International Journal of Engineering &Technology, 7 (4.

24) (2018) 111-114

International Journal of Engineering & Technology

Website: www.sciencepubco.com/index.php/IJET

Research paper

Mathematical Modelling of Linear Induction Motor

M.Naga Raju1*, M.Sandhya Rani2,
1
Assistant professor, Department of Electrical Engineering, VLITS College, Vadlamudi, India
2
Department of Electrical Engineering, VLITS College, Vadlamudi, India
*Corresponding author E-mail:[email protected]

Abstract

The Linear Induction Motor is a special purpose electrical machines it produces rectilinear motion in place of rotational motion. By using
D-Q axes equivalent circuit the mathematical modelling is done because to distinguish dynamic behavior of LIM, because of the time
varying parameters like end effect, saturation of core, and half filled slot the dynamic modelling of LIM is difficult. For simplification
hear we are using the two axes modelling because to evade inductances time varying nature it becomes complex in modelling, this also
reduces number of variables in the dynamic equation. Modelling is done using MATLAB/SIMULINK. LIM can be controlled by using
sliding model control, vector control, and position control.

Keywords: longitudinal end effect; transverse edge effect; equivalent circuit; applications; Dynamic performance.

simple, silence operation, Simple structure, and easy maintenance,

Nomenclature low cost, it do not require any gear mechanism, good reliability,
reduction of mechanical losses.
Symbols Description
By considering the end effects LIM is simulated in synchronously
V Voltage rotating reference frame, based on our requirement the reference
C Current frames are selected. For obtaining easy solution in hybrid comput-
Vdp,Vqp Primary voltage in the d-q axes(V) er the two-axis modeling is done to evade inductance time varying
Vdl,Vql Linor voltage in the d-q axes (V) nature and reduce variables in equations. Compared to AC quanti-
idp,iqp d-q axis primary current (A) ties DC quantities are chosen for controlling of LIM. The DC
idl ,iql d-q axis linor current (A) quintiles will decide the operating point it is simple to model in
λdp,λqp d-q axis primary flux linkages small signal equation and difficult to model in non- linear equation.
λdl,λql d-q axis linor flux linkages The park’s transformation converts 3Φ quantities to 2Φ quantities
Rp,Rl primary and linor resistance (A) for mmf equality. For maintaining voltage unbalance and inver-
Llp,Lll primary and linor leakage inductance(H) sion of park’s transformation the Zero sequence component which
Lm magnetizing or mutual inductance (H) is a new variable is introduced.
Lp,Ll primary and linor self inductances (H) LIM’s are used in many applications particularly in electrome-
P no. of poles chanical conversion units such as Elevators, Baggage handling,
Τ pole pitch (m) Automatic sliding doors, Accelerators, Horizontal conveyance
D length of the linor (m) systems, Cranes, Material handling and storage, actuator, transpor-
Q factor associated with linor length tation, piston pumps, electric traction, automotive control and
V velocity (m/s) robotics etc.
ω primary angular velocity (rad/sec)
ωl linor angular velocity (rad/sec)
ωsl slip frequency (rad/sec) 2. End effect in LIM
When the primary moves, a new flux is always generated at the
1. Introduction primary entrey side, while at the exit side flux will be disappears.
Ther will be a rapid generation and disappeareance of the
LINEAR INDUCTION MOTOR the name itself says linear so it magnetic lines produce statically induced currents in the
produces linear motion. In industries these LIM are usually used secondary sheet. The air gap flux is affected by the eddey currents.
for automated systems. Because of the occurrence of end effects With the increase of speed the losses, and the flux-profile become
the dynamic modelling of these kind of motors are complicated to sever this is called End-Effect in LIM. If velocity increases the
model. For understanding motor behavior during disturbance of primarie’s length decreases this increases end effect which causes
load and at normal condition motor modelling is done, by using reduction of magnetization currents of LIM. For zero velocity the
rotor reference frame, arbitrary reference frame etc. It have many length of the primary is considerd as infinite to reduce the end
popular performance features, together with high-speed operation, effect.
during starting it has high thrust force, mechanical construction is
Copyright © 2018 Authors. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestrict-
ed use, distribution, and reproduction in any medium, provided the original work is properly cited.
112 International Journal of Engineering & Technology

Vdp = R p idp + R l F(Q)(idp + idl ) + λ̇dp − ωλ̇qp (1)

Vdl = R l idl + R l F(Q)(idp + idl ) + λ̇dl + (ω − ωl )λ̇ql (2)

Vqp = R p idp + λ̇qp + ωλ̇dp (3)

Vql = R l iql + λ̇ql + (ω − ωl )λ̇dl (4)

F (Q) is denoted as

1−e−Q
F(Q) = Q
(5)
Fig. 1: Eddy-current generation at the entry and exit ends
DRr
Q = (L (6)
m +Llp )v

DRr
Q= Lpv
(7)

Primary and linor (Secondary) flux linkage equations

The primary and linor flux linkages in d-q axis is given by

λdp = Llp idp + Ĺm (idp + idl ) (8)

λqp = Llp iqp + Lm (iqp + iql ) (9)

λdl = Lll idl + Ĺm (idp + idl ) (10)

λql = Lll iql + Lm (iqp + iql ) (11)

Self-Inductance = leakage inductance + mutual inductance

Llp + Lm = Lp (12)

Fig. 2: Airgap flux profile and Eddy-current density porfile along the Lll + Lm = Ll (13)
length of LIM
La = Lp Ll − L2m (14)
3. Dynamic Model of LIM
The obtained thrust force is given by
3πP
More currents are taken by the motor while starting and load F = 4τ (λdp iqp − λqp idp ) (15)
changing condition which causes dips in voltage, harmonics and
oscillations in supply side. The Synchronously Rotating Reference The primary and linor currents in d-q axes can be derived from
Frame in d-q model reduces these problems precisely. Fig.3 and equation (8) to (11)
Fig.4 shows the LIM d-q axes equivalent circuit with end effects.
λdp −Ĺm idl
idp = (16)
Llp+Ĺm

λqp−Lm iql λqp −Lm iql

iqp = Llp+Lm
= Lp
(17)

λdl −Ĺm idp

idl = Lll+Ĺm
(18)

λql −Lm iqp λql −Lm iqp

iql = Lll +Lm
= Ll
(19)
Fig. 3: Equivalent circuit for d-axis

By substituting equation (18) in (16) and (16) in (18) we get

λdp Ll−Lm λdl +Lm F(Q)(λdl −λdp )
idp = (20)
La −Lm F(Q)(Ll +LP−2Lm )

λdl Lp −Lm λdp+Lm F(Q)(λdp−λdl )

idl = (21)
La −Lm F(Q)(Ll +LP−2Lm )

Fig. 4: Equivalent circuit for q-axis By substituting equation (19) in (17) and (17) in (19) we get
When KVL is applied to the above circuits the below voltage λdpLl −λql Lm
equations are obtained. F(Q) is zero when end effect is neglected iqp = (22)
La
International Journal of Engineering & Technology 113

λql Lp−Lm λqp

iql = La
(23) 6. Simulation Results

For the modelling of LIM with end effect the total thrust (F) is The Linear Induction Motor was modelled, by considering end
given by effect the behavior of the motor under transient condition was
observed when a 30N load force is applied in the duration from
3πP Lm (1−f(Q)) Lll f(Q) 0.5 sec to 1.2 sec. The speed, force, thrust, currents, flux linkages
F =2τ2L ∗ (λdl iqp − i i )
Ll 1−f(Q) dp ql
(24)
ll +Lm (1−f(Q)) waveforms of Linear Induction Motor are shown below. In LIM
the thrust force oscillations are caused because of the presence of
end effect.
4. Transformation Technique:
6.1. Speed waveform:
By Clark’s transformation Va, Vb and Vc the 3-ph quantities are
converted to Vα, Vβ in stationary reference frame. Vα, Vβ are con- 12

verted into rotating reference frame as Vd and Vq using Park’s 10

Speed (mtrs/sec)
conversion. The 3Φ- 2Φ conversion matrix is described as 8

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (Sec)
Fig. 6: Speed waveform of LIM

(25) when the motor is at steady state it runs with a speed of 11m/s,
suddenly when a 30N load force is applied at a time period be-
tween 0.5 sec to1.2 sec the speed reduces from 11 m/s to 7 m/s.
Q 5. MATLAB Simulation of LIM when the load force is removed again it comes to normal speed of
11m/s.
The mathematical model of LIM is conventionally constructed in
3-ph parameters it is really complex to analyze, so we use a d-q 6.2. Thrust Force waveform:
axes equivalent circuit model. A convenient way of representing
the linear induction motor is equivalent circuit. The equivalent 40
circuit contains inductances and resistances. The 3-ph voltages are
Thrust Force (N)

30

converted and phase shift by 1200, Vd and Vq are d-q axes input 20

voltages. 10
0
-10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (Sec)
Fig. 7: Thrust force wave form of LIM

During starting of the motor the thrust force is zero, when a 30N
load force is applied at a time period between 0.5 sec to 1.2 sec the
thrust force increases from 0N to 30N. When a 30N load force is
removed again it falls to zero.

6.3. Current waveforms

6.3.1. idp Current:

3
2
Current (Amps)

1
Fig. 5: MATLAB Simulation of Linear Induction Motor 0

-1
Table 1: Parameters involved in LIM model -2

SL.NO PARAMETERS VALUES -3

-4
1. Length of the primary 1m 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (Sec)
2. Length of the linor(D) 0.25 m Fig. 8: Primary d-axis current wave form
3. No. of slots (S) 8
4. No. of poles(P) 2 The primary d-axes current at steady state is -0.5 amps when a
5. Primary resistance(R p) 1.298 Ω
30N load force is suddenly applied at a time period of 0.5 sec to
1.2 sec the current falls from -0.5 amps to -1.1 amps when the load
6. Linor resistance(Rl) 0.976 Ω force is removed it comes to -0.5 amps.
7. Primary inductance(Lp) 0.0684 H
8. Linor inductance(Ll) 0.0416 H
9. Magnetizing inductance(Lm) 0.0416 H
10. Inertia movement (J) 0.00247 kg/m2
11. Pole pitch (τ) 0.027
12. Mass (M) 4.775 kg
13. Motor length 0.82 m
114 International Journal of Engineering & Technology

6.3.2 iqp Current: 6.3.6. Lamda_qp:

8 1.04
Current (Amps)

1.03
7

Flux linkages
1.02
6 1.01

5 1

0.99
4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 0.98
Time (Sec) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (Sec)
Fig. 9: Primary q-axis current waveform Fig. 13: Primary q-axis flux linkage waveform

The primary q-axis current at steady state is 5.1 Amps, when a The Primary q-axis flux at steady state is 1.009 when a 30N load
30N load force is applies at a time period from 0.5 sec to 1.2 sec force is applied at a time period of 0.5 sec to 1.2 sec there is a
the current increases from 5.1 Amps to 6 Amps. When the load slight variation of flux from 1.009 to 1.02.
force is removed again it comes to steady state of 5.1 Amps.
6.3.7. Lamda_dl:
6.3.3. idl Current:
0.3

Flux linkages
2 0.2
Current (Amps)

1.5
0.1
1
0
0.5
0 -0.1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
-0.5 Time (Sec)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Fig. 14: Linor d-axis flux linkage waveform
Time (Sec)
Fig. 10: Linor (secondary) d-axis current waveform
Linor d-axis flux at steady state is -0.09 when a 30N load force is
The Linor d-axis current at steady state is -0.3 Amps when a 30N applied at a time period of 0.5 sec to 1.2 sec there is a variation of
load force is applied at a time period of 0.5 sec to 1.2 sec then the flux from -0.09 to 0.2. When the load force is removed it comes to
current varies from -0.3 Amps to 1.7 Amps. It reduces to -0.3 normal condition.
when the load force is removed.
6.3.8. Lamda_ql:
6.3.4. iql Current:
0.6
Flux linkage

0.4
0
Current (Amps)

0.2
-1
0
-2
-0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
-3 Time (Sec)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 Fig. 15: Linor q-axis flux linkage waveform
Time (Sec)
Fig. 11: Linor q-axis current waveform The Linor q-axis flux at steady state is 0.45 when a 30N load force
is applied at a time period of 0.5 sec to 1.2 sec there is a variation
The Linor q-axis current at steady state is zero when a 30N load of flux from 0.45 to 0.2 again it reaches to 0.5 when a load force is
force is applied at a time period of 0.5 sec to 1.2 sec the current
removed.
varies from 0 Amps to -0.9 Amps. Again it comes to zero when
the load force is removed.
7. Conclusion
6.3.5. Lamda_dp:
0
The transient behavior of the LIM by considering end effects was
modelled. For the reason that the occurrence of end affects the
-0.05 thrust force oscillations are generated in Linear Induction Motor.
Flux linkages

The thrust force behavior without involvement of the end effects

-0.1
does not have oscillations. This can be extending by splitting the
-0.15 currents and flux linkages method as is considered for reducing
oscillations.
-0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (Sec)
Fig. 12: Primary d-axis flux linkage waveform
References

The primary d-axis flux at steady state is -0.09 when a 30N load [1] LIM dynamic performance assessment from parameter identifica-
force is applied at a time period of 0.5 sec to 1.2 sec there is a tion Zhang, Z.; Eastham, T.R.; Dawson, G.E.; Industry Applica-
tions Society Annual Meeting 1993., Conference Record of the
slight variation of flux from -0.09 to -0.1. 1993 IEEE , 2-8 Oct. 1993 Pages:295 - 30 vol.1.
[2] An improved equivalent circuit model of a single sided linear in-
duction motor Jian Guo Zhu.;Youguang Guo.; vehicular technolo-
gy , IEEE Transactions on , volume: 59 , Issue: 5 , June. 2010.
[3] Linear induction motor equivalent circuit model J.Duncan.; Trans-
portation Technology, IEE Proceedings, Volume: 130 , Issue: 1,
Jan. 1983.