2194
SEPTEMBER 1988
Fields, Forces, and Performance Equations of Air-
Core Linear Self-Synchronous Motor with
Rectangular Current Control U
Abstract-This paper develops an analytical field approach to deter-
mine the permanent magnet field distribution in a flat air-core self-
synchronouslinear motor with a permanent magnet mover. Then thrust
and normal forces are calculated for idealized rectangular current in-
verter control. Notable thrust and normal force time pulsations are
shown through a numerical example. Finally, the performance equa-
tions with on-off current controller are developed with the motor fed
from a voltage source transistor inverter. The paper intends to offer a
reliable analytical tool for refined design and control of permanent
magnet air-core linear self-synchronous motors.
I. INTRODUCTION
T HE PERMANENT MAGNET (PM) linear self-syn-
chronous motor (PM-LSM) is the linear motion coun-
terpart of the rotary motion PM brushless motor. PM-
LSM’s are proposed for short-stroke linear motor actua-
tors in robotics and machine tools. In an effort to find
ways to reduce the actuator weightlthrust and to cancel
the cogging thrust associated with slotted stator cores, an
air-core stator structure is investigated here. To the best
of our knowledge such results are not available in the lit-
erature. In order to understand the influence of different
geometrical parameters on the PM flux distribution, we
use a two-dimensional analytical (Fourier series) solution
to the PM field distribution problem. Analytical solutions
are available for rotary PM brushless motors [ 11-[3]. The
distribution of PM flux density components along the di-
rection of motion and also along the depth of the “non-
magnetic slots” are studied via a numerical example of
practical interest (Section 11). A significant reduction in
the flux density is observed along the “nonmagnetic slot”
depth indicating that there should be an optimum slot
depth corresponding to maximum thrust per stator copper
losses for given pole pitch 7 of the motor and PM height
hm-
Considering that the motor is fed through 120” ideal
rectangular currents with only two of the three phases
conducting at a time, the thrust and normal force pulsa-
Manuscript received December 20, 1986; revised September 26, 1987.
This work was supported by the National Science Foundation under Grants
ECS-8314238 and INT-8408315.
I. Boldea is with the Polytechnical Institute TR., VUIA, Timisoara,
Romania.
S. A. Nasar and Z. Fu are with the Department of Electrical Engineer-
ing, University of Kentucky, Lexington, KY 40506.
IEEE Log Number 8822 131.
0018-9464/88/0900-2194$01.OO
IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5 .
tions during the 60” time (commutation period) are dem-
onstrated in Section 111. To maximize thrust per ampere
and to minimize the thrust pulsations, at the same time
providing identical thrust performance for both directions
of motion, the position transducer angle is chosen to be
90”. So the stator MMF space phasor starts at 120” and
ends conduction at 60” with an average of 90” with re-
spect to the PM-mover axis. However, it is shown in the
paper that in this case the normal force pulsations are high,
although the absolute value of normal force is rather low.
Finally, in Section IV, the current control through an
on-off current controller is simulated with the motor fed
from a voltage source inverter. The general equations of
the motor performance presented are applied for steady
state. Numerical results with on-off current control are
given also in Section VI.
11. ANALYTICAL DETERMINATION OF THE FIELDOF
PERMANENT MAGNET
The configuration of the PM-LSM considered here is
shown on Fig. 1 . The stator nonmagnetic nonconducting
core with open slots only “holds” the winding coils. The
slots may be as thin as is mechanically feasible, to permit
wide and not so deep slots, for given stator MMF. The
machine geometry is such that the PM field distribution
in the area of only half of a pole pitch has to be investi-
gated (Fig. 2(b)).
As samarium-cobalt or neodymium-iron-boron rare-
earth PM’s are considered, for their high coercive field H,
and remanent flux density B,, the demagnetization curve
is linear with the recoil permeability almost equal to the
po (Fig. 2(a)). Consequently, the magnetization vector of
the permanent magnet M ( x ) is considered to have a rect-
angular distribution along the magnet length (Fig. 2(b)).
This distribution is shown in Fig. 2(c) as M ( x ) is now
decomposed into harmonics
* cos (2m - 1 ) -a- x
7
where 7pis the PM width and 7 is the pole pitch.
O 1988 IEEE
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL 2195

nonmagnetic frame

hp=1.27cm

I I
Fig. 1. PM-LSM configuration.

Y The amplitude of the flux density harmonics is dependent

only on B,, r p / r , and h,/r. Also the flux density decays
exponentially along the OY axis for each harmonic. The
fundamental (rn = 1 ) decays slowest along the OY axis
and its flux density decays e ( = 2.718) times a t y = r / r .
We conclude that the stator winding slot bottom should
not be placed further than r / x from the magnet surface.
So the stator slot maximum height should be (h,),,, =
r / a - go. Fig. 3(a) and (b) presents the plots of flux
density, By, and BxI,distribution for the motor which we
(a) investigated. The parameters are given in Table I. As
shown, the flux density distribution is nonsinusoidal. The
departure from a sinusoid decreases when we go further
from the PM surface toward the stator winding region as
shown in Fig. 3(c).
In the calculation of forces we need the average flux
IrT
2 2
x density component ByIavand BxIavobtained over the slot
(C)
height
Fig. 2. The mathematical model

The solution of Laplace equation for the magnetic sca-

lar potential $m through separation of variables, valid in
regions I and I1 (Fig. 2(b)), with the corresponding
boundary conditions, is given for ready reference in the
Appendix (see (AI)-(AlO)).
Expressions (4) and ( 5 ) are evaluated in (A18) and (A19)
Finally, the two components of the flux density in re-
in the Appendix. Apparently the average flux density is
gion I (above the PM in Fig. 2(b)) are (see Appendix,
smaller than in PM-LSM with stator iron core [6], [7] but
(A15), (A16)) higher stator MMF levels are allowed since the armature
reaction field is very small due to the fact that stator wind-
-1 ings are magnetically in air. So the heavy iron core is
eliminated but higher current loadings are required to ob-
tain the same thrust from the same geometry.

a 111. THRUSTAND NORMALFORCESWITH

* sin (2m - 1 ) - x RECTANGULARCURRENT
7
The ideal rectangular currents in the motor phases are
shown in Fig. 4.It is to be noted that only two phases are
conducting at a time. Let us consider a stator full pitch
winding with two layers and one slot per pole per phase.
If, for example, phases A + B - are conducting, the wind-
ing currents are shown in Fig. 5(a), the stator MMF dis-
a tribution is as shown in Fig. 5(b). The spatial distribution
* cos (2m - 1 ) ;x. (31 of stator MMF F A + B - ( x )may be expressed mathemati-
 2196 IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5, SEPTEMBER 1988

I
.si

t*hl(l.27.w~rfacc of mgnstl A Fig. 4. Ideal rectangular phase currents

7 I
-
-
I-
x
m

Fig. 5. Stator MMF distribution.

cally as

-.' I
1 3 5 7 9 11 13 IS 17 19
I = -241, 1x1 I - w --
wt

Order n s 2
(C)
Fig. 3. PM flux density distribution along the direction of motion (a) nor-
mal flux density ( E y l ( x ) ) ,(b) longitudinal flux density E , , ( x ) , (c) har-
monic spectrum of E , , ( x ) .
- - 2 1 f i f l , + 21( r -
-

1
w,
Wt) ,
1
- - ( r - WJ I x
2
TABLE I
PARAMETERS
OF PM-LSM

: I)
PM type: samarium cobalt Pole pitch r = 1.15 in
E,: 9000 G Air gap g = 0.04 in
H,:8700 Oe Slot height h, = 0.35 in
=+c-x - - r - w t ,
Magnet height h,: 0.5 in
2WnSz (
Slot pitch r, = r / 3
Magnet width rp: 1.O in Slot width W, = 0 . 7 ~ ~
Tooth width W,= r. - W.
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL 2197

The position transducer is shifted 90" with respect to

its phase. Thus the MMF-PM field's axes angle varies
from 120" to 60" (Fig. 4 ) . To understand the thrust pro-
duction we now show the position of the PM mover with
respect to the stator MMF produced by phase A+B- at the
beginning of conduction ( w r t = 0") and at the end of
conduction interval w r t = 60" (for the PM-LSM in Fig.
1). The PM-LSM is considered to have in all five poles
with the end poles slots half-filled (Fig. 6). The total thrust
is calculated by adding the interactions along each pole I
(Fig. 5 ) tBr I

Fig. 6. Relative position of PM and stator MMF

F&) = 64L-
4 1
Ws m
c h,(2m4Brr21 ) a3sin (2m - 1 ) a2 7
= ~ -
--
TP

Factor 2 in (7) takes into account the double-sided action

of the motor and L is the stack width (for a single-sided
PM-LSM factor 2 is dropped).
The PM axis should be located according to Fig. 6 to
be 120" shifted at t = 0
W
a
ByIav(x,t ) = C COS (2m - 1 ) - X - (2m - 1)
ByIavm
2 a
(: 5)
+-
m=l
sin (2m - 1) -cos (2m - 1) - u t ,
6
a
-ut
7- al
+ (2m - 1 ) -3
The thrust and normal force dependence with w t / r
where u is the PM mover speed. Finally, from (7) and (8)
and Bylavfrom the Appendix we obtain varying from 0 to a / 3 are shown in Fig. 7(a) and (b) for
a current I = 0.67 A, nc = 80 turns/coil, h, = 0.789 cm,
W
4B,r2 W, = 0.77,; r, = 7/3; 7- = 2.921 cm, and rP = 2.54 cm.
ncl
F,(t) = 64L- c
W, m = l h,(2m - 1 ) a3
a 7P
sin (2m - 1 ) - -
2 7 Notable pulsations are observed both in thrust and normal
force. These force pulsations may cause speed pulsations
at low speeds. With rectangular current control the speed
pulsations may be reduced by a careful design of the speed
controller. However, if the PM mover position is obtained
with more than 360 signals per pole pair ( 1" resolution)
the reference current may be varied through adequate con-
trol during the (0" to 60" ) angle time interval such that
the force is constant in time. This may be done digitally
a
cos (2m - 1 ) -6c o s (2m - 1 ) and with a PWM inverter.
The normal force pulsations are even higher than thrust
(9) pulsations but the absolute value of the normal force is
rather small compared with iron-core PM-LSM's. The
Similarly, the normal force is obtained, with BxIav(x,t ) linear bearings experience less stress and thus are ex-
instead of ByIav ( t ) pected to have a longer life.
 IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5 . SEPTEMBER 1988

;3
23

2r FI 1

:
14-
A ngle Ikadians)

c _
DA'DB'

13- (C) (d)

12-
11-
Fig. 8 . Principle of on-off current control. (a), (b) Current rising-To,.
(c), (d) Current falling-f,, .
10-
9-
0-
7- Thus the solution of ( 1 1) with (13) is
6-
5-
4-
a-
2-
1-
0
'1 '2 13 !4 15 !S .$ .b .b \ 0 It Iton (14)
A&le (kadians)
(b) where R, and L, are phase resistance and inductance, re-
Thrust F, and normal force pulsations with rectangular current. spectively. Analytical expressions for L, and R, are de-
veloped later. Equation (14) reveals that in order to allow
a rise of current the terminal voltage V should be greater
IV. PM-LSM PERFORMANCE EQUATIONS FOR ON-OFF than the average line-induced voltage produced by the
RECTANGULAR CURRENTCONTROL moving PM's.
The PM-LSM with rectangular current control is fed Referring to Fig. 8(d), for the current decay time inter-
from a voltage source transistor inverter. The inverter val, the voltage-current relationship is given by
configuration for phase A + B - conducting current rise is
shown in Fig. 8(a). In Fig. 8(c) we show the inverter cir- I/=-2Ri-E 0
- 2 L - di
-- 1
i ( t ) dt. (15)
cuit when transistors A + and B - are turned off (the off dt C,
mode) to permit current fall through the diodes DA- and
DB'. The equations for the interval during the current For t = 0, i = I,,, and thus the solution of (15) is
rise may be written with the aid of Fig. 8(b) [4]

V = 2R,i + 2L, di-

dt
+ ( e , - eb) (11)

with e = e, - eb = instantaneous line induced voltage; - I,, wo e --at

-
W
sin (wt + 4) (16)
and

e 5: Emsin ($ - a r t ) , 0" 5 w,t 5 60". ( 1 2 )

where V is the initial value of the capacitor voltage, and

Equations (1 1) and (12) may be solved analytically but

the solution becomes simpler and easy to use for on-off
current control if we consider the time-average value of e
such that

( e , - eb),, = so r/3
ed(w,t) 5:
3
- E m = Eo.
n
(13) Imposing tonand to* we may calculate the maximum and
minimum values of current- (I,,,, Imin
). Hence
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL
Finally, the equation of motion is
where M , is the moving gravitational mass and Fd is the
drag force.
Now if the tonand toff times are given and the initial
value of the current and speed are given, ( 1 3 ) , (16), and
(20) suffice to calculate both the steady-state and the tran-
sient behavior of PM-LSM. To apply these equations to
a numerical example let us first derive the analytical
expressions of PM induced voltage E,, and of the phase
resistance R,, and inductance L,.
V. INDUCEDVOLTAGEAND PARAMETERS
We consider here only the fundamental of the induced
voltage to simplify the analytical expressions. Thus
1 7 r 2 L, = La, + Mi-.
E, = -- uWlkWlrL- Byavl
J i T R We will apply the above formulas to calculate the induced
where W , is the number of turns per phase, k,, is the
winding factor, and Byavlthe amplitude of the average
air-gap normal flux density fundamental. The line-induced
voltage amplitude E = &E,. The stator phase resistance
R, is
lcoil WI
R, = Pco - ues of maximum, minimum, and average values of cur-
Aco
where lColl is the coil length and A,,, is the copper conduc-
tor cross section.
The phase inductance L, consists of two components:
one is referred to the end connections La, and the second
is due to the active part corresponding to a flat winding
considered distributed sinusoidally along the OX axis and
placed in air. Analytical field solutions suggest that such
a case is equivalent to a machine with an equivalent air
gap of 2 r / a . So we may apply the known expression of
the magnetizing inductance M of a machine with an air
gap of 2 r / a [5]
Equation (23) is developed for the three-phase machine
so it already accounts for the magnetic coupling between
stator phases. The leakage inductance of end connections
2199
L,, is adapted from [5]. Thus we have
+ 4.06kjl (In 8p7
rl - 1 . 7 5 ) ]
where
rl = h,/2
kdl winding distribution factor
kpl pitch factor
fi ratio of coil span to pole pitch
sin CY = ( W, + c )/ r , (25)
and
c coil clearance.
Now for two phases connected in series we have to con-
sider twice the end connection inductance La,, and also
twice the Mi-,so in fact the equivalent phase inductance
L, is
(26)
voltage and parameters through a numerical example in
the next section.
VI. NUMERICAL EXAMPLE
To illustrate the PM-LSM behavior for a given duty
+
cycle ton/( to, toB) of the on-off controller for the cycle
+
period T = ton to, = constant, we will present the val-
rent as functions of ton/Tfor different speeds. The param-
eters of the PM-LSM under consideration are given in
Tables I and 11. For this example, applying the formulas
we derived earlier, we obtain R, = 4.2286 a, Ls = 4.415
mH. The values of maximum, minimum, and average
values of currents as a function of t,,,/T for zero speed w ,
= 0 and w, = 27r x 30 rad/s are presented in Figs. 1 1
and 12, respectively.
As expected, the presence of significant induced volt-
age at w, = 20 x 30 rad/s allows higher duty cycle ratios
for smaller currents. It becomes clear that the duty cycle
to produce given maximum and minimum currents in-
creases with speed. The on-off current control produces
additional high-frequency pulsations in the forces which,
however, do not have a noticeable impact on motor speed
due to rather large mechanical inertia.
VII. CONCLUSION
This paper deals with an air-core flat PM self-synchro-
nous linear motor. It presents an analytical field solution
2200 IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5, SEPTEMBER 1988

Fig. 9. On-off phase current waveform.

Fig. 12. Maximum, minimum, and average current as function of ?,./Tat

w, = 2u X 30 rad/s.

the on-off current controller requirements to produce a

current varying between given limits. These equations are
accompanied by analytical expressions for induced volt-
age and phase parameters. A numerical example illus-
trates how the proposed approach may be applied to cal-
Fig. 10. End connections geometry and c = coil end clearance. culate the required on-off time of current controller and
average thrust for this case. Further work is required to
demonstrate the net superiority of core-loss PM-LSM over
TABLE I1 an iron-core configuration, but the basic analytic tools are
OF THE PM-LSM
PARAMETERS
hopefully available though this paper.
Resistivity p c o = 0.017241 D . mm2/crn
Cross-section area A , = ~ 0.102 mm2 APPENDIX
End connection Lend = 1.328 in
Coil length L,,,, = 15.64 cm From Maxwell’s equation, we can express the govern-
Pole pairp = 2 ing equation of the magnetic scalar potential as follows:
W , = 2pn, = 320 turns/phase

Coil-end clearance c = 1 -
a2$m
+ -a2$m
=o.
1=1 ax2 ay2
K,, = 1
Referring to Fig. 2(b), the boundary conditions are
Cycle T = 3.5 x 1 0 - ~s
+mly=m = 0

W m
H, = 0 , - = 0, at y = 0, for all x
ax
and symmetry conditions are
a$, = 0,
B, = 0, H, = 0, - at x = 0, for all y
ax
a$m 1
By = 0, Hy = 0, - = 0, at x = - 7, for all y.
aY 2
(A2 )
At the interface between region I and region 11, we have
HXI = H
I11
Fig. 11. Maximum, minimum, and average current as functions of t,./T
at standstill ( w , = 0).
By1 = BylI.

to the PM field problem. The thrust and normal force Inside the magnet
expressions are developed and notable pulsations with
rectangular current are demonstrated. General equations
of the motor performance are written and used to calculate
 220 1
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL

The magnetization vector M ( x ) can be expanded as Also, at y = h, (surface of the PM), we have

4 m 1 (2m - l ) a r p HXI = HXU

M(x) = -M
a
C(2m - 1 ) sin
m=l 27 yielding
a
cos ( 2 m - 1 ) - x
m
where
M = Br/Po. = c(2m
m=l
a
1 ) - AmIIsinh (2m - 1 )
-
r
We now consider the entire solution region ( 0 Ix 5 r , a a
0 Iy Ih,) as full of magnet material. But the fictitious - - h, sin (2m - 1 ) - x
7 r
portion of magnet is unmagnetized as shown in (A5). By
the method of separation of variables, we can assume the hence
. . . ~ ~ ~
~

a
A m I e-(2m-l)(s/~)hm = AmIIsinh ( 2 m - 1 ) - h,. (A10)
r
m Furthermore, inside of the magnet, we have
= c [ ( C , cosh P,y
m=l
+ D, sinh P,y)
Byu = Po(HyII + W x))
(M,cos P,x + N, sin P,x)]. (A6) By1 = B ~ I I ,at Y = hm
Consequently so

m
In region I: a
Apply the symmetry conditions to this region - C
m=l
- ( 2 m - 1) -A,II cash (2m - 1 )

- - - 0,
a$mI a t x = 0, =>A',, =0 a a
ax e - h, cos (2m - 1 ) - x
r r
1 1 1
-' $ _, I - 0, atx = -7, = > - ~ , r = -(2m - 1 ) a 4 0 3 1
aY 2 2 2 =-M C
m=l (2m - 1)
= 0, at y = 00, = > ( C m I+ D m 1 ) / 2= 0
a
m
a * cos ( 2 m - 1 ) - x .
= C )Y (2m - 1) - x .
A , , ~ - ( ~ ~ - ' ) ( ~ I ~cos
r
m=l
Simplifying (A12), we obtain
(A8) r

In region ZI:
Apply the symmetry conditions to this region.
(2m - 1 ) -
:I ~,,~-(2m-l)(~/~)h~

all., II
-- - 0, at x = 0 = > NmII = 0 + AmIIcosh ( 2 m - 1)
ax
1 a 4M 1 a 7P
a$m 11
- - - 0, at x = - r = > P, = (2m - 1 ) - =-
aY 2 7 a ( 2 m - 1 ) sin (2m - 1 ) --.
2 7 (A13)

* ax
= 0,
m
a t y = 0 = > C,,, = 0 Solving (A10) and (A13) simultaneously, we obtain
r 1 sin (2m - 1 ) -
a-7P
a A,, = 4 M 3
= C A,], sinh ( 2 m - 1 ) - y a (2m - 1) 2 7
m=l
a
a
cos (202 - 1 ) - x. (A9) - sinh ( 2 m - 1 ) - h,. ('414)
7 r
2202 IEEE TRANSACTIONS ON MAGNETICS, VOL. 24, NO. 5 , SEPTEMBER 1988

Substituting (A14) into (AS), the field solution becomes a n

* sin(2m - 1 ) -i-h m c o s ( 2 m - 1 ) - x
m 7
$mI = c 4 M=4 (2m 1
m=l - 1)
a i-P
sin (2m - 1 ) - -
2 7 . [hrn + g + hs
e-(2m-l)(r/r)y

W mI
4 1 = POHXI = 7.0,

m
1 n- 7P
BxI = 4B, sin (2m - 1) - -
m=l ~ ( 2 m- 1 ) 2 7

a
sin(2m - 1 ) - x 1 ” 1 .rr i-P
7 =4B,- C sin ( 2 m - 1) - -
h,m=1 ~ ( 2 m- 1) 2 7
W mI
By1 = P0HYI = -Po-
aY a a
* sinh (2m - l ) - h, sin (2m - l ) - x
m i- i-
1 n- TP
BYI= 4B, sin (2m - 1 ) - - hm + g + h,
m = ~n ( 2 m - 1) 2 7
e-(2m-1)(r/r)y d
* S,m+g Y
. sinh (2m - 1) !
!h m e - ( Z m - l ) ( * / T ) Y
7
1 ” 7 a i-P
n- = 4B, - C sin (2m - 1 ) - -
cos (2m - 1) - x . hsm=1 a2(2m - 1) 2 7
i-
(AW
sinh (2m - 1) !!h m e - ( 2 m - 1 ) ( r / ‘ ) ( h r n + g )
The fundamental components of B, and By are 7

4
BxIl = - B, sin
a
(i3) (: sinh
n-
h m ) e - ( r / r ) ysin - x

By,, = -
4 B, sin
a
(z 3) (: si& h m ) e-(r’T)y COS n- X.
-
REFERENCES
(A19)

(A17) [l] H . Weh and M. Shalaby, “Magnetic levitation with controlled PM

excitation,” IEEE Trans. Magn., vol. MAG-13, no. 5, pp. 1409-141 I ,
The average value of flux density B,I,, and ByIav 1977.

B y ~ a v= -
h,
s hm + g + hs

hm+g

hm+g+hs
BYI(X3 Y ) dY
[2] N. Boules and H. Weh, “Machine constants and design consideration
for a high power, high speed, PM disk type synchronous machine,”
EME, vol. 5 , pp. 113-120, 1980.
131 H . Weh, H. Mosebach, and H. May, “Design concepts and force gen-
eration in inverter-fed synchronous machine with PM excitation,” IEEE

BxIav = 1
h,
j hm+g
B ~ I ( XY
, > dY
Trans. Magn., vol. MAG-20, no. 5, pp. 1756-1761, 1984.
141 B. V . Murty, “Fast response reversible brushless dc drive with re-
generative braking,” in Proc. IEEE-IAS Annual Meet. (Chicago, IL,
1984), pp. 445-450.
hrn + g + hs 151 P. L. Alger, The Nature ofPolyphase Induction Machines. New York,
-
By Iav - 2. j
h s hm+g
B,I(X? Y > dY NY: Wiley, 1951, p. 213.
[6] Z. Deng, I. Boldea, and S . A. Nasar, “Fields in permanent magnet
linear synchronous machines,” IEEE Trans. Magn., vol. MAG-22,
1 - 1 no. 2, pp. 107-1 12, 1986.
= 48,- C
hs m = l a ( 2 m - 1 )
sin ( 2 m - 1 ) -
n- -
i-P [7] -, “Forces and parameters of PM linear synchronous machines,”
2 7 IEEE Trans. M a g n . , vol. MAG-23, pp. 305-309, 1987.
BOLDEA et al. : SELF-SYNCHRONOUS MOTOR WITH RECTANGULAR CURRENT CONTROL
Ion Boldea (SM’83) received the Ph.D. degree in electrical machines in
1973 from the Polytechnical Institute TR. VUIA, Timisoara, Romania.
He is now an Associate Professor of Electrical Engineering and an As-
sociate Dean at the same university. He was an Exchange Scholar at the
University of Kentucky, Lexington, during 1973-1974 under Senior Ful-
bright-Hays Program. His research interests are in electric machines. He
has published extensively in this field, is a coauthor of three books on linear
machines (in English) and author of several books on electric machines (in
Romanian).
S. A. Nasar (M’56-SM’69-F’85) received the Ph.D. degree in electrical
engineering from the University of California at Berkeley.
He is a Professor of Electrical Engineering at the University of Ken-
tucky, Lexington. He has been involved in teaching, research, and con-
2203
sulting in electric machines for over 25 years. He is the author, or coauthor,
of twenty-one books and over 100 technical papers, and is the Editor of
the monthly Electric Machines and Power Systems.
Dr. Nasar received the Aurel Vlaicu award of the Romanian Academy
of Science in 1978 for his contributions of linear machines. He is a Fellow
IEE (London) and is a member of Eta Kappa Nu and Sigma Xi.
Zhenxing Fu was born in Shenyang, P. R. China, on August 31, 1961.
He received the B.S.E.E. degree from Harbin Institute of Technology,
China, in 1982, and the M.S.E.E. degree from the University of Kentucky,
Lexington, in 1986.
He is currently working toward the Ph.D. degree in the Department of
Electrical Engineering, University of Kentucky, with research interest in
control and analysis of electric machines.