Motor, Master Dissertation, Shanghai University,
2006.
[40] H. Weh, H. Hoffman, and J. Landrath, New permanent magnet excited
synchronous machine with high efficiency at low speeds, Proceeding of
International Conference on Electrical Machines, Pisa, Sep. 1988, pp. 35-40.
[41] J. Wang, K.T. Chau, J.Z. Jiang, and C. Yu, Design and analysis of a transverse
flux permanent magnet machine using three dimensional scalar magnetic
potential finite element method, Journal of Applied Physics, vol. 103, no. 7, Jan.
2008, pp. 7F107:1-3.
[42] Y. Gong, W. Zheng, D. Zhang, and J.Z. Jiang, Analysis of a transverse flux
machine with E-shaped stator using three dimensional scalar potential finite
element method, Proceeding of IEEE 6th International Power Electronics and
Motion Control Conference, Wuhan, China, 2009, pp. 1991-1994.
[43] Y. Guo, J.G. Zhu, P.A. Watterson, and W. Wu, Development of a PM
transverse flux motor with soft magnetic composite core, IEEE Transactions on
Energy Conversion, vol. 21, no. 2, June 2006, pp. 426-434.
153
References
[44] J. Lu, W. Ma, Z. Sun, and J. Xu, Research on static longitudinal end effect of
linear induction motor with multi-segment primary, Proceedings of the CSEE,
vol. 29, no. 33, 2009, pp. 95-101.
[45] C. Hwang, P. Li and C. Liu, Optimal design of a permanent magnet linear
synchronous motor with low cogging force, IEEE Transactions on Magnetics,
vol. 48, no. 2, 2012, pp. 1039-1042.
[46] C.C. Hwang, M.H. Wu, and S.P. Cheng, Influence of pole and slot
combinations on cogging torque in fractional slot PM motors, Journal of
Magnetism and Magnetic Materials, vol. 304, 2006, pp. e430-e432.
[47] S. Niu, K.T. Chau, and C. Yu, Quantitative comparison of double-stator and
traditional permanent magnet brushless machines, Journal of Applied Physics,
vol. 105, no. 7, Apr. 2009, pp. 7F105:1-3.
[48] R. Islam, I. Husain, A. Fardoun, and L. McLaughlin, Permanent-magnet
synchronous motor magnet designs with skewing for torque ripple and cogging
torque reduction, IEEE Transactions on Industry Applications, vol. 45, no. 1,
Jan.-Feb. 2009, pp. 152-160.
[49] M. Lukaniszyn, M. JagieLa, and R. Wrobel, Optimization of permanent magnet
shape for minimum cogging torque using a genetic algorithm, IEEE
Transactions on Magnetics, vol. 40, no. 2, March 2004, pp. 1228-1231.
[50] C. Breton, J. Bartolome, J.A. Benito, G. Tassinario, I. Flotats, C.W. Lu, and B.J.
Chalmers, Influence of machine symmetry on reduction of cogging torque in
permanent-magnet brushless motors, IEEE Transactions on Magnetics, vol. 36,
no. 5, September 2000, pp. 3819-3823.
148
References
[51] Z.Q. Zhu, Z.P. Xia, D. Howe, and P.H. Mellor, Reduction of cogging force in
slotless linear permanent magnet motors, IEE Proceedings of Electric Power
Applications, vol. 144, no. 4, July 1997, pp. 277-282.
[52] M. Inoue, and K. Sato, An approach to a suitable stator length for minimizing
the detent force of permanent magnet linear synchronous motors, IEEE
Transactions on Magnetics, vol. 36, no. 4, Jul. 2000, pp. 1890-1893.
[53] J. Wang, M. Inoue, Y. Amara, and D. Howe, Cogging-force-reduction
techniques for linear permanent-magnet machines, IEE Proceedings of Electric
Power Applications, vol. 152, no. 3, May 2005, pp. 731-738.
[54] G. Krabbes, G. Fuchs, W.-R. Canders, H. May, and R. Palka, High Temperature
Superconductor Bulk Materials. Weinheim: Wiley-VCH Verlag GmbH & Co.
KGaA, 2006.
[55] X. Liu, K.T. Chau, J.Z. Jiang and C. Yu, Design and analysis of interiormagnet outer-rotor concentric magnetic gears, Journal of Applied Physics, vol.
105, no. 7, April 2009, paper no. 07F101, pp. 1-3.
[56] K. Tsurumoto and S. Kikuchi, A new magnetic gear using permanent magnet,
IEEE Transactions on Magnetics, vol. 23, no. 5, September 1987, pp. 3622-3624.
[57] K. Atallah and D. Howe, A novel high-performance magnetic gear, IEEE
Transactions on Magnetics, vol. 37, no. 4, July 2001, pp. 2844-2846.
[58] K. Atallah, J. Wang, and D. Howe, A high-performance linear magnetic gear,
Journal of Applied Physics, vol. 97, no. 10, 2005, pp.10N516:1-3.
155
References
[59] K.T. Chau, D. Zhang, J.Z. Jiang and L. Jian, Transient analysis of coaxial
magnetic gears using finite element comodeling, Journal of Applied Physics,
vol. 103, no. 7, April 2008, paper no. 07F101, pp. 1-3.
[60] L. Jian and K.T. Chau, A coaxial magnetic gear with Halbach permanent
magnet arrays, IEEE Transactions on Energy Conversion, vol. 25, no. 2, June
2010, pp. 319-328.
[61] L. Jian, K.T. Chau, Y. Gong, J.Z. Jiang, C. Yu and W. Li, Comparison of
coaxial magnetic gears with different topologies, IEEE Transactions on
Magnetics, vol. 45, no. 10, October 2009, pp. 4526-4529.
[62] K.T. Chau, D. Zhang, J.Z. Jiang, C. Liu and Y.J. Zhang, Design of a magneticgeared outer-rotor permanent-magnet brushless motor for electric vehicles,
IEEE Transactions on Magnetics, vol. 43, no. 6, June 2007, pp. 2504-2506.
[63] L. Jian and K.T. Chau, Design and analysis of a magnetic-geared electroniccontinuously variable transmission system using finite element method,
Progress In Electromagnetics Research, Vol. 107, 47-61, 2010.
[64] R.C. Holehouse, K. Atallah, and J. Wang, Design and realization of a linear
magnetic gear, IEEE Transactions on Magnetics, Vol. 47, No. 10, 4171-4174,
2011.
[65] L. Jian, K.T. Chau, W. Li and J. Li, A novel coaxial magnetic gear using bulk
HTS
for
industrial
applications,
IEEE
Transactions
on
Applied
Superconductivity, vol. 20, no.3, 2010, pp. 981-984.

[66] Y. Zhang, K.T. Chau, J.Z. Jiang, D. Zhang and C. Liu, A finite element
analytical method for electromagnetic field analysis of electric machines with
148
References
free rotation, IEEE Transactions on Magnetics, Vol. 42, No. 10, 3392-3394,
2006.
[67] L. Jian and K.T. Chau, Analytical calculation of magnetic field distribution in
coaxial magnetic gears, Progress In Electromagnetics Research, Vol. 92, 1-16,
2009.
[68] B.L.J. Gysen, E.A. Lomonova, J.J.H. Paulides, and A.J.A. Vandenput,
Analytical and numerical techniques for solving Laplace and Poisson equations
in a tubular permanent-magnet actuator: Part I. semi-analytical framework,
IEEE Transactions on Magnetics, Vol. 44, No. 7, 1751-1760, 2008.
[69] B. Bianchi, Analytical field computation of a tubular permanent-magnet linear
motor, IEEE Transactions on Magnetics, Vol. 36, No. 5, 3798-3801, 2000.
[70] A. Toba and T. A. Lipo, Generic torque-maximizing design methodology of
surface permanent-magnet vernier machine, IEEE Transactions on Industry
applications, vol. 36, no. 6, November/December 2000, pp. 1539-1546.
[71] J. Li, K.T. Chau, J.Z. Jiang, C. Liu, and W. Li, A new efficient permanentmagnet vernier machine for wind power generation, IEEE Transactions on
Magnetics, vol. 45, no. 6, June 2010, pp. 1475-1478.
[72] C.H. Lee, Vernier motor and its design, IEEE Transactions on Power
Apparatus and System, vol. 82, no. 66, June 1963, pp. 343-349.
[73] A. Ishizaki, T. Tanaka, K. Takasaki, and S. Nishikata, Theory and optimum
design of PM vernier motor, Proceeding of Seventh International Conference
on Electrical Machines and Drives, September 1995, pp. 208-212.
157
References
[74] Shuangxiu Niu, S.L. Ho, and W.N. Fu, A novel direct-drive dual-structure
permanent magnet machine, IEEE Transactions on Magnetics, vol. 46, no. 6,
June 2010, pp. 2036-2039
[75] S.L. Ho, Shuangxia Niu, and W.N. Fu, Design and comparison of vernier
permanent magnet machines, IEEE Transactions on Magnetics, vol. 47, no. 10,
October 2010, pp. 3280-3283.
[76] Chunhua Liu, Jin Zhong, and K.T. Chau, A novel flux-controllable vernier
permanent-magnet machine, IEEE Transactions on Magnetics, vol. 47, no. 10,
October 2011, pp. 4238-4241.
[77] D. Yi, K. T. Chau, M. Cheng, Y. Fan, Y. Wang, W. Hua, and Z. Wang, Design
and analysis of linear stator permanent magnet vernier machines, IEEE
Transactions on Magnetics, vol. 47, no. 10, October 2011, pp. 4219-4222.
[78] S. Chung, J. Kim, B. Woo, D. Hong, J. Lee, and D. Koo, A novel design of
modular three-phase permanent magnet vernier machine with consequent pole
rotor, IEEE Transactions on Magnetics, vol. 47, no. 10, October 2011, pp.
4215-4218.
[79] M.R. Harris, G.H. Pajooman, and S.M. Abu Sharkh, The problem of power
factor in VRPM (transverse-flux) machines, Proceeding of Eighth International
Conference on Electrical Machines and Drives, September 1997, pp. 386-390.
[80] K.T. Chau, Y.S. Wong and C.C. Chan, An overview of energy sources for
electric vehicles, Energy Conversion and Management, vol. 40, no. 10, July
1999, pp. 1021-1039.
148
References
[81] K.T. Chau and Y.S. Wong, Hybridization of energy sources in electric
vehicles, Energy Conversion and Management, vol. 42, no. 9, June 2001, pp.
1059-1069.
[82] This Renewable Energy Source is Swell, http://www.spectrum.ieee.org/
energy/renewables/this-renewable-energy-source-is-swell.
[83] Electrical & Mechanical Services Department, Study on
the potential
application of renewable energy in Hong Kong stage 1 study report,

Government of Hong Kong SAR, December 2002.
[84] Environmental Protection Department, 2007 Marine water quality in Hong Kong,
Government of Hong Kong SAR, 2008.
[85] Electrical & Mechanical Services Department, Hong Kong energy end-use data
2008, Government of Hong Kong SAR, 2008.
[86] D.V. Evans, The Oscillating water column wave-energy device, IMA Journal
of Applied Mathematics, vol. 22, no. 4, December 1978, pp. 423-433.
[87] K.J. Tjugen, TAPCHAN ocean energy project, Proceedings of European
Wave Energy Symposium, July 1993, pp. 265-276.
[88] T. Watabe, H. Yokouchi, H. Kondo, M. Inoya and M. Kudo, Installation of the
new pendulor for the 2nd stage sea test, International Offshore and Polar
Engineering Conference, May/June, 1999, pp. 133-138.
[89] R. Henderson, Design, simulation, and testing of a novel hydraulic power takeoff system for the Pelamis wave energy converter, Renewable Energy, vol. 32,
no. 2, February 2006, pp. 271-283.
159
References
[90] J.P. Kofoed, P. Frigaard, E. Friis-Madsen and H.C. Sorensen, Prototype testing
of the wave energy converter wave dragon, Renewable Energy, vol. 32, no. 2,
February 2006, pp. 181-189.
[91] T.W. Thorpe, A brief review of wave energy, Department of Trade and Industry,
UK, Report No. ETSU-R-120, 1999.
[92] M.G. de Sousa Prado, F. Gardner, M. Damen, and H. Polinder, Modelling and
test results of the Archimedes wave swing, Proceedings of the Institution of
Mechanical Engineers, Part A: Journal of Power and Energy, vol. 220, no. 8,
December 2006, pp. 855-868.
[93] A. Muetze and J.G. Vining, Ocean wave energy conversion - a survey,
Proceeding of IEEE Industry Applications Society Annual Meeting, October
2006, pp. 1410-1417.
[94] O.M. Philips, The Dynamics of the Upper Ocean. Cambridge: Cambridge
University Press, 1977.
[95] L.H. Holthuijsen, Waves in Oceanic and Coastal Waters, Cambridge:
Cambridge University Press, 2007.
[96] J. Falnes, Ocean Waves and Oscillating Systems: Linear Interactions including
Wave-energy Extraction, 2002, Cambridge University Press.
[97] J. Vining, T.A. Lipo, and G. Venkataramanan, Self-synchronous control of
doubly-fed linear generators for ocean wave energy applications, IEEE Energy
Conversion Congress and Exposition, 2010, pp. 2386-2391.
148
References
[98] V.D. Colli, P. Cancelliere, F. Marignetti, R.D. Stefano, and M. Scarano, A
tubular-generator drive for wave energy conversion, IEEE Transactions on
Industrial Electronics, vol. 53, no. 4, August 2006, pp. 1152-1159.
161
Appendices
APPENDIX A
DETERMINATION OF THE COEFFICIENTS
Let
E ( f1 , f 2 , r , n)
I n ( f1r )
I n ( f 2r )
F ( f1 , f 2 , r , n)
K n ( f1r )
I n ( f 2r )
G ( f1 , f 2 , r , n)
K n ( f1r )
K n ( f2r )
H ( f1 , f 2 , r , n)
I n ( f1r )
K n ( f 2r )
0
fm _ r fm _ z
c0
G (n , pn , rfo ,0) c0G (n , pn , rfo ,1) F (n , n , ro ,0) H (n , pn , rfo ,0) c0 H (n , pn , rfo ,1)
H ( pn , pn , rfo ,0) H ( pn , pn , rfo ,1)
F (n , pn , rfo ,0) c0 F (n , pn , rfo ,1) F (n , n , ro ,0) E (n , pn , rfo ,0) c0 E (n , pn , rfo ,1)
F ( pn , pn , rfo ,0) F ( pn , pn , rfo ,1)
S c0 H ( pn , n , rfi ,0) H ( pn , n , rfi ,1) T c0G ( pn , n , rfi ,0) G ( pn , n , rfi ,1)
c0 H (n , n , rfi ,0) H (n , n , rfi ,1)
S c0 E ( pn , n , rfi ,0) E ( pn , n , rfi ,1) T c0 F ( pn , n , rfi ,0) F ( pn , n , rfi ,1)
c0 F (n , n , rfi ,0) F (n , n , rfi ,1)
U rm H (n , n , rm ,0) H (n , n , rm ,1) V rm 1
rm H (n , n , rm ,0) H (n , n , rm ,1)
U rm 1 V rm F (n , n , rm ,0) F (n , n , rm ,1)
rm F (n , n , rm ,0) F (n , n , rm ,1)
162
Appendices
anIV F (n , n , ro ,0)
Then, it yields:
2 R0 M n
W XF (n , n , ri ,0)I 0 (n ri ) n2
BnIV
2 R0 M n
K 0 ( n rm )H ( n , n , rm ,0) H ( n , n , rm ,1)W XF ( n , n , ri ,0)
Mn
rm n K1 ( n rm )H ( n , n , rm ,0) H ( n , n , rm ,1)W XF ( n , n , ri ,0)
2 R0 M n F ( n , n , ri ,0)
I ( n rm )F ( n , n , rm ,0) F ( n , n , rm ,1)W XF ( n , n , ri ,0)
M n F ( n , n , ri ,0)
rm n I1 ( n rm )F ( n , n , rm ,0) F ( n , n , rm ,1)W XF ( n , n , ri ,0)
2
n
2
n 0
AnIV anIV BnIV

AnIII SBnIV
BnIII TBnIV
AnII UBnIV
BnII VBnIV
AnI WBnIV
Mn
rmn K1 (n rm )H (n , n , rm ,0) H (n , n , rm ,1)
BnI XBnIV
163
2 R0 M n
K 0 (n rm )H (n , n , rm ,0) H (n , n , rm ,1)
2
n
2 R0 M n
I (n rm )F (n , n , rm ,0) F (n , n , rm ,1)
2
n 0
Mn
rmn I1 (n rm )F (n , n , rm ,0) F (n , n , rm ,1)
Appendices
APPENDIX B
ASSEMBLY SCHEMATICS FOR PERMANENT MAGNET LINEAR
VERNIER MACHINE
1. Mover (Unit: mm)
164
Appendices
2. stator
Wiring terminals
Coils
Back-iron
165
Appendices
3. Machine assembly
166
Publications
PUBLICATIONS
Journal papers
[1] Wenlong Li and K.T. Chau, Analytical field calculation for linear tubular
magnetic gears using equivalent anisotropic magnetic permeability, Progress In
Electromagnetics Research, vol. 127, April 2012, pp. 155-171.
[2] Wenlong Li, K.T. Chau, and J.Z. Jiang, Application of linear magnetic gears for
Pseudo-direct-drive oceanic wave energy harvesting, IEEE Transactions on
Magnetics, vol.47, no.10, 2011, pp.2624-2627.
[3] Wenlong Li, K.T. Chau, and Jiangui Li, Simulation of a tubular linear magnetic
gear using HTS bulks for field modulation, IEEE Transactions on Applied
Superconductivity, vol.21, no.3, 2010, pp.1167-1170.
[4] Wenlong Li and K.T. Chau, Design and analysis of a novel linear transverse flux
permanent magnet motor using HTS magnetic shielding, IEEE Transactions on
Applied Superconductivity, vol. 20, no. 3, June 2010, pp. 1106-1109.
[5] Wenlong Li and K.T. Chau, A linear magnetic-geared free-piston generator for
range-extended electric vehicles, Journal of Asian Electric vehicles, vol. 8, no.1,
2010, pp. 1345-1349.
Conference papers
[6] Wenlong Li, K.T. Chau, Christopher Lee, Optimal design and implementation
of a permanent magnet linear vernier machine for direct-drive wave energy
167
Publications
extraction, Proceeding of 38th Annual Conference of the IEEE Industrial Electronics

Society, 2012, Paper No. MF-005487.
[7] Wenlong Li, K.T. Chau, Chunhua Liu, and Zhen Zhang, A linear vernier
permanent magnet generator for Archimedes-wave-swing based wave farm,
Proceeding of IEEE International Magnetics Conference, 2012, Paper No.AU-10.
[8] Wenlong Li and K.T. Chau, Simulation of a linear permanent magnet vernier
machine for direct-drive wave power generation, Proceeding of International
Conference on Electrical Machines and Systems, 2011 Paper No. 681.
[9] Wenlong Li, K.T. Chau, and Jiangui Li, Design of a linear magnetic-geared
machine for direct-drive wave energy harvesting, Proceeding of 55th MMM
Conference, 2010, Paper No. FU-09.
[10] Wenlong Li, Shuang Gao, Diyun Wu, and Xiaodong Zhang, Design of a linear
magnetic-geared free-piston generator for series hybrid electric vehicles, Proceeding
of Vehicle Power and Propulsion Conference 2010, Sept. 1-3, 2010, Lille, France.
[11] Wenlong Li, K.T. Chau, J.Z. Jiang, and Chunhua Liu, A linear magnetic-geared
machine system for direct-drive wave power generation, Proceeding of 11th Joint
MMM-Intermag Conference, 2010, Paper No.CR-02.
[12] Wenlong Li, K.T. Chau, Jiangui Li, and Xiaodong Zhang, Wave power
generation and its feasibility in Hong Kong, Proceeding of 8th IET International
Conference on Advances in Power System Control, Operation and Management,
2009, Paper No.134.
168
Publications
[13] Wenlong Li, K.T. Chau, Yu Gong, and J.Z. Jiang, A new linear transverse flux
permanent magnet generator for wave energy conversion, Proceeding of IEEE
International Magnetics Conference, 2009, Paper No.BU-04.
169

Full Text

Hochgeladen von

Dokumentinformationen

Originalbeschreibung:

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Full Text

Hochgeladen von

Copyright:

Verfügbare Formate

Title

Design, analysis and application of low-speed permanent

The author retains all proprietary rights, (such as patent rights)

Design, Analysis and Application of Low-speed

A thesis submitted in partial fulfillment

Abstract of thesis entitled

Objective and Contribution.................................................4

Overview of Emerging Advanced PM Machines ...............5

Stator-PM Machines ..................................................... 6

Variable Reluctance Machines.................................... 11

Magnetic Gear and its Integrated Machines ............... 13

Integral Form .............................................................. 18

Differential Form ........................................................ 18

Magnetic Scalar Potential ........................................... 20

Magnetic Vector Potential........................................... 20

Boundary Conditions .................................................. 21

Finite Element Method......................................................22

Parameter Calculation .......................................................26

Induced Voltage Calculation ....................................... 26

Inductance Calculation ............................................... 26

MAGNET LINEAR MACHINES

Linear Morphology of Transverse-flux Machines ............30

Cogging Force Migration..................................................35

Proposed TFPM Linear Machine and its Improvement....38

Proposed Machine Structure....................................... 38

Thrust Force Generation Principle.............................. 40

Analytical Results ....................................................... 41

LINEAR MAGNETIC GEARS AND THE

Linear Magnetic Gears......................................................50

Operating Principle ..................................................... 50

Transmission Capacity Improvement ......................... 55

Analytical Computation ....................................................59

Analytical Model ........................................................ 59

Magnetic Field Solution ............................................. 64

Calculation Results and Verification .......................... 68

Linear Magnetic-geared Machines ...................................74

Linear Machine Selection ........................................... 76

Performance Analysis ................................................. 79

Quantitative Comparison ..................................................86

PERMANENT MAGNET LINEAR VERNIER

Vernier Structure ...............................................................91

Operating Principle ..................................................... 94

Design Procedure ............................................................100

Mathematical Modeling ..................................................103

Discussion ....................................................................... 112

Summary ......................................................................... 114

Introduction ..................................................................... 115

Overview of Wave Energy Harvesting Techniques ........ 116

Rotational Type......................................................... 116

Linear Type ............................................................... 121

Modeling of the Oceanic Waves .....................................123

Modeling of Direct-drive Wave Energy Converter.........125

Modeling of PMLV Machine ..........................................126

Power Conditioning System............................................128

Figure 1.1 Rack and pinion for linear-rotational motion conversion.

Figure 1.2 Idealized linear DC machine model.

1.2 OBJECTIVE AND CONTRIBUTION

Extending the promising rotational PM machine morphologies into linear

Analyzing electromagnetic performances of the proposed PM linear machine

1.3 OVERVIEW OF EMERGING ADVANCED PM MACHINES

where L is the synchronous inductance, i is the armature current, Y PM is the armature

1.3.1 Stator-PM Machines