PROPULSION_E-motors_300609-014459.pdf

9.3 Propulsion units 219 9.3.2 Azimuth thrusters In a standard azimuth thruster (Fig. 9.5a) the propeller is rotated 360o around the vertical axis, providing multi-directional thrust. The electric motor is installed above the water line and drives the propeller with the aid of a gear transmission system. The thrust is controlled either by constant speed and CPP, variable speed and FPP, or sometimes using a combination of speed and pitch control. Variable speed FPP thruster has a significantly simpler underwater mechanical construction with reduced low-thrust losses as compared to constant speed, CPP propellers. When in-board height of the thruster room is limited, the electric motor is horizontally installed and the azimuth thruster consists of a Z-type gear transmission. When the height of the thruster room allows, vertically mounted motors and L-shaped gear transmissions are simpler and more energy efficient (lower power transmission losses). Standard azimuth thrusters are usually rated up to 7 MW. (a) (b) (c) Fig. 9.5. Ulstein Aquamaster azimuthing thrusters manufactured by Rolls-Royce: (a) standard thruster, (b) retractable thruster, (c) azimuthing thruster with counterrotating propeller [162]. Courtesy of Rolls-Royce Marine AS , Ulsteinvik, Norway. The so–called retractable thruster (Fig. 9.5b) provides fast hydraulic lifting and lowering of the unit. Retractable thrusters have the same main components as standard azimuth thrusters. Some manufacturers provide azimuth thrusters with dual propellers, either on the same shaft, or with counter-rotating propellers (Fig. 9.5c). A counterrotating propeller utilizes the rotational energy of the jet stream produced by one propeller to create the thrust of the other propeller that rotates in the opposite direction. Thus, the hydrodynamic efficiency increases. 220 9 Naval electric machines 9.3.3 Pod propulsors Similar to the azimuth thruster, the pod propulsor can freely rotate and produce thrust in any direction (Fig. 9.6). The electrical power is transferred to the motor via flexible cabling or slip rings to allow a 360o operation. Unlike the azimuth thruster, the pod propulsor has the electric motor submerged under the vessel hull and directly integrated with the propeller shaft inside a sealed pod unit. The transmission efficiency is higher than that of an azimuth thruster because of lack of mechanical gears. Fig. 9.6. Pod propulsor. 1 — electric motor, 2 — bearing, 3 — air cooling, 4 — ventilation unit, 5 — slip ring unit (power and data transmission), 6 — hydraulic steering unit, 7 — installation block, 8 — bearing, shaft seal, 9 — FPP, 10 — shaft line [2]. Courtesy of ABB AS Marine, Oslo, Norway. The marine pod can be designed for pushing or pulling operation. Especially, the pulling type increases the hydrodynamic efficiency of the propeller and reduces the risk for cavitation 2 , which means reduced noise and vibration. A podded unit can rotate in both forward and aft directions, if the thrust bearings allows for it. Pod propulsors are available in power ranges from approximately 1 MW up to 30 MW and have been used for more than a decade in cruise vessels, icebreakers, service vessels, tankers and semi-submersible drilling units. The R system from ABB Oy, Helsinki, Finlargest pod propulsors are the Azipod R and land and the Mermaid TM system from Rolls Royce owned Kamewa 2 Cavitation is the formation of partial vacuums in a liquid by a swiftly moving solid body, e.g., a propeller. It limits the maximum speed of propeller-driven ships to between 55 and 65 km/h (30 and 35 knots). 9.3 Propulsion units 221 Fig. 9.7. Four Rolls-Royce MermaidTM pod propulsors of Queen Mary 2 . Alstom Powers Motors. Both have modernized the cruise industry and have potential to enter other markets. The Queen Mary 2 cruise ship is outfitted with four 21.5 MW Rolls-Royce Mermaid TM pod propulsors: two are fixed and two can rotate 360o (Fig. 9.7). Siemens-Schottel SSP , Spay/Rhein, Germany, CPP type pod propulsors are in range from 1 to 30 MW with propeller sizes varying between approximately 1.8 to 8.0 m. The Liberty of the Seas cruise ship built in 2006 at Aker Yards, Finland and owned by Royal Caribbean Int., is propelled by 3 × 14 = 42 MW ABB R thrusters and 4 × 3.4 = 13.6 MW thruster motors. Six 17.6 MVA Azipod generators provide 105.6 MVA power. This 160 thousand ton cruise ship is 339 m long, 56 m wide and can carry 3634 passengers and 1360 crew members on 18 decks. 9.3.4 Integrated motor-propeller The integrated motor-propeller (IMP) sometimes called rim driven thruster (RDT) consists of a shrouded (hidden) propeller around which the rotor of an electric motor is mounted (Fig. 9.8). The rotor core is hermetically sealed either by canning or encasing as a monolithic structure in polymer. The stator is enclosed in the stator housing and hermetically sealed by a welded can or sometimes embedded in polymer. A submerged water-cooled IMP offers several advantages over ordinary propulsors or thrusters, i.e., • the dynamic shaft seal can be eliminated — only static seals are required for power and instrumentation cables; • the motor thrust bearing do not have to withstand the depth pressure and full propulsion thrust load; 222 9 Naval electric machines • the motor effectively utilizes passive sea-water cooling, so that an active cooling and heat exchanger system is not necessary; • sea water is used for bearing lubrication, so that oil lubrication system is eliminated; • some IMPs, e.g., developed by Brunvoll [35] have no central shafts and no supporting struts, so that water inflow to the propeller is more uniform and undisturbed, which is beneficial with regard to efficiency and propeller induced noise and vibration; • reliability is increased; • maintenance costs are reduced. (a) (b) Fig. 9.8. Integrated motor propeller (IMP): (a) outline [35]; (b) exploded view [106]. IMP’s use variable speed PMBMs and FPPs. The rotor field excitation system with surface configuration of sintered NdFeB PMs is the most viable option. IMPs may be applied for all thruster applications with variable speed drives as [35]: • • • • main propulsion azimuth thruster or auxiliary propulsion thruster; retractable azimuth thruster; combined tunnel and azimuth thruster; tunnel thruster. IMPs were first introduced by U.S. Navy for submarines, e.g., Jimmy Carter SSN23 as submarine auxiliary maneuvering devices [64]. 9.4 Generators for naval applications 223 9.4 Generators for naval applications Electric power for marine electric power train is generated by conventional synchronous generators with electromagnetic excitation. In the future, synchronous generators with HTS excitation system may be used (Chapter 8). HTS generators are expected to be about half (50%) the size and weight of classical synchronous generators. Fig. 9.9. 22 MW, 3600 rpm, 16-stage GE LM2500 gas turbine. Fig. 9.10. Nine-cylinder, 16.8 MW, 514-rpm, 16V46C-CR W¨ artsil¨ a EnviroEngine. Photo courtesy of W¨ artsil¨ a Corporation, Helsinki, Finland. . The output power is from hundreds of kWs up to over 20 MWs. 150 rpm advanced IM.S. For example. by 4.224 9 Naval electric machines Synchronous generators for ship power generation are usually three-phase generators with wound rotor of cylindrical type. the biggest passenger liner Queen Mary 2 is equiped with a 118 MW electric power plant consisting of two GE LM2500 gas turbines. 9.8 MW each at 514 rpm (Fig. Navy has already tested the 19-MW advanced IM.11. Almost exclusively. 9. 9. Levallois-Perret. Fig.4 MW each (Fig. which will be the baseline for multi-mission surface combatant ship DDG 1000 (also known as Zumwalt-class destroyer).0 m height. The U.8-m length.10).1 Large induction motors Under contract with Northrop Grumman Ship Systems.9) and four 16V46C-CR W¨ artsil¨ a diesel engines. Photo courtesy of Alstom. Alstom (formerly GEC-Alsthom) Power Conversion has developed an integrated power system (IPS) consisting of a generating plant. Large 19 MW.5.11). Dimensions are 4. advanced 19-MW IPS IM and motor controller VDM 25000. France. 9. brushless exciters are used.5-m width and 4.5 Electric motors for naval applications 9. The 19 MW IPS advanced IM has 15-phases and at 15 Hz input frequency develops speed of 150 rpm (Fig. 9. 22 to 25. 16. similar to turboalternators for large electric power plants. 9. 9.2. One of the GEC 44 MW synchronous motors being lowered through the funnel hatch during 1986–87 major refit of Queen Elizabeth 2 at the Lloyd Werft yard at Bremerhaven in Germany transforming from a steamship to modern dieselelectric ship.12).5.2 Large wound rotor synchronous motors Wound rotor synchronous motors for ship propulsion have salient pole rotors. 60 Hz and has 9-m in diameter and weighs over 400 t (Fig.3 Large PM motors First prototypes of rare-earth PM motors rated at more than 1 MW for ship propulsion were built in the early eighties. The largest wound rotor synchronous motor for ship propulsion is rated at 44 MW. The variable-pitch propellers operate at 144 rpm (cruising speed) or 72 rpm.12. Two such motors are aboard the Queen Elizabeth 2 .9. Comparison of 44-MW Queen Elizabeth 2 synchronous motor and 19-MW IPS Alstom advanced IM is given in Table 9. 9.13). 9. 144 rpm. A 36-MW (2 x 18 MW) PMBM (Fig. The speed is determined by the pitch of the propeller blades. developed by DRS Technologies has been tested in 2007/2008 at Land-Based Test Site (LBTS) at the Ships . Fig.5 Electric motors for naval applications 225 9. The driving power of the synchronous motors is transmitted via a twin shaft arrangement to two five-bladed controllable pitch propellers (CPPs) of 5.8 meter diameter each (Fig. 9. A review of constructions and associated power electronics converters for large PM motors designed in Germany are described in the author’s book [68].5.14). S. U. Controllable pitch propellers (CPPs) of Queen Elizabeth 2 .2 Systems Engineering Station.S. Philadelphia.S. The U.4 Axial flux disc type PM brushless motors Stators of large axial flux PM brushless motors with disc type rotors usually have three basic parts [38]: • aluminum cold plate. but technical issues caused delays.16 10. Comparison of Queen Elizabeth 2 synchronous motor with IPS Alstom advanced IM.1 0. • bolted ferromagnetic core. Both the motor and solid state converter have modular construction. navy DD(X) destroyer program (now multi-mission surface combatant ship DDG 1000). Large a. Navy 19 121 000 1.15 10. PA. 9. Table 9.207 Power-to Torque Power-to weight density volume kW/kg Nm/kg MW/m3 0.17 0.2. The slots are machined into a laminated core wound .A. Navy remains very interested in using PM motor technology in the nearest future. The PM motor was originally envisioned for the next generation U. motor Power Mass Torque for ship propulsion MW kg 106 Nm QE2 synchronous motor 44 285 000 2.5. 9.915 IPS Alstom IM for U. • polyphase winding.13.S.03 0.226 9 Naval electric machines Fig.c. The cold plate is a part of the frame and transfers heat from the stator to the heat exchange surface. is placed in slots and then impregnated with a potting compound.14. NJ. 9. (b) magnetic circuit spread flat. frequently a Litz wire.5 MW PMBM for ship propuslsion. in a continuous spiral in the circumferential direction. Large 36. Layout of Rolls-Royce TFM: (a) topology.A. U.S.5 Electric motors for naval applications 227 Fig. Photo courtesy of DRS Technologies. . (a) (b) N NS SN NS SN Fig.15. Parsippany. 9. The copper winding.9. U.5. Derby.17. 9. Photo courtesy of Rolls-Royce.228 9 Naval electric machines Fig.16.K has invested in developing a high power density electric TFM to allow the application of IFEP technology to the smaller frigate/corvette . Derby. U.1. Derby. U. Fig. Completed stator assembly of 2 MW TFM. Photo courtesy of RollsRoyce.K. 9.5 Transverse flux motors Transverse flux motors (TFMs) have been described in Section 3.K. Prototype of 2 MW Rolls-Royce TFM. RollsRoyce. 9. Rolls-Royce has designed. fabricated and tested a 2 MW. The stator core is radially thin and has large number of slots (Fig. Norway [35]. The rotor comprises alternate soft steel laminated pole pieces and PMs (Fig. 195 Hz. 9. . wound synchronous and PMBMs are the candidates for IMPs. 9.9.5 Electric motors for naval applications 229 classes combatant surface ships. 9.18. Photo courtesy of Brunvoll AS .6 IMP motors Induction. Several improvements to the stator design have been made after laboratory tests.16). The magnetization of PMs is in the circumferential direction and aligned in such a way that the pole pieces create alternate N and S poles [85]. 9. 9.475 × 1.5. To maximize the efficiency.55 m. (b) rotor. 9. Molde. PMBMs are preferred. Non–pressure compensated stator enclosures use structural backup rings to prevent the can collapse [64].18a). increase the torque density and increase the air gap. The mass of the machine is 13 t and dimensions 1. Full ring laminations are mostly used. 9. The stator cores are bonded into the machined stator frame. 9.15a. The subdivision of PMs into smaller pieces is required to reduce the eddy current losses due to variation of the magnetic flux density with the rotor angle and armature current [85]. Brunvoll PM brushless motor for IMP: (a) stator. Rolls-Royce has selected a double-sided TFM topology shown in Fig. The stator coils are arranged in three double layers with inter layer insulation and two connections per layer.17). 308 rpm demonstrator TFM (Fig.18b). Each PM pole is made from 52 pieces of sintered NdFeB bonded together and machined to the final dimensions. The stator coil is fitted within the ring of the stator cores and held in coil chairs that are positioned between each stator core (Fig. Each double layer consists of 14 stranded turns. The rotor pole stacks are made from anisotropic laminations. 2-phase. 76-pole. 2-disc. (a) (b) Fig. The PM rotor may use surface or embedded PMs (Fig.5 × 1.15b). Another potential applications of TFMs are nuclear/electric submarine propulsion systems. IMP with rim bearings [64]. . 9.18a) [35]. Fig. The bearing can either be located in the hub (Fig. The rotating propeller/rotor assembly requires bearings to carry loads in the radial and axial directions. Experiments with magnetic bearings have also been performed (Fig. As a rule.20) [64]. 9.19. 9.230 9 Naval electric machines Fig. 9. 9. water lubricated hydrodynamic bearings or rolling element type bearings are used. IMP with hub bearings [64].20. Appropriate bearing design is dictated by the application.19) or rim (Fig. Curtiss-Wright EMD large diameter rotor geometry: 1 — PM. In the case of radially embedded PMs in a laminated core with flux barriers and tangentially inserted PMs in a laminated core the leakage flux limits the torque production [15]. Computer created images of IMP with 37-kW. This allows potting of the high current motor leads into the support fins for the propulsor shroud eliminating interconnections and pressure feed-troughs.22a). According to [15].S. PMs are magnetized tangentially. Patent 6879075. 9. funded by ONR. 2 — laminated ferromagnetic pole. U. The rotor is totally protected from corrosion by a hermetically sealed boundary with no gaskets or rings [64].S. and the leads are effectively cooled. Curtiss-Wright EMD. There were several attempts to find optimum configuration of PM rotor of a large diameter IMP. The objective was to improve on overall power density of the complete propulsor including its hydrodynamic and structural components. The nonmagnetic steel ring is shrunk fit to the propeller shroud. 9. SatCon selected a 37 kW IMP motor for analysis and demonstration of its operation in large UUV. 9. U. high-speed.21). The rotor is comprised of a nonmagnetic steel ring. the power density of about 1000 W/kg is achievable [138]. and drive electronics as well as the motor. U. bearings. Cheswick. The motor stator is potted directly into the torpedo after-body cone structure. 3 — nonmagnetic steel.S. laminated ferromagnetic poles between PMs and a corrosion resistant embedding material or a can to seal the rotor from the sea water (U. 110 kW PMBM (Fig. proposes trapezoidal PMs placed between salient poles (Fig.22b) for NUWC Elite torpedo3 project. 9.S. SatCon has also developed a 300-mm. PA.5 Electric motors for naval applications 231 1 N S 2 S N 3 Fig.A. SatCon have supplied motor components for IMP (RDT) development programs at the Naval Underwater Warfare Center (NUWC).9. 1000-rpm 3 Torpedo is self-propelled guided projectile that operates underwater and is designed to detonate on contact or in proximity to a target.21. In the next project.5 kW motor for unmanned undersea vehicle (UUV) provides a good thermal path from the motor windings to the seawater (Fig. Patent 6879075). MA. .A. According to SatCon. A two stage potting technique used for a 7. surface mounted PMs and breadloaf PMs with laminated pole shoes exhibited the highest torque per magnet volume. thrust 3. speed 1000 rpm (speed range 500 to 2000 rpm).24. U. Photo courtesy of SatCon. PMBM are shown in Figs 9.23 and 9. It has been found that arrangement of PMs into Halbach array (4 magnets per pole at 0. (b) 110 kW [138].5 kW. which results in reduced weight of the motor itself but also allows minimization of the propulsor duct volume further reducing propulsor weight. speed of vehicle 22 km/h. 180o . supply voltage 600 V d.A. The nominal parameters are: IMP diameter 0. The motor design is optimized for power density rather than efficiency. IMP motors: (a) 7.53 m.232 9 Naval electric machines (a) (b) Fig.22.S.96 kN. 90o . ambient water temperature 25o C. 270o ) can reduce the weight of rotor electromagnetic .c. hydraulic efficiency 65%. 9. MA. allows a radially thinner rim on the rotor assembly. 9. Preliminary mechanical model of a 37 kW.9. 9. U. U.23. 1 — stator core and winding of motor.A. The longitudinal section of the IMP is shown in Fig. 2 — electronics.24. 5 — hub nose. 1000 rpm IMP.S. 6 — bearings. 7 — impeller. 986 W/kg. The motor stator and drive electronics are mounted in the outer duct of the propulsor in . 9.S. Courtesy of SatCon.A. 986 W/kg power density. Courtesy of SatCon.24. MA. 10 — frame [138]. enables a thinner duct (or shroud) and provides lower EMF distortion. 4 — stub shaft. 3 — stator. Longitudinal section of a 37 kW. 1000 rpm IMP [138]. 8 — PMs. MA. Fig.5 Electric motors for naval applications 233 Fig. 9 — nose. components by 40%. 5. A simple.7 Superconducting motors Superconducting synchronous motors are smaller and more efficient than classical synchronous motors for ship propulsion. 9. HTS motors have been described in Chapter 8. . three-phase bridge to be accommodated in the propulsor duct.234 9 Naval electric machines a compact and very efficiently cooled unit. Utilizing very compact SatCon–developed IGBT packages (1200 V IGBT and anti-parallel diodes rated at 75 A continuous current with a 700 C heat sink) allow a six switch. single bridge. 3-phase solid state converter architecture was selected for the preliminary design in order to maximize power density. The mechanical structure of the rotor consists of an aluminum frame with syntactic foam to create the hydrodynamic shapes. 10. sea and air transportation. artificial limbs and other clinical engineering apparatus require very reliable.1 Computer hardware 10. The aerial density of HDD has increased from 6 Gbit/cm2 = 38. surgical robots.80 C ±0.7 Gbit/in2 in 1999 to 20.10 Scenario for nearest future It is expected that the development of electric machines and associated power electronics in the next few years will be stimulated by the following large scale applications: • • • • computer hardware. Drives with large number of discs have the upper end of the spindle fixed with a screw to the top cover (Fig.1 Hard disc drive motors PMBMs in computer hardware are used as disc drive motors and cooling fan motors. For example. especially artificial hearts. renewable energy generation.1a). moment of inertia and vibration increase with the number of discs. 117]. lightweight. ventricular assist devices. 10. residential and public applications.7 or 98. super efficient motors and actuators operating at temperature that never exceeds the temperature of human blood (36.20 F ±1. This tied construction reduces vibration .3). The data storage capacity of a hard disc drive (HDD) is determined by the aerial recording density and number of discs.5 Gbit/cm2 = 132 Gbit/in2 in 2006 and 28 Gbit/cm2 = 180 Gbit/in2 in 2007. Further development of electric machines is not limited to these four major areas of applications. artificial electromechanical organs. Mass of the rotor. Circumferential vibrations of mode m = 0 and m = 1 cause deviations of the rotor from the geometric axis of rotation [92. land (HEVs and EVs).1. 1 — stator. 9 — spacer.236 10 Scenario for nearest future (a) (b) 11 10 8 9 2 1 4 3 9 10 8 7 7 6 6 5 2 1 (c) 3 4 5 8 4 7 6 21 9 10 3 5 Fig. 12 — attractive magnet. 7 — disc clamp. (b) untied type with fixed shaft. 2 — PM. Construction of fluid dynamic bearing (FDB) spindle motors for HDDs [8]: (a) fixed-shaft spindle motor. 10. 5 — thrust bearing. 10. Construction of spindle motors for HDDs: (a) tied type. 11 — base plate. 7 — stopper/seal. (a) 9 (b) 10 5 9 4 10 3 12 8 8 6 4 1 1 2 3 7 11 2 7 5 6 11 Fig. 3 — shaft.2. (b) rotating-shaft spindle motor. .1. 4 — radial bearing. (c) untied type with rotary shaft. 1 — stator. 2 — PM. 6 — disc. 5 — base plate. 10 — radial bearing. 3 — shaft. 8 — hub. 9 — thrust bearing. 6 — disc. 8 — top cover. 11 — screw. 10 — clamp. 4 — ball bearing. The HDD spindle motor has recently been changed from ball bearing to fluid dynamic bearing (FDB) motor. Special design features of spindle motors are their high starting torque.2 Cooling fan motors Computer cooling fans are driven by simple PMBMs that have external rotor ring magnet and internal salient pole stator. The rotor is integrated with fan blades. allowing to be sized down to the bearings alone. limited current supply.1c) has been adopted. 10. The latest technology for cooling fans. contamination and scaling problems. which require as much airflow directed down as possible.3. The central hub area of a TDF is reduced by at least 75% and airflow is increased by 30%.1 Computer hardware 237 and deviations of the rotor from the centre axis of rotation. Kaohsiung. Taiwan. . For smaller number of discs the so–called untied construction with fixed shaft (Fig. 3 — rotor rim.1b) or rotary shaft (Fig. The hub is free of any driving components. Drawbacks of ball bearings include noise.10. which are the main source of aerodynamic noise in a traditional cooling fan. 10. The acoustic noise is usually below 30 dB(A) and projected mean time between failure (MTBF) is 100 000 h. physical constraints on volume and shape. 10. 5 — control electronics. the tip driven fan (TDF) uses rim mounted electromagnets (salient poles) to spin the fan blades (Fig.2). 10. 10. low damping.1. Tip driven fan (TDF): 1 — surface PMs. 4 — fan blades. This is important in applications such as CPU heat sinks. 3 1 4 2 5 Fig. Noise is also reduced because this design eliminates the tips of the fan. 2 — stator salient pole. Contactfree FDBs are cogging torque free. produce less noise and are serviceable for an extended period of time (Fig. limited bearing life and non repeatable run out [117]. reduced vibration and noise.3). 10. Photo courtesy of Yen Sun Technology Corporation. 4–3.4 85 120 35 25 2.K.6 Disc type 312-101 312-103 3 3 12 12 3. U.0–2.1 Residential applications The quantity of small electric motors found in a normal household easily exceeds 50. not including auxiliary electric motors used in gasoline-powered . V Diameter. PM vibration motors manufactured by Precision Microdrives. mA Terminal resistance.0–3.4.0 2.4–3.6 2. 10.7 5 5 9000 9000 60 90 2.2.6 2. g Speed. Ω Operating range.0 Cylindrical type 304-002 304-101 3 3 4 4 8 11 1 1 11 000 9000 100 60 2.4 2.3 4 11 1 10 000 85 1.6 Fig. mm Weight. 10.2 Residential and public applications 10. V 304-001 1. mm Length. London. Worldwide market between 2000 and 2005 for motor drives in household applications. mA Starting voltage.4 2.238 10 Scenario for nearest future Table 10. rpm Current. V Starting current.4 1.0 120 70 – 43 2.0–3.0 125 10.1. Parameter Model Volts. such as some types of washing machines and air conditioner compressors. Photo courtesy of Precision Microdrives. SRMs find. London. reliable and recyclable (in the future). automobiles. 10.6. energy efficient. U. Brush type PM vibration motor of cylindrical construction: 1 — stator assembly. a few applications. South Korea. Fig. These motors should be cost effective. The role of PMBMs is increasing with the drop in prices of PMs and integrated circuits. 2 — rotor assembly. Courtesy of Samsung Electromechanics.2 Residential and public applications (a) 239 (b) Fig.5. 3 — counterweight. 10. Small electric motors are used in the following residential applications: .K. Gyeonggi. 4 — brush assembly. (b) disc (coin) type.10. Suwon City. so far. Brush type PM vibration motors: (a) cylindrical (bar) type. jacuzzi/whirlpool tubs). Brush type PM vibration motor of pancake construction. 3 — shaft. 4 — PM. swimming pools. fans. (i) toys. Courtesy of Samsung Electromechanics. heaters.7. 10 — brush. Suwon City. (f) furnaces. automatic gates). 11 — ultraviolet curable adhesive. (a) kitchen equipment. (h) pumps (wells. Gyeonggi. . 5 — bracket. 2 — bearing. 7 — commutator. South Korea. (b) timepieces. 9 — coil assembly. 8 — counterweight. airconditioners. (d) washers and dryers. (c) bathroom equipment. 6 — flexible printed circuit (FPC). cameras.240 10 Scenario for nearest future Fig. (g) lawn mowers. 12 — lead wire. (k) computers (l) power tools. 10. (m) security systems (automatic garage doors. (e) vacuum cleaners. 1 — enclosure. humidifiers and dehumidifiers. mobile phones (vibration motors). (j) vision and sound equipment. 7) are nowadays replaced with PMBMs (Fig. 10. 10. ventilating and air conditioning (HVAC) systems. 7 — bearing. Market volume for household drives has increased about three times from 2000 to 2005 (Fig. 8 — detent iron. .8. 10. (b) multicoil motor. 4 — cover.6 and 10. Advances in cellular telecommunications have made mobile phones highly popular communication tools in modern society.4). 10.8).1) with diameters from 4 (cylindrical type) to 12 mm (disc type) are manufactured in very large quantities (over 700 million in 2005). 10. Brush type PM vibration motors (Figs 10. Cell phones notify the users of an incoming call either by a ring tone or by a vibration. (b) retail bar-code readers. There are two types of vibration motors: cylindrical (bar) type (Fig.2 Residential and public applications 241 Fig. they are larger in size and have weaker vibrating capability. 3 — ferromagnetic yoke.5a) and disc (coin) type (Fig. Small vibration motors (Table 10.2 Public life applications Public life requires electric motors primarily in the following applications: (a) heating. minimized energy consumption and guaranteed stable vibration alarming at any circumstances [45]. The trends in vibration motors for mobile phones include reduced mass and size. Disc type PM brushless vibration motor for mobile phones [45]: (a) two coil motor. Disc type motors are easier to mount and have stronger vibration. Cylindrical vibration motors are mainly used in low price bar type mobile phones and disc type vibration motors are used in relatively more expensive folder type mobile phones.5b). Although cylindrical type motors are cheaper. 10.2. The speed of vibration motors is 8000 to 11 000 rpm and frequency of fundamental vibration from 133 to 183 Hz. 1 — phase coil. 5 — base plate. 6 — shaft.10. 2 — PM (mechanically unbalanced system). 3. • mandated emissions standards. such as window lifts. (e) automatic teller machines (ATMs). automatic manual transmissions. 10.3 Land. like HEVs and EVs in cars and trucks. Electric motors are found in anything that has an electrical movement or solenoid function. electric parking brake systems. (g) coin laundry machines. HEVs are now at the forefront of transportation technology development (Table 10. Expansion of the small motor industry is due to rapid development of consumer electronics. which are now spreading to more vehicle segments. fuel pumps. office automation systems. The technical solution for improved emissions. (h) money changing machines. • higher electrical loads due to convenience features. (i) cafeteria and catering equipment. instruments. active suspension and brake systems. (j) environmental control systems. industrial automotive system. HEVs combine the internal combustion engine of a conventional vehicle with the electric motor of an EV. anti-lock braking systems (ABS). parking brakes and electric power steering.1 Hybrid electric and electric vehicles High gasoline prices. fuel consumption and higher electrical power requirements is rapidly emerging 42 V system. meters and electric toys. military equipment. unrest in oil producing regions and concerns about global warming call for alternative powertrains. (f) ticketing machines. communication and traffic. These higher power requirements can not be cost effectively or technically supplied by a 12 V system. Rapid growth in electric motors is being driven by new applications such as electrically assisted power steering systems.242 10 Scenario for nearest future (c) clocks. sea and air transportation 10. electric tools. (b) amusement park equipment. 10. mirror and headlamp adjusters.2).2.3 Automotive applications The number of electric motors in automotive applications is soaring. (d) automatic vending machines. resulting in twice the fuel . Major driving forces include: • mandated fuel economy standards. household electric appliances. clutches. The PMBM can increase the overall torque by over 50%. Torque-speed curves of a HEV propulsion motors.10. sea and air transportation 243 economy of conventional vehicles. Hybrid electric gasoline cars. 6000 . Table 10.2. 10. rpm Fig. 10. Nm 500 400 electric motor torque 300 gasoline engine torque 200 100 0 0 1000 2000 3000 speed.3 Land. Superposed torque-speed curves of a combustion engine and electric motor improve the performance of HEV providing high torque at low speed and good characteristics at full speed (Fig.9). Make Honda Insight Honda Civic Toyota Prius Ford Escape Mercury Mariner Mass kg Number of passengers 840 2 1240 4 1255 5 1425 4 to 5 1500 5 Combustion engine 50 kW 3-cylinder 71 kW 4-cylinder 57 kW 4-cylinder 99 kW 4-cylinder 99 kW 4-cylinder Electric motor 10kW PMBM 15kW PMBM 50 kW PMBM 70kW PMBM 70kW PMBM Battery 4000 5000 Max speed km/h NiMH NiMH 160 NiMH 160 NiMH 160 NiMH 160 700 600 total torque torque.9. 10. 62. U. Photo courtesy UQM Technologies. 10. CO.11. 10. One end of the rotor shaft of the electric motor is bolted to the combustion engine crankshaft.244 10 Scenario for nearest future Fig. Small high torque traction brushless motor with surface PMs (520 W. Frederick. Location of electric motor in a HEV power train. Fig.10. Arrow shows electric motor.10).. while the opposite end can be bolted to .A. The electric motor is usually located between the combustion engine and clutch (Fig.c.S.1 Nm at 80 rpm). 24 V d. . 2 — solid state converter. In-wheel PM brushless motor. Liquid cooled motors for HEVs and EVs integrated with liquid cooled solid state converters: (a) UQM Technologies. UQM Technologies Fig. Quebec. Photo courtesy of TM4. in [68]. sea and air transportation (a) 245 (b) 2 1 Fig. (b) Hitachi. 1 — motor. 10..3 Land.g.10.13.10). Canada.12. 10. 10. The electric motor in a HEV serves a number of functions listed e. Boucherville. the flywheel or gearbox via clutch (Fig. electric propulsion system. 10. • allows for different design of vehicles. Electric ship propulsion systems have several advantages over mechanical propulsion systems including increase in the useable space in a marine vessel. • provides control over each wheel individually. drive line. which can result in enhanced handling and performance. Frequently.3. 10. Many road vehicles with combustion engines can be converted into EVs or HEVs. HEVs are quiet and clean. Some applications may still benefit from IMs because of low cost.e. The primary problem with HEVs and EVs are the weight. volume. In most applications.12). i. cabling an appropriate gauges. A compact motorized wheel provides the following advantages: • allows packaging flexibility by eliminating the central drive motor and the associated transmission and driveline components in vehicles (transmission. A typical HEV conversion project involves removing from the stock vehicle the engine..13 consists of a central stator that supports the windings and the inverter. cheap speed sensors and low windage losses.11. but they can only be driven for short distance before their batteries must be recharged. differential. The motor wheel uses a brushless inverted rotor configuration that can be embedded inside a regular-size wheel. To increase the torque and power density. high efficiency and wide constant power speed range. The 3phase PM synchronous motor shown in Fig.2 Marine propulsion Marine propulsion systems have been discussed in Chapter 9. 10. the rated power of electric motors is from 10 to 75 kW. • produces smooth torque at low controlled speeds. Industry trend is favouring PMBMs due to high torque density. The solid state converter can be installed either inside or outside of the wheel. universal joints and drive shaft). fuel system and exhaust system. On the other hand. • makes it possible to regulate drive torque and braking force independently at each wheel without the need for any transmission. surrounded by an external rotor which supports the PMs. 50% of water and 50% of glycol. Typical PM brushless motor with surface PMs is shown in Fig. the electric motor is integrated with power electronics converter (Fig. drive shaft or other complex mechanical components. 10. transmission. Electric motors for HEVs and EVs can also be built in wheel. electric motors and solid state converters are liquid cooled. cars with internal combustion engines can be driven anywhere to over 500 km per tank of gasoline. and making the necessary modifications and system integrations to accommodate the batteries. freedom in . lifetime and cost of the necessary battery pack.246 10 Scenario for nearest future Currently manufactured hybrid electric gasoline cars are equipped either with IMs or PMBMs. The motor assembly is liquid-cooled to sustain high continuous power demands. The world shipping and shipbuilding industry is currently enjoying a strong upturn. azimuth thrusters. Electric propulsion systems also provide some level of intelligence to the power train. lightweight electrical machines rated in the range of 20 to 50 MW. (b) increased fossil fuel cost. electric motors. i. It has been estimated that 97% of all vessels delivered between 1999 and 2003 were powered with diesel machinery.14.. 3 — combustor.e. (d) public demand for improving environmental compatibility. sea and air transportation 247 location of prime mover. 5 — electric motor. construction of an all-electric passenger aircraft is a very difficult technological challenge. better manoeuvrability. Fuel cell technology cannot now deliver stacks with power density minimum of 5 kW/kg. high speed. 4 — turbine.3. high frequency (1 kHz).10. are not available. and that 56% were direct drive. (c) aviation independence of oil supply. Electric aircraft are demanded due to the following reasons: (a) increased demand on emission and noise reduction. (e) electric systems integration with control logic to add a level of intelligence to the aircraft power train. 10. less vibration and noise. Trends in engine development include electric propulsion. So far. Replacement of turbofan engine by fan electric motor. 10. 1 — fan. pod propulsors. electric power generation.3 Land. Potential solutions to electric propulsion systems of aircraft using distributed fan electric motors include: . 2 — compressor. IMPs. 5 2 1 3 4 1 Fig.3 Electric aircraft Although propulsion of large marine vessels using low speed electric motors rated from a few to over 40 MW is now a mature technology. which is required for all-electric passenger aircrafts. 41% were geared and 2% had an electric drive system. 16-car. Although the power density of currently available electric motors (maximum 3 kW/kg) is lower than that of turbofan engines (at least 8 kW/kg). two 20 MW.14). 2. the following power train is required: 2×27. In existing propulsion systems two JT8D turbofan engines weight only 3.5 MW. In addition. maximum fuel capacity 18. more reliable.7 t and cruising speed 780 km/h. 10.6 t each electric motors. (b) motors driven by fuel cells.15. To build a heavy electric aircraft will require propulsion motors that are high power.2 t and fuel can weight up to 18. It has been assumed that the speed of generator is 30 krpm. 1. 10.2 t solid state converters rated at 45 MW.5 MW. 10. (a) motors powered by gas turbine driven generators. the mass of the propulsion system will be reduced to 23 t. the two Pratt & Whitney JT8D turbofan engines provide 155 kN thrust and 26 MW power (13 MW per engine). 1323 passenger. 3 t each power generators. the electric solution is much simpler. It is illustrated in Fig.248 10 Scenario for nearest future > Fig. with very low noise and no gas emissions (Fig. This power requirement is equal to more than two Nozomi Series 300. The total weight including cables and switchgears will be from 25 to 27 t plus weight of fuel.7 t.15. 2 × 27. 9.5 kW/kg available in 2005). speed of fan electric motors is 10 krpm with minimum efficiency 98%. Current technology cannot meet these demands because a conventional electric motor can weigh up to five times as . Boeing 737 passenger aicraft consumes more than twice power than two 16-car Shinkansen Nozomi Series-300 bullet trains. Using fuel cells technology with power density 5 kW/kg (0. If fan electric motors are driven by gas turbine via an electric generator and power electronic converter.6 t each gas turbines. photovoltaic cells installed on wings can provide some auxiliary electric power at daytime. Shinkansen bullet trains (12 MW propulsion power per train). Assuming the smallest Boeing family passenger aircraft (B737-200) with maximum takeoff weight of 65 t. Thus Boeing or Airbus class electric passenger aircraft is still unreal. lightweight and compact. It is not expected that these types of aircraft with electricity generated either by gas turbine generators or fuel cells will become a commercial products in the next 20 years. U. nontraditional fuel cell power and propulsion systems for aircraft applications. sea and air transportation 249 much as conventional jet engine and not be as fuel efficient. A multidisciplinary effort is underway at the NASA Glenn Research Center to develop concepts for revolutionary. 10. near Madrid.). In February 2008.3 Land. The Boeing fuel cell demonstrator airplane uses a proton exchange membrane (PEM) fuel cell/lithium-ion battery hybrid system to power a lightweight electric motor (UQM Technologies. tricycle landing gear and a takeoff weight of 840 kg. Boeing demonstrated manned straight and level flight in a two-seat motor glider powered electrically [118].3 m wingspan.S. Electrically powered two-seat motor glider demonstrated by Boeing [118]. the flight segment that requires the most power. Frederick. which is coupled to a conventional propeller (Fig.A. Spain. Small two-passenger aircraft have already been demonstrated and can be commercialized in the next decade. the system draws on lightweight lithium-ion batteries. CO. including the 93 kg fuel cell (dry weight) and 10 kg of water 1 Modifications have been made to Austrian Diamond Aircraft Industries Dimona glider. . The aircraft 1 has a 16.10. The fuel cell provides all power for the cruise phase of flight. 10. During takeoff and climb. Fig.16).16. m Height.. Length. Similar power trains. kg Battery capacity. as in electric aircraft. in the Boeing 787 Dreamliner . SC.S.75 0. It can operate day or night and is immune to most hazardous environments.. e. TFM. most onboard mechanical systems are powered by electric motors. including smoke. km/h Endurance. Charleston.5 Fig. m Width.A. min Maximum payload. the S20 UAV can repeatedly revisit the same shot locations. Specifications of SR20 UAV electric helicopter system manufactured by Rotomotion.A. powered by hot. 10.22 0. but not all.250 10 Scenario for nearest future as fuel. m/min Maximum speed. namely.560 1. m Main rotor diameter. As a stepping stone to the all-electric aircraft.3.255 7. high-pressure air diverted from the turbine engines. kW Climb rate. The S20 UAV electric helicopter is capable of fully autonomous flight with a safety operator to perform takeoff and landing and to engage and disengage the autonomous flight control system (AFCS). It is primarily designed for all aerial photography applications.38 0. Specifications are given in Table 10.17 shows a small electric helicopter operating as an unmanned aerial vehicle (UAV) manufactured by Rotomotion. can be used for electric helicopters in which a high-speed turbine driven generator feeds a low speed propeller electric motor. to show construction programs from a consistent point of view.3 122 50 12 to 24 depending on battery 4. For example. Table 10. via solid state converter. U. of the key features of the all-electric aircraft. an interim solution has emerged.g. Recent advances in electric motor technology provide another opportunity to create value. SC.S. Electric speed reduction system is lighter than mechanical step-down gears. Charleston. kg 1. Conventional aircrafts rely on bulky and complex pneumatic systems. U. It can also provide remote .5 8 or 16 1. e.3. m Dry weight. Using longitude and latitude based coordinates. Such an aircraft contains some. toxins and gunfire. The cruise speed is approximately 100 km/h using fuel cell-provided power.g. m Tail rotor diameter. the More Electric Aircraft (MEA). This incremental approach is attractive because it incurs significantly less risk than a wholesale change to the aircraft electrical system otherwise required [31]. Ah Output power of electric motor. 10. evolutionary improvement (fixed trajectory) or simply doing things .18. 10. In the late 1990s.18a) or continuous innovation means incremental.A.4 Future trends value (b) value (a) time time Fig. 10.17. Improvement trajectories: (a) continuous improvement. inspection of projects to multiple users over the internet with complete control of the UAV and the camera. U.S. SC. SR20 UAV electric helicopter. Photo Courtesy of Rotomotion. the resurgence of American industry combined with the stagnation of the Japanese economy restored a strong emphasis on the benefit of innovations [47]. Continuous improvement (Fig. (b) discontinuous improvement.4 Future trends 251 Fig.10. 10. Charleston. (b) invention of cylindrical rotor synchronous generator by C. Discontinuous improvement (Fig. While technological breakthroughs (a) to (e) and (g) have already entered the market. (e) application of vector control strategy to induction and synchronous motor drives in the early 1970s. Rather development of material engineering than discoveries of new physical laws (unlikely) will impact the development of electrical machine technology in the future. e. 10. Electrical machine technology is very basic. Brown in 1901. The introduction of the desktop publishing in the mid–to–late 1980s is one of the best illustrations of how a discontinuous change and innovation can in short order destroy an existing marketplace and create an entirely new playing field.18b) or discontinuous innovation means breakthrough. Electrical machine industry can be classified as a slow moving industry. MSM effect and others in the future. the future of HTS electric machines is still not clear. Continuous improvement works best in slow moving industries. Can HTS electrical machines enter the market? Is their commercialization viable? Are they really competitive to high energy density PM machines? Electrical machines operate on the principle of electromagnetic induction law and their physics have been unchanged since their early beginning in the 1840s. revolutionary improvement (new steeper trajectory) or simply doing things differently. (d) introduction of rare-earth SmCo PMs in the 1970s and NdFEB in the 1980s.. but machines and the systems in which they are used are still benefiting from technological advances. . continuous improvement and the thinking on how to create the next discontinuous improvement must begin. There are few exceptions like.g. Another breakthrough crown jewel is Silicon Valley. (a) invention of three-phase induction motor by M. while discontinuous improvement wins the game for a company. Innovation has become the industrial religion of the late 20th century [207]. (g) application of MSM materials in the 1990s. (c) impact of power electronics on control of electrical machines since the 1970s. Discontinuous form of innovation is creation of new families of products or businesses [46]. (h) future application of carbon nanotubes (if feasible). These inventions have caused a breakthrough in electrical machine technology and can be counted as discontinuous improvements. Continuous improvement keeps a company in the game. magnetostrictive effect. Material engineering can also make a difference in principle of operation of electrical machines switching the physics from electromagnetic induction law to piezoelectric effect. Dolivo-Dobrovolsky in 1889. (f) application of HTS materials in the late 1980s. Once a discontinuous improvement has been introduced.252 10 Scenario for nearest future better . The maximum current density for water and oil cooling systems is now about 30 A/mm2 and it is very difficult to exceed this limit. With liquid gas cooling systems.10. Although today’s electrical machines comprise more than 170 years of technology development. The volume of an electrical machine is inversely proportional to the line current density and air gap magnetic flux density. application of SC wires becomes more economical than copper wires. Application of this fictitious conductive material to electrical machines means reduction of winding losses twice or keeping the same winding losses — increase in current. the progress in developing electrical machines is much slower than in the electronics. the magnetic flux density in the air gap of electrical machines can be increased approximately twice. infrastructure. and domestic life. it would be a large scale discontinuous improvement in electrical apparatus industry. So far. Suppose that a new high current conductive alloy with electric conductivity twice that of copper at room temperature is invented. Undoubtedly. on the other hand. The mass can also be reduced approximately by the same factor. among them: industry. defence. Reduction of size can also be done by applying more intensive cooling systems like liquid cooling systems using oil or water and liquid gas cooling systems. The copper and silicon steels or iron-cobalt alloys would be abandoned in favor of new materials. Applications of both two √ fictitious materials will bring 2 2 ≈ 2. however. services. this is a science-fiction world. their technological potential has not yet been fully realized. √ current density and line current density by 2. this conventional technology does continue to naturally grow and evolve.82 reduction of volume of an electrical machine. Electrical machines are vital apparatus in all sectors of modern society. Performing mechanical work and generating electricity.4 Future trends 253 Mechatronics is another trend that is increasing functionality and resulting in more precise operations by incorporating electronics directly into electrical machines. telecommunication or IT industries. trade. Is this a minor improvement or breakthrough? Definitely. they are among the best servants of humankind and play key roles in the process of electromechanical energy conversion. . healthcare. If a new fictitious magnetic material with saturation magnetic flux density exceeding twice the saturation magnetic flux density of silicon laminations with reduced specific core losses is invented. future HTS wires) alternating current anti-lock braking systems analog to digital airborne early warnings autonomous flight control system Air Force Research Laboratory axial flux permanent magnet (machine) American Iron and Steel Industry American Superconductors (Massachussets based company) active power line conditioner auxiliary power unit application specific integrated circuit automatic teller machine automatic voltage regulator boundary element method bipolar junction transistor band pass filtering 2223 HTS material Bi(2−x) Pbx Sr2 Ca2 Cu3 O10 computer-aided design Center for Advanced Power Systems charge coupled device chloroflourocarbon combined heat and power combat hybrid power system complementary metal oxide semiconductor carbon nanotube controllable pitch propeller . ABS A/D AEW AFCS AFRL AFPM AISI AMSC APLC APU ASIC ATM AVR BEM BJT BPF BSCCO CAD CAPS CCD CFC CHP CHPS CMOS CNT CPP first generation HTS (multi-filament wire) second generation HTS (coated conductors) third generation HTS (conductors with enhanced pinning .Abbreviations 1G 2G 3G a.c. 256 Abbreviations CPU CSCF CSD DARPA d.S. transmission systems fault current limiter Food and Drug Administration (U. DEW DNA DoE DOF DSP DSC EAS EDM EMALS EMF EMI ERAST ETP EV FACTS FCL FDA FDB FEM FEP FPC FPGA FPP FRP GIEC GCU GMTI GPU GTO HD HDD HEL HEV HPM HTS HVAC IBAD IC IDG central processor unit constant speed constant frequency constant speed drive Defence Advanced Research Project Agency direct current directed energy weapon deoxyribonucleic acid (containing genetic instructions) Department of Energy (U.) degree of freedom digital signal processor dynamic synchronous condenser European Advanced Superconductors electrical discharge machining electro-magnetic aircraft launch system electromotive force electromagnetic interference Environmental Research Aircraft and Sensor Technology (NASA program) electrolytic tough pitch (copper) electric vehicle flexible a. ventilating and airconditioning ion beam assisted deposition integrated circuit integrated drive generator .c.c.) fluid dynamic bearing finite element method fluorinated ethylene propylene flexible printed circuit field programmable gate array fix pitch propeller fiberglass reinforced plastic Guangzhou Institute of Energy Conversion (China) generator control unit ground moving target indicator ground power unit gate turn off high definition hard disk drive high energy laser hybrid electric vehicle high power microwave high temperature superconductor heating.S.A. ) organic Rankine cycle particle beam proton exchange membrane pulse frequency modulation proportional and integral (regulator) programmable logic controller .A.S. PA.) light emitting diode liquefied natural gas low pass filter left ventricular assist device more electric aircraft more electric engine microelectromechanical system multimegawatt electric power system metal hydride minimally invasive surgery magnetomotive force metal organic chemical vapor deposition metal organic deposition metal oxide semiconductor (MOS) field effect transistor magnetic resonance imaging magnetic shape memory mean time between failure magnetic voltage drop multi-wall nanotube National Aeronautic and Space Administration (U.) neodymium iron boron New Energy and Industrial Technology Development Organization (established by Japanese government) nuclear magnetic resonance Naval Underwater Warfare Center Office of Naval Research (U. U.S.S.A.Abbreviations IFEP IGBT IGCT IHI IMP INCRA IPS IPU IR ISG IT IVP LBTS LED LNG LPF LVAD MEA MEE MEMS MEPS MH MIS MMF MOCVD MOD MOSFET MRI MSM MTBF MVD MWNT NASA NdFeB NEDO NMR NUWC ONR ORC PB PEM PFM PI PLC 257 integrated full electric propulsion insulated-gate bipolar transistor integrated gate commutated thyristor Ishikawa-hajima Heavy Industry integrated motor propeller International Copper Research Association integrated power system integrated power unit infrared radiation integrated starter generator information technology intracorporeal video probe Land-Based Test Site (Philadelphia. see also IMP radio frequency interference radial flux permanent magnet synthetic aperture radar superconductivity.258 Abbreviations PLD PM PMBM PTI PTO PVD PWM RABiTS RAT RDT RFI RFPM SAR SC SEI SEMA SEMP SiC SMC SmCo SMES SMPS SRM SSC STO SUSM SWNT TDF TEFC TEWAC TFA TFM THD TWT UAV UPS USAF UUV VCA VF VFCV VSCF VSD VVVF YBCO ZVS programmable logic device permanent magnet PM brushless machine (motor) power take-in power take-out physical vapor deposition pulse width modulation rolling assisted bi-axially textured substrate ram air turbine rim driven thruster. superconductor Sumitomo Electric Industries segmented electro-magnetic array submerged electric motor pump silicon carbide soft magnetic composite samarium cobalt superconducting magnet energy storage system switching mode power supplies switched reluctance machine (motor) solid state converter SrTiO3 spherical ultrasonic motor single wall nanotube tip driven fan totally enclosed fan cooled (motors) totally enclosed water-air cooled trifluoroacetate transverse flux motor total harmonic distortion travelling wave tube unmanned aerial vehicle uninterruptible power supply United States Air Force unmanned underwater vehicle voice coil actuator variable frequency variable frequency constant voltage variable speed constant frequency variable speed drives variable voltage variable frequency Yttrium Barium Copper Oxide HTS material YBa2 Cu3 O7 zero voltage switching . 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Esa H. 210. 3 battery. 136 actuator for medical applications. 214. 146. 98 apparatus. 3. 153 VCA. 81 power mission. 153 pneumatic. 108 BSC theory. 247 ball bearing. 247. 155 tendon-type. 167. 136. 97. 155 thermal expansion. 136. 202 aircraft Airbus. 143. 97 more electric. 150. 250 Boeing. 33 colonoscopy. 161 variable speed. 2. 163 Vacoflux. 250 commercial. 125 applications. 17 cam. 142 small size. 89 with SRM. 129. 248 all-electric. 162 cobalt alloys contents. 222. 139 computer. 31 Hiperco. 220. 153 piezoelectric. 202 military systems. 219. 81. 156 linear. 155 direct. 135 high power. 135. 12 . 138. 147. 128 automotive applications. 36 amplifier. 237 ball screws. 86. 148. 220 CHP. 147 cavitation. 152 airborne AEW systems. 142 locally installed. 21 closed loop. 64. 79. 157. 248. 153 short-stroke. 246. 155 magnetostrictive. 249 beryllium copper. 81 radar. 136. 124 amorphous alloys. 151 catheter. 151 capsule endoscopy. 250 power train. 2. 249 solar powered. 89 with PMBM. 249 electric helicopter. 97 Dimona. 135. 125 powered electrically. 87. 148 compressor. 247 military. 153 MSM. 242 azimuthing thruster. 136. 250 electric propulsion. 159. 31. 68. 88 control circuitry.Index actuation technologies. 133 core slotless. 84 more intensive. 104 liquid nitrogen. 2. 14. 207 oil. 14. 96 liquid. 2. 185 water. 154. 131 direct. 246 cooling system air-water. 93. 14 state. 18 degree of freedom. 156 SilverHawk. 222 spray oil. 15 magnetic field. 157. 153. 87. 140. 21 water-air. 130 integrated. 198. 139. 246 liquid gas. 102 techniques. 96. 135. 154 clinical engineering. 27 electromechanical. 130 ISG. 85. 160 sea water. 139 motion. 51 medium. 99. 219 precision. 169 LVAD. 86. 147 solid state. 190. 41. 52 field. 213 surgical. 79 convection. 156 directed energy weapons. 155 strategies. 253 liquid helium. 173 slotted. 52. 84. 93. 176. 226 comparison. 130 large. 19 cycle Bryton. 72 with cryocooler. 151 process. 132. 190 microturbine. 246 operation. 87 da Vinci robot. 202 disc type. 3 of generator. 135 electromagnetic. 191. 155 DARPA. 61 temperature. 96 forced oil. 108. 130 electromechanical. 81. 12 indirect. 187 cold plate. 144. 99. 156 medical. 111 Rankine. 7. 84 forced air. 139 technology. 96. 246 liquid cooled. 69 . 207 direct. 21. 17 copper cage. 253 of the rotor. 218. 92 open loop. 143. 191 linear. 93 thermosyphon. 12 microprocessor. 11. 76. 205 liquid helium. 95.272 Index field oriented. 123 DoE. 18 drive compact. 21 cooling active. 143. 79 water-glycol. 186 Cooper pairs. 84. 102 cryogenic. 205 liquid jacket. 183 cryostat. 102 effective. 139 pitch. 155 device CCD. 193 current density. 86 combined. 206. 2 system. 167. 87 organic Rankine. 171. 72. 136 comodity. 99 efficient. 152. 222 air. 41 critical current. 129 remote. 187 water cooled. 226 integrated. 129 energy harvesting. 102 water. 104 air-air. 5 converter. 11 utility. 2 thermal. 217 electrical steels grading. 89 brushless. 207 homopolar. 161 miniature. 172 lightweight. 129 coreless. 104. 29 electricity consumption. 252 Meissner. 152. 99 aircraft. 155. 99 micro. 184 cryogenic. 7. 200 HTS. 81. 164 mini. 97. 132 Josephson. 217 HTS synchronous. 62 encoder. 168 renewable. 165. 202 HTS homopolar. 14. 82. 11 flux pinning. 89. 191 conversion. 2. 154 energy applications. 96. 166. 92 natural. 160 ISG. 167 modern. 233. 13. 130 frequency high. 162. 235 saving. 104 disc type. 87 EV. 58 flywheel. 179 effect cogging. 246 fault tolerance. 28 nonoriented. 169. 179 variable speed. 217. 169 kinetic. 169 harvesting. 83. 198. 218 vector controlled. 159. 206. 205 HTS high speed. 185 airborne. 211 273 field orientation. 167 LTS high speed. 156. 160. 247–249 generator air core. 156 endoscope. 99 linear. 83. 163 dual channel. 252 piezoelectric. 213. 241 output. 215 variable frequency. 131 end-effector. 200. 96 engine driven. 213. 165 large. 157 electrical. 253 density. 21. 52 MSM. 253 elevator gearless. 202 main. 95 switching. 95 direct drive. 129 kinetic. 90 high speed. 75. 2. 111. 75. 187. 92. 252 skin. 171 shaft. 132 double cage. 223 ironless. 157. 87 entropy. 183. 81. 81. 21 consumption. 23 generated. 60 flux trapping. 129. 156 FCL. 157 GPU. 157. 209 conservation. 81 CSCF. 156 deep bar. 169 of vibration. 242. 21. 11 DSC. 14 magnetostrictive. 125. 157. 95. 160 conventional. 185 dynamometer. 76 space. 89 for soldiers. 27 thin gauges. 75 fuel cell. 148. 96 APU.Index podded. 132 electric ship. 81. 95 megawatt-class. 104. 83 . 79. 22 electronics. 171. 213. 125. 97. 163. 165 VF. 142–144 implantable. 3. 95 wind. 71. 92 VSCF. 143 Liberty of the Seas. 124. 245. 185 development. 19 guided capsule. 234 IGCT. 167 multimegawatt. 89. 102 heat activated. 237 heat exchanger. 21 IMP. 135 improvement continuous. 141. 235. 237 tied. 81. 138 IC. 144. 213. 162 klystron. 213 electromechanical drives. 92. 92. 253 inductive power transfer. 11. 71. 151 inductor. 221 LNG. 242. 151. 122. 237 integration. 156. 222 HEV. 162 switched reluctance. 47. 104 gearless. 89 reluctance. 96 synchronous. 85. 252 insulation. 118. 246 motor-propeller. 232 handpiece. 19. 167 MSM. 98 Halbach array. 16. 111 . 95 vibration. 152–156 GTO. 253 magnetic. 27. 92 RAT. 183. 221. 12. 2. 235 FDB. 16 law electromagnetic induction. 2 impeller. 154 laser. 122. 162 SC. 50 thermoplastic. 50 class. 48 high temperature. 71. 231. 205 integrated devices. 251 discontinuous. 50 Kapton. 48 ceramic. 223 thermoelectric. 21. 102. 213 hydrodynamic bearing. 251 discontinuous. 253 LVAD.274 Index moving magnet. 99. 95 IGBT. 151 piezoelectric. 83 high power microwave. 222. 69. 252 Moore’s. 23. 229. 253 classical. 165 levitation. 95. 186. 151 laparoscope. 247 impeller. 96 lattice. 19. 96. 5. 117 gripper. 81. 246 high power density. 221 power system. 237 untied. 144 motor. 44 high speed. 156 machines applications. 217. 95 PM brushless. 167 voltage regulated. 96 of magnetic field. 61. 130. 135. 79 loading electric. 77. 184 slotless. 128 innovation. 253 electrical. 81 for compressor. 251 continuous. 144. 111 breaktrough. 252. 251 large scale. 159 inverter. 252 incremental. 120. 165 IDG. 167 PM. 135 HDD. 224 rotor. 13 electric propulsion. 81 high power density. 126 written pole. 29. 2. 120. 234 HTS 36. 79 for medical applications. 111 for cooling fan. 150 for cell phone. 225 lightweight. 144 iron free. 128. 200 HTS. 78. 33 magnetostriction. 88. 180 HTS 5 MW. 171. 144 applications. 109. 234 gearless. 216. 156 disc type. 252 material engineering. 241 moment of inertia. 68 market. 209. 174 HTS axial flux. 1. 152 locally installed. 62 progress. 67 nanostructured. 104. 173. 191. 11. 185. 238 for LNG plants. 211. 23 for aircraft. 1. 153 4 mm. 2. 43. 241 for compressor. 103. 207 HTS low speed. 132 integrated. 109 lightweight. 135. 82. 4. 19. 192 HTS synchronous. 139 SC. 172 hybrid reluctance. 216. 23 coreless. 123. 1. 86. 121. 68 magnetization curve. 25 switched reluctance. 242 for HDD. 147 13 mm. 225 AFPM. 118 auxiliary. 5. 246 induction. 50 magnetostrictive. 2. 230 magnetic shape memory (MSM).Index homopolar. 151 advanced. 84. 252 materials bulk HTS. 79. 12 recyclable. 235 for HEV. 241 energy efficient. 224. 194 IMP. 135 for pump. 242 for household. 191 HTS disc type. 155 . 1. 247 for capsule. 247 nano-electromechanical. 111. 28. 61 motor 275 1. 155 requirements. 113. 19. 142. 104. 50 fictitious. 235 MOSFET. 252 HTS high speed. 159 missiles. 229. 159 induction. 27. 218. 225 converter fed. 225. 13 microturbine. 199 HTS. 184 mechatronics. 105. 224. 189. 124 quadruple. 96 synchronous. 138. 144 comparison. 136. 200 HTS induction. 111. 68 nanocrystalline. 171. 4. 58 ceramic. 156 high speed. 132 nonmagnetic. 58 magnetic bearings. 157. 76. 115 magnet inserted in cavity. 251 with cage rotor. 231 in wheel. 253 MEMS. 221. 49. 104. 8. 147. 189. 11. 129 axial flux. 196 HTS homopolar. 19. 226. 13. 113 homopolar. 125 linear. 62 new. 226 bearingless. 62. 253 high temperature. 132 impregnating. 173. 123 large.5 MW. 3. 81. 68 MSM. 162 mobile phones. 91 trends. 111 written pole. 207 HTS synchronous. 121 for ship propulsion. 235 for EV. 2 high power. 124. 241. 103 with solid rotor.9 mm. 119 brushless. 105. 43. 183 power conversion. 163 embedded. 182. 36 Somaloy. 151 SC. 36. 151 wound rotor. 246 tiny. 121. 43. 117 motorized wheel. 116. 164 power delivery. 242 spindle. 43. 155 propulsion. 95 SmCo. 171. 152. 237 particle beam. 109 wobble. 122. 168 ring shaped. 218 very small. 225 PneuStep. 96 photovoltaic cell. 71. 246 MRI. 141. 229 trapezoidal. 93 surface. 40 dielectromagnetics. 138. 119 PMBM. 62 40-mm long. 155 synchronous. 217. 118. 248 Planck constant. 146 with solid rotor. 91 power consumption. 168 NMR. 17. 44. 64 carbon. 173 single-phase. 43 amount of material. 231 perovskite. 126. 156 repulsion. 131. 111 metallurgy. 115. 155. 18. 225. 64 multi-wall. 173 SC reluctance. 124 annular. 198 servo. 218. 237 square wave. 44. 36. 222. 183. 138. 5. 178 TEWAC. 76. 138 NdFeB. 225 written pole. 81. 79 with gearhead. 9. 222. 62 length. 135. 128. 241 with cryogenic cooling. 62. 157 powder materials Accucore. 40. 47. 138. 50 phase diagram. 14 phonon. 2. 218. 163 stationary. 150 transverse flux. 208. 135. 147 portable energy harvesting devices. 228 ultrasonic. 7. 144. 75. 162 power supply. 62 NightStar flashlight. 7. 125. 11. 142. 229 for medical devices. 126 nano. 239 stepping. 151 submerged.276 Index MEMS. 41 soft magnetic. 50 noise. 65 piezoelectric. 162. 229 rare-earth. 122. 234. 142. 111 magnetodielectrics. 10. 155 variable speed. 118. 190. 160 rotating. 239 PMBM 36 MW. 40. 62 single wall. 150. 153. 44. 96 permanent magnet. 218 Q-PEM. 121. 139. 43 power circuit. 116 motor–generator set. 83 nanotubes. 14 modern. 65 applications. 156 moving magnet. 135 vibration. 18. 117 slotless. 169 power generation. 220. 111 ship propulsion. 246 test facility. 79 three phase. 144. 17 photon. 213 . 1. 1. 17 plaque excision. 156 small. 220 SUSM. 1 SRM. 79. 156 MTBF. 126. 111. 155 prime mover. 190 2G. 180. 191 shaft. 79 Streamliner. 249 for ship. 156 infusion. 136. 21 carbide. 246 railcar. 221 duct. 5. 218. 51 amount. 108. 97. 247 prostatectomy. 207 radar. 142 DuraHeart. 153–156. 184 applications. 224 quench. 238 retaining ring. 81. 96. 219 pitch. 246 mechanical. 19 1G. 95 implantable. 140. 125. 241 pump blood pump. 157 power reactive. 247 progress electrical machines. 213. 104. 185 power steering. 89. 81. 246 marine. 157 content. 155 public life applications. 189. 1. 232 pod. 51. 121. 53 BSCCO. 140. 21 Shinkansen bullet train. 4. 162 robot. 253 nitride. 1 propeller. 84. 105. 82. 249. 159. 27 laminated steels. 122. 193. 25 redundancy. 217. 3 rotor bar. 172. 216. 218 submarine. 15. 189. 113. 23. 124. 167 self-powered microsystems. 192 Sayaka capsule. 2 residential applications. 207. 141 DeBakey. 135 insulin. 198. 15. 21. 197 . 206 solid state converter. 118 power range. 220 propulsion electric. 104. 194 rotor end ring. 160. 87 reliability. 218. 202 recycling. 67.Index power density. 207. 213. 89 power transmission. 108 retaining sleeve. 157 small. 12 material engineering. 27. 105. 216. 164. 121. 117 power quality. 53. 14. 192. 117. 248 silicon. 84. 125 solar powered aircraft. 231. 117. 109. 130. 164 semiconductor. 106. 126 boat. 2. 2 research programs. 124 solid rotor. 19 superconductor. 144. 52. 231 CPP. 143 electromechanical. 225 Queen Mary 2. 218 refrigerant. 150 Seiko kinetic watch. 58. 135. 17 Queen Elizabeth 2. 221. 213. 213. 220. 95. 135 LNG. 117 power interruptions. 197. 221. 208 bulk. 5. 225 shaft. 246–248 power electronics. 250 counter-rotating. 242 power system. 109. 215. 124 vehicle. 140 hydraulic. 234. 183. 235 power factor. 247 for aircraft. 187. 57. 161 roller screws. 21. 173. 144 classification. 82. 191. 53. 217. 14. 157. 209 3G. 81. 1. 51. 180. 246 superconductivity. 230. 238 solar cell. 185. 132. 108. 71. 142 277 submerged. 214. 213. 79 quantum mechanics. 53. 229 propulsor. 61. 235 video probe. 15 YBCO. 57 monolith. 120 toroidal. 147 slotless. 203. 97. 93 double layer. 156 suspension. 199 copper. 2. 77. 237 density. 9.278 Index HoBCO. 60 type I. 187. 118 hysteresis. 120. 237 torque accelerating. 92 stator. 130. 17. 194. 120. 121. 144 ventricle. 194. 190. 135. 57. 50. 156 primary. 156. 193 HTS field. 93. 156 concentric. 92 electroplated. 115. 115. 58. 7. 92. 7. 92. 171. 53 MgO. 110. 124. 58 RABIT. 108. 218 inductance. 115. 194 asynchronous. 211 IBAD. 61. 77. 121. 118. 50. 185. 77 secondary. 162 Litz wire. 113 coreless. 71 saddle-type. 128 starting. 55 ring. 128 rated. 15 type II. 118. 151 minimally invasive. 14 frequency. 17. 184. 19 devices. 185 electromagnetic. 231 vehicles. 56 LTS. 120 three coil. 120 ripple. 131. 128. 183. 7. 56 HTS. 207 damper. 152 switching capabilities. 199 salient pole. 190. 71 skewed. 162 winding armature. 115 cogging. 156. 205 HTS. 189 BSCCO field. 157 vector control. 190. 144 three phase. 222. 173. 192 chorded. 198 ring-shaped. 93. 51 MgB. 121. 111. 162. 218 racetrack. 194 synchronous. 124. 191. 151 robotic. 163 copper layer. 53. 72. 121 BSCCO. 136. 61. 55. 150 weapons. 167. 111 VentrAssist. 194. 206 basket type. 218 single-coil. 124. 97 thyristor. 211 thermal management. 11. 115 unmanned aerial vehicle. 19 tip driven fan (TDF). 207 surface speed. 198. 131. 142 vibration. 11 speed. 81. 229 dsitributed parameter. 198 slotted. 143 YBCO bulk field. 83. 92 concentrated. 184 holding. 75. 19 synchropnous condenser. 205 non-overlapping. 198 YBCO field. 104–106 surgery laparoscopic. 194 . 227 LTS field. 174 cage. 164 field. 53. 220. 124. 171 fixture. 132. 250 undersea vehicle. 206–208. 111. 191 resultant.