Mixed flow artificial heart pump with axial self-bearing motor

With the objective of developing a small blood pump with a levitated rotor, we propose a design scheme for an axial-type self-bearing motor. The axial type motor, which is basically composed of a disc motor and an axial magnetic bearing, controls both the rotation and the axial translation of the rotor. The proposed motor is similar to the bidirectional disc motor, except for changing the magnitudes of both sides of the flux to control the axial attractive force. However, the radial and tilt directions rely on passive stability, and, therefore, the rotor has poor damping which might cause damage to blood constituents. The design includes a hydrodynamic bearing for improving radial support properties. Finally, to confirm its functionality, an experimental prototype of the proposed motor has been constructed and incorporated into a mixed flow blood pump. The results indicated that the bidirectional axial-type self-bearing motor had high efficiency as a small continuous flow blood pump, delivering sufficient flow rate and pressure head.     

Closed-loop performance of a six degree-of-freedom precision magnetic actuator

The slotless permanent-magnet self-bearing motor (SBM) technology is used to fully provide radial bearing and motoring functionality simultaneously in a six degree-of-freedom magnetic actuator for potential precision pointing and tracking applications in space such as intersatellite laser communications. This novel precision magnetic actuator incorporates two SBMs to produce both radial bearing forces and motoring torque, and one active magnetic bearing to provide axial support, and thus allows for a complete electromagnetic suspension and precision noncontact pointing. An analytical representation of the overall dynamic system is presented for controller design. Six decoupled proportional-integral-derivative controllers are designed, and a feedback control system is implemented. The closed-loop performance confirms experimentally that the precision magnetic actuator is capable of smooth angular slewing while maintaining good stabilization. The most encouraging result is that the actuator achieves a high angular resolution of 754 nrad over a large azimuth range of /spl plusmn/45/spl deg/.     

Design and analysis of permanent magnet-type bearingless motors

Magnetic bearings have been applied to high speed and high power electric machines for machine tools, turbomolecular pumps, etc. Bearingless motors can be expected to realize high speed and high power ratings because magnetic bearing functions are integrated into high-speed motors, which results in a simplified structure with short shaft length. In this paper, permanent magnet type bearingless motors, having built-in capability to achieve high power factor and high efficiency, are proposed. The shaft is suspended and centered by electromagnetic forces produced by currents in the additional radial force windings of the stator slots. At first the relationships of these radial forces, currents and voltages are derived analytically. Moreover, the relationships between radial forces and permanent magnet thickness are found. The optimal permanent magnet thickness is determined. The ratio of radial force over current as well as the peak air-gap flux density are discussed. These relationships are confirmed by prototype machines     

Nonlinear Feedback Control of a Bearingless Brushless DC Motor

The demands on bearingless drive configurations concerning performance as well as costs are high. The proposed bearingless brushless dc motor consists of five concentrated coils in a symmetrical arrangement, which generate radial forces and motor torque simultaneously in interaction with a permanent-magnet-excited disk-shaped rotor. Additionally, tilting deflection and the axial position of the rotor are stabilized passively by means of magnetic reluctance forces. Thus, system costs can be reduced significantly compared to a conventional bearingless motor setup, which actively stabilizes all 6 DOF. Due to the nonlinearity of the plant, the use of linear control design methods alone is not suitable for achieving a high operation performance. This paper introduces a novel radial position and motor torque control algorithm for a bearingless brushless dc motor based on the theory of feedback linearization. Thereby, the combined model of translatory and rotatory dynamics can be split into independent linear systems by means of a nonlinear change of system coordinates and a static-state feedback. Experimental results demonstrate the effectiveness of the proposed approach.      

Adaptive robust motion control of linear motors for precision manufacturing

Linear motors offer several advantages over their rotary counterparts in many precision manufacturing applications requiring linear motion; linear motors can achieve a much higher speed and have the potential of gaining a higher load positioning accuracy due to the elimination of mechanical transmission mechanisms. However, these advantages are obtained at the expense of added difficulties in controlling such a system. Specifically, linear motors are more sensitive to disturbances and parameter variations. Furthermore, certain types of linear motors such as the iron core are subject to significant nonlinear effects due to periodic cogging force and force ripple. To address all these issues, the recently proposed adaptive robust control (ARC) strategy is applied and a discontinuous projection-based ARC controller is constructed. In particular, based on the special structures of various periodic nonlinear forces, design models consisting of known basis functions with unknown weights are used to approximate those unknown nonlinear forces. On-line parameter adaptation is then utilized to reduce the effect of various parametric uncertainties such as unknown weights, inertia, and motor parameters while certain robust control laws are used to handle the uncompensated uncertain nonlinearities effectively for high performance. The resulting ARC controller achieves a guaranteed transient performance and a guaranteed final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, in the presence of parametric uncertainties, the controller achieves asymptotic output tracking. Extensive simulation results are shown to illustrate the effectiveness of the proposed algorithm.     

A new friction-type piezoelectric motor utilizing mechanism of thestrain wave gearing

A motor that utilizes multilayer piezoelectric devices for electromechanical power conversion and the mechanism of the strain wave gearing for generation of traveling motive forces is proposed. The construction, basic operation, and torque generation mechanism of the motor are described. The motor can be operated under variable frequency. Experimental results on the prototype motor made of metals are also presented. The feasibility of the proposed motor is verified, and the possibility of realizing piezoelectric motors with a larger torque is shown     

图解分析法讲解无轴承电机磁悬浮控制原理

在回顾电机中的洛伦兹力和麦克斯韦力基础上,本文通过理论解析介绍了无轴承电机产生稳定径向悬浮力的基本条件。笔者以二极悬浮控制四极无轴承电机为例,针对几个典型时刻产生出的径向磁悬浮力,对无轴承电机磁悬浮控制原理进行了图解分析。教学实践表明,采用本文解析推导和图解分析相结合的讲解方法,便于快速且深入地理解掌握无轴承电机这种新型电机的基本工作原理。     

关于讲解"无轴承电机径向悬浮力"

本文在回顾电机中的洛伦兹力和麦克斯韦力基础上,通过介绍无轴承电机基本结构,径向悬浮力产生机理和悬浮力系统的运动方程等来讲解无轴承电机的径向悬浮力,并且介绍了教学过程中的实践经验。通过采用本文的讲解方法,学生易于理解和掌握无轴承电机的结构和径向悬浮力产生原理。     

Control of linear motor machine tool feed drives for end milling: Robust MIMO approach

Linear motors are getting promising for use as high speed, high accuracy machine tool feed drives. The cutting force in the machining process are directly reflected to the linear motor due to no gearing mechanism. To achieve high accuracy machining, the controller for the linear motor system should be designed to compensate for the cutting force.

In this work, a MIMO H_∞ controller for the linear motor machine tool feed drives has been designed to reduce tracking errors induced by cutting forces for end milling. The controller is designed using normalized coprime factorization method for the dynamic model of the linear motor system. The model includes constant in-line and cross coupling force gain, since the feedback cutting force can be considered as the product of the constant gain and the moving velocity of each axis.

Analysis of the structured singular value shows that the designed controller has good robust performance despite wide variations of the cutting force and physical parameters. It is directly implemented on a linear motor X–Y table which is mounted on a milling machine to have cutting experiments via a DSP board. Experimental results verified effectiveness of the proposed scheme to suppress the effects of the cutting force in the high feed rate.     

Online Diagnosis of Induction Motors Using MCSA

In this paper, an online induction motor diagnosis system using motor current signature analysis (MCSA) with advanced signal-and-data-processing algorithms is proposed. MCSA is a method for motor diagnosis with stator-current signals. The proposed system diagnoses induction motors having four types of faults such as breakage of rotor bars and end rings, short-circuit of stator windings, bearing cracks, and air-gap eccentricity. Although MCSA is one of the most powerful online methods for diagnosing motor faults, it has some shortcomings, which degrade performance and accuracy of a motor-diagnosis system. Therefore, advanced signal-and-data-processing algorithms are proposed. They are composed of an optimal-slip-estimation algorithm, a proper-sample-selection algorithm, and a frequency auto search algorithm for achieving MCSA efficiently. The proposed system is able to ascertain four kinds of motor faults and diagnose the fault status of an induction motor. Experimental results obtained on 3.7-kW and 30-kW three-phase squirrel-cage induction motors and voltage-source inverters with a vector-control technique are discussed     

Impact of Stator Winding of a Five-Phase Permanent-Magnet Motor on Postfault Operations

The performance of a five-phase permanent-magnet (PM) motor is analyzed under postfault conditions. Proper current control strategies are adopted so as to guarantee safe drive operation after any fault occurrence. This paper covers three fault types: the open circuit condition of a single phase, the open circuit condition of two nonadjacent phases, and the open circuit condition of two adjacent phases. Two motors with two different windings (with double and single layers, respectively) are compared under each fault type. This paper aims to highlight the difference in the motor performance of motors adopting these two different windings. A further novelty of this paper is that the proper current control strategies are derived analytically, including not only the fundamental harmonic of the flux-density distribution but also the higher harmonics. It is shown that these harmonics cause high torque oscillations. Owing to this analytical approach, the strategy can be applied to a variety of PM motors. In addition, the postfault current waveforms remain sinusoidal, making the current control easier. For each fault type, the results of both simulations and experimental tests are included. A good match between analytical predictions and experimental tests validates the proposed current control strategies.     

High temperature superconductivity applied to electric motors

The application of high temperature superconductors to electric motors is discussed. Both the advantages and limitations of using superconductors in motors are reviewed. A synchronous motor with a high-temperature superconductor field winding for pump and fan drive applications is described and some of its unique features are identified. A 10000-hp superconducting motor design and its advantages in terms of improved efficiency and reduced size are described. The performance requirements for the superconducting wire necessary for motor applications are considered, and the progress being made toward realizing these requirements is assessed     

Development and implementation of an FPGA based fractional order controller for a DC motor

Fractional calculus has been gaining more and more popularity in control engineering in numerous fields, including mechatronic applications. One of the most common applications in all mechatronic domains is the control of DC motors. Several control algorithms have been proposed for such motors, ranging from traditional PID algorithms, to the more sophisticated advanced methods, including fractional order controllers. Nevertheless, very little information regarding the implementation problems of such fractional algorithms exists today. The paper proposes a simple approach for designing a fractional order PI controller for controlling the speed of a DC motor. The resulting controller is implemented on an FPGA target and its performance is compared to other possible benchmarks. The experimental results show the efficiency of the designed fractional order PI controller. Beside the initial DC motor, two other different DC motors are also used in the experiments to demonstrate the robustness of the controller.     

Pulse motor with high-temperature superconducting levitation

A simple but stable noncontact high T_c superconducting levitation system with a vertical shaft has been presented. The system consists of a superconductor and permanent magnets. In the system, only a high T_c superconductor supports the lower end of the shaft, and the other end is supported by two ordinary permanent magnets. Since the restoring force is small with respect to the radial direction, the system becomes unstable when the force acts in the radial direction, so it is difficult to drive the shaft by electromagnetic forces when using motors. A driving system using electromagnets has been presented, in which the balanced forces act on two opposite sides of the disc-type rotor in the axial direction. Since the system has no unbalanced force from an analytical point of view, the rotor will be able to rotate without control. In the system, however, since there is eccentricity between the center of rotation and the magnetic center, vibrations are generated. This study also presents an optimal control method for the vibrations. To validate the proposed system and the control method experimental tests have been carried out     

Motor control and torque coordination of an electric vehicle actuated by two in-wheel motors

In this research, an electric vehicle actuated by two in-wheel DC motors is developed. By properly coordinating the motor torques, both drive-by-wire and electrical steering can be achieved. Two critical issues respectively related to the design of motor controllers and the coordination of the two motor torques under control saturation are investigated in this study. Firstly, as for the in-wheel motors that are used for driving and steering simultaneously, their operation covers a wider dynamic range that forward acceleration (deceleration), and reverse acceleration (deceleration) may occur alternately. To perform driving and steering smoothly and efficiently, each motor should be switched to an appropriate mode to generate the torque demanded. Secondly, during the high-speed maneuvering, the high back-emf voltage in the motor coil substantially reduces the motor’s torque generating capability. Since the electrical steering depends on the differential torque of two wheels, when electrical steering is demanded in this case, torque/current saturation may occur in either one of the motors and the electrical steering performance could be seriously degraded. To address these issues, controllers of two levels are proposed. For the low-level controller (the motor controller), it operates the motor automatically in an appropriate mode for performance and efficiency consideration. An input transformation is introduced to cancel the nonlinearity in current dynamics so as to control the motor torque easily and precisely regardless of mode switching. For the high-level controller (the torque coordination controller), besides generating reference commands to the low-level controllers, during control saturation it can also properly re-distributes control signals to maintain consistent steering performance and provides compensation for integrator windup. The control system is implemented and the performance is experimentally and numerically validated.     

Development and Analysis of a High Thrust Force Direct-Drive Linear Actuator

This paper presents the design and analysis of a novel high thrust force linear actuator with high backdrivability. This motor consists of a mover and a stator with spiral (helical) structure. The mover moves spirally in the stator, and the linear motion is extracted to drive the load. This motor is a direct-drive system and highly backdrivable. In this paper, a basic model and thrust-force/torque equations are proposed, and finite-element method analysis and experimental results of a prototype are presented. From experiments, the designed spiral motor achieves 2000-N rated thrust force. The thrust-force capabilities of the spiral motor are compared with other linear motors. It is confirmed that the spiral motor is almost close to the latest state of the art in linear motor technology.     

Robust adaptive control of sawyer motors without current measurements

We address nonlinear robust adaptive dynamic output feedback of voltage-fed dual-axis linear stepper (Sawyer) motors using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. A coordinate transformation is proposed to decouple the model into three third-order subsystems along with an appended fifth-order subsystem. The controller utilizes only position and velocity measurements in each axis and achieves practical stabilization of position tracking errors. Adaptations are utilized so as not to require any knowledge of electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller corrects for the yaw rotation to achieve synchrony of motor and platen teeth.     

Internal Permanent Magnet Motor Design for Electric Vehicle Drive

Power compaction and high efficiency are two key advantages of permanent magnet motors. This paper proposes an enhanced internal permanent magnet motor that delivers high torque, power compaction, and exceptionally high efficiency in the same operation area. The advantage of the proposed scheme is the magnetic flux accumulation in the air gap, which allows much higher values of magnetic flux density, compared to a surface permanent magnet motor of the same size. The original contribution of this paper resides on the adopted motor configuration, enabling to efficiently utilize the energy stored in the permanent magnet and to provide total loss minimization at the most frequently used speed range.     

Linear switched reluctance motor for traction propulsion system using configuration of electric locomotive

The linear switched reluctance motor (LSRM) has emerged to be the most promising alternative due to the development of power controllers in the past years. In this paper, a novel configuration of LSRM with an active-stator-passive-translator is proposed for the traction propulsion system. It comprises a short active stator retrofitted with the transit mover, while a long stationary translator is considered as rail guidance of the system. In this paper, high grade M-19 cold-rolled non-oriented steel is utilized for manufacturing the stator and translator cores. The proposed configuration of electric locomotive makes use of force generated from linear switched reluctance motors to propel it on parallel rails and pushes the coaches attached to the wagon for carrying the functional load. Finally, the motor characterization is performed in ANSYS electromagnetic simulation tool, to determine the applied forces, coupling inductance, and strength of magnetic field of the proposed LSRM for the traction propulsion system. Thus, the experimental evaluation is carried out for various parameters to depict the sustainability and suitability of the LSRM for high-speed transition system.     

Brushless permanent magnet (BPM) motor drive system usingload-commutated inverter

The goal of this work is to develop a brushless permanent magnet (BPM) motor drive system with low total system cost, high reliability and adequate performance for high-volume production and application to commercial appliances. The power converter used is a low-cost thyristor-based load-commutated inverter (LCI). Although LCIs have been used to supply sinusoidally excited permanent magnet motors, their application to BPM motors is a key contribution of this work. A detailed digital computer model capable of predicting the steady state as well as the transient performance of a BPM motor driven by an LCI has been developed. The utility-side phase-controlled rectifier, as well as the motor-side inverter-including the DC-link inductor, are modeled. A load-commutated inverter specifically designed to supply the BPM motor has been fabricated in the laboratory. The developed control strategy has been implemented on an INTEL 80C196KD microcontroller board. Simulation and experimental results to support the use of an LCI to drive a BPM motor are included in the paper