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2990 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO.

6, JUNE 2014

High-Speed Drive for Textile Rotor


Spinning Applications
Siegfried Silber, Member, IEEE, Jiri Sloupensky, Peter Dirnberger,
Milan Moravec, Wolfgang Amrhein, and Martin Reisinger

Abstract—This paper presents a novel high-speed drive and


frictionless suspension system for a rotor spinning unit which
opens up the field for further textile technology development, po-
tentially leading to higher productivity, reduced power consump-
tion, and dust deposit. In contrast to conventional rotor spinning
machines, individually driven rotors are open on both sides, which
allows better arrangement of related spinning components. To
achieve a very high lifetime, the rotor is suspended by means
of active magnetic bearing. Outstanding energy efficiency can
be achieved due to the frictionless magnetic suspension of the
rotor and a slotless electronically commutated permanent-magnet
motor in conjunction with an optimized frequency inverter.
Index Terms—High-speed drive, magnetic bearing, quasi-
current source inverter (QSCI), rotor spinning, slotless permanent
magnet (PM) synchronous motor (PMSM).

I. I NTRODUCTION
Fig. 1. State-of-the-art rotor spinning machine.

A LONGSIDE ring and air-jet spinning, rotor spinning is


one of the three commercially exploited spinning tech-
nologies for the production of textile yarn. Although basic they constituted a breakthrough in the productivity compared to
principles of rotor spinning were described as early as the ring spinning, the state-of-the-art technology at that time. In the
first half of the last century, the commercial realization of following 30 years, considerable progress was made, leading to
this technology came late—around 1965—when engineers at increased rotor speeds of up to 150 000 r/min in commercial
the Cotton Industry Research Institute in Ústí nad Orlicí in machines. An example of such a state-of-the-art rotor spinning
former Czechoslovakia succeeded, after intensive research and machine is shown in Fig. 1.
development, in combining the principles of fiber separation The original mechanical system for driving the spinning
and twisting of yarn in a high-speed spinning rotor. In coop- rotors via a flexible flat belt is still used today; only the direct
eration with the Elitex company, the BD 200 rotor spinner was ball bearings have been replaced by an indirect shaft support
commercially produced for the first time. The key parameter using elastic disks. Clearly, this drive configuration has nu-
in rotor spinning productivity is the rotational speed of the merous disadvantages when running at extremely high speeds.
spinning rotor. The first commercially supplied rotor machines Above all, the maintenance of the mechanical components is
were equipped for rotor speeds of only up to 30 000 r/min, yet very expensive, and efficiency is low. Further disadvantages
are high levels of waste, heat, and noise. In the past few
decades, several different systems have been investigated, for
Manuscript received November 13, 2012; revised February 8, 2013; accepted
March 5, 2013. Date of publication April 17, 2013; date of current version instance, a mechanical configuration with air bearings and
December 20, 2013. This work was supported in part by the European Union individual induction motor drives, but only current progress in
Seventh Framework Programme under Grant Agreement 251396, by the microelectronics, advanced control systems, magnetic bearings,
Austrian Government, the Upper Austrian Government, and Johannes Kepler
University Linz. and permanent magnet (PM) motors allows further steps toward
S. Silber, P. Dirnberger, and W. Amrhein are with the Department of Electri- a completely new design for the rotor spinning unit.
cal Drives and Power Electronics, Johannes Kepler University Linz, 4040 Linz, To overcome current shortcomings, an entirely new rotor
Austria, and also with the Austrian Center of Competence in Mechatronics
GmbH, 4040 Linz, Austria (e-mail: siegfried.silber@jku.at; peter.dirnberger@ drive system, the key part of the spinning machine, is proposed.
jku.at; wolfgang.amrhein@jku.at). The aim of the novel mechanical configuration is to realize
J. Sloupensky and M. Moravec are with the Rieter CZ s.r.o., 562 01 Ústí nad bearing and drive with considerably lower power consumption,
Orlicí, Czech Republic (e-mail: jiri.sloupensky@rieter.com; milan.moravec@
rieter.com). significantly lowered abrasion, and lower noise level. For this
M. Reisinger is with the Linz Center of Mechatronics GmbH, 4040 Linz, purpose, the mechanical configuration of the spinning unit had
Austria (e-mail: martin.reisinger@lcm.at). to be changed fundamentally, and additional functionality that
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. improves the spinning technology had to be integrated into a
Digital Object Identifier 10.1109/TIE.2013.2258308 single mechatronic system.
0278-0046 © 2013 IEEE
SILBER et al.: HIGH-SPEED DRIVE FOR TEXTILE ROTOR SPINNING APPLICATIONS 2991

Fig. 2. Spinning process of a conventional rotor spinning machine with


horizontal shaft.

Fig. 3. Proposed spinning process with optimized material flow.

II. M ECHANICAL C ONFIGURATION


Fig. 4. Active magnetic bearing with homogeneous flux density distribution
As previously mentioned, the majority of commercial rotor in the air gap.
spinning machines are currently driven by a central drive using
a flat belt. Owing to the mechanical arrangement, the spinning
rotor is open on one side only, which causes problems with costs. However, the drive concept of the rotor spinning machine
the arrangement of the fiber input and yarn takeoff, particularly must be redesigned completely since the central drive has to be
at high speeds, where the geometry of the rotor—particularly replaced with individual drives for each spinning unit.
its diameter—is a limiting factor. Furthermore, deposits in the
rotor groove of this arrangement, as shown in Fig. 2, are an
III. M AGNETIC B EARING
important issue [1]–[4].
An improved spinning system must optimize the material The spinning application requires bearings with long life-
flow, which means that the fibers should enter the rotor on one times at very high rotational speeds and with very high effi-
side and the yarn should leave it on the other [5]. This requires ciency requirements which magnetic bearings meet perfectly.
a shaftless rotor with a hole in the middle, as shown in Fig. 3. Since the external forces of the spinning process acting on
Although significant progress has been made in mechanical the rotor are relatively low, the passive stabilization of some
bearings and hydrodynamic air bearings [6], they cannot fulfill degrees of freedom (DOFs) becomes feasible. Various designs
these requirements mainly because of the dust produced by the of cost-effective magnetic bearings with passively stabilized
spinning process itself. However, with magnetically levitated DOFs with PMs in the rotor have been proposed [14]–[16]. In
drives, contactless operation becomes feasible, and moreover, particular, for passive magnetic bearings, which employ ring
these drives are considerably less sensitive to dust in the magnets both in the rotor and in the stator, comprehensive
environment. A very promising drive design that combines mathematical models have been developed [17]–[19]. At very
magnetic levitation and the drive is a bearingless motor. This high rotational speeds, however, surface-mounted PMs should
motor principle has been known since the late 1980s [7] and be avoided because of the low tensile strength of the mag-
has the advantage of being very cost effective. Various types netic material. Also, no electrical steel sheets should be used
of bearingless motors have recently been developed [8]–[11], in the rotor for the same reason. Thus, the rotor should be
but mainly for applications running at lower speeds. Only in made from solid ferromagnetic material. To keep the bearing
[12] was a bearingless motor design for around 100 kr/min losses (hysteresis and eddy current losses) in a solid rotor low,
proposed. For rotor spinning, however, this is still too slow, the flux density in the air gap should be constant and very
which makes a high-speed magnetic bearing the best option homogeneous. An active magnetic bearing that features very
for the contactless suspension of the rotor. In combination with homogeneous flux density in the air gap is shown in Fig. 4.
an efficient PM synchronous motor (PMSM), a highly reliable The flux of PMs, magnetized in the axial direction, is guided
system can be realized [13]. Furthermore, progress in power by the top and bottom stator sheets to generate a bias flux φ0
electronic components and microcontrollers has made it pos- in the air gap. The stator is partitioned into four segments,
sible to design compact controller boards at low manufacturing each featuring a PM surrounded by a coil. To achieve a very
2992 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014

Fig. 7. Connection of the bearing coils to simplify the driver electronics.


Fig. 5. Simulation of the flux density distribution in the region of the connec-
tion bridges in the stator sheet of the active magnetic bearing. where μ0 is the permeability of vacuum and dϕ denotes an in-
finitely small angle. The force elements on this surface element
can be expressed in an orthogonal coordinate system as

dFx = 2 dFr cos ϕ (2)


dFy = 2 dFr sin ϕ (3)

with the force element dFx acting in the x-direction and dFy
acting in the y-direction. The factor of two in (2) and (3)
results from the two stator sheets. Given the arrangement of
the stator segments, it is obvious that segments 1 and 3 are
intended for force generation in the x-direction and segments
2 and 4 are intended for force generation in the y-direction. The
resultant force in the x-direction of sector 1 can be calculated
Fig. 6. Maxwell force acting on an infinitely small rotor element dS.
by integrating (2) over the surface of this sector, which yields
−π
homogeneous flux density distribution in the air gap, the stator 4
1
sheets are made from one piece with the segments connected Fx1 = ls ds (B0 + BC1 )2 cos ϕdϕ
2μ0
by small bridges. These bridges should be driven nearly to −π
4
saturation by the PM bias flux in order to decrease the magnetic √
permeability in those regions. However, the flux density in the 2 ls d s  2 2

Fx1 = B0 + 2B0 BC1 + BC1 . (4)
air gap adjacent to these saturation bridges should be the same 2 μ0
as in the rest of the air gap to avoid hysteresis and eddy current
losses in the rotor core. A finite-element simulation of this Finally, the total force in the x-direction is calculated by sub-
region is shown in Fig. 5. Due to fringing, the flux density in the tracting the x-component of the force of sector 3 from (4)
air gap is lower than that in the rotor because the axial length of
the stator is in the same ranges as the air gap. Fx = Fx1 − Fx3

For force generation, the bias flux of the PMs φ0 is superim- 2 ls d s  
posed with the flux of the coils φCi , where subscript i refers to Fx = 2B0 (BC1 − BC3 ) + BC1
2
− BC3
2
. (5)
2 μ0
the coil in the corresponding ith sector. The flux density in the
air gap can be calculated as Equation (5) can be simplified considerably when the current
through coil 3 has the same value as the current through coil 1
4φ0 but with a negative sign
B0 =
πds ls
4φCi BC3 = −BC1 . (6)
BCi =
πds ls Thus, the total force in the x-direction is
where ds and ls denote the diameter of the stator bore and √ ls d s
Fx = 2 2 B0 BC1 .
the length of each stator sheet, respectively. For calculating μ0
the force acting on the rotor, the Maxwell force in the radial
direction on a surface element of one stator sheet dS, as shown The force generation in the y-direction is equivalent when
in Fig. 6, is considered coils 2 and 4 are used instead of coils 1 and 3. By connecting
the coils in series as shown in Fig. 7, condition (6) is met, and
1 the number of bearing phases can be reduced to two, which
dFr = (B0 + BCi )2 ls ds dϕ (1)
4 μ0 makes simplified driver electronics possible.
SILBER et al.: HIGH-SPEED DRIVE FOR TEXTILE ROTOR SPINNING APPLICATIONS 2993

Fig. 8. Passively stabilized DOFs. (a) Axial direction. (b) Tilting directions. Fig. 9. Cross section of the slotless high-speed motor.

In practice, the flux density of the coils BCi is significantly


lower than the bias flux density of the PMs B0 which results in
flux densities BCi of several 100 mT. The coil flux must pass a
PM with low permeability, as shown in Fig. 4. However, since
the area of the PM is more than 20 times larger than the active
bearing area of one stator segment, the coil flux density through
the magnet reaches peaks only in the millitesla range. With this
low flux density, the eddy current losses both in the PM and in
the stator sheets are negligible. Therefore, for this application,
the bandwidth of the bearing is high enough to ensure levitation
even at the highest possible rotational speed.
In a C-shaped rotor geometry, the axial and the tilting di-
rections can be stabilized passively by reluctance forces, as
shown in Fig. 8. A small deflection in the axial direction causes
a reaction force acting against this deflection, thus stabilizing
the rotor in this direction [see Fig. 8(a)]. The stabilization in
the two tilting directions is equivalent. A small tilting angle
results in a stabilizing torque. With this configuration, only two
radial DOFs need active stabilization, and three DOFs (axial
and tilting) can be stabilized passively [see Fig. 8(b)].

Fig. 10. Flux density distribution at nominal torque. (a) Motor with two pole
IV. H IGH -S PEED M OTOR pairs. (b) Motor with three pole pairs.

As previously mentioned, the new spinning unit arrangement


requires a rotor with a bore in the center for optimal yarn is also the rotor of the magnetic bearing, it should have high
guidance. To meet this constraint, a motor with an exterior permeability. At the same time, it must withstand the centrifugal
rotor and a bore through the stator core is proposed which must force and bear additional mechanical load to support the PMs.
also exhibit outstanding energy efficiency and low destabilizing Finally, this component is also the back iron of the motor
stiffness in the radial and the tilting directions (a constraint magnets. The outer diameter of the ring should be as small as
that results from the passively stabilized DOFs of the magnetic possible to minimize mechanical stress and air drag, but the
bearing). wall thickness is limited to keep the moment of inertia at a
Very low destabilizing stiffness in the radial direction, as well minimum.
as high efficiency, can be achieved with a slotless motor topol- To avoid cross-coupling between the motor and the magnetic
ogy. This topology is widely used in high-speed applications bearing, the flux density in the rotor ring caused by the motor
[20]–[24], but usually with an interior rotor design. For the magnets should be kept low. Since there are so many mechan-
rotor spinning application, however, the external rotor design ical constraints, only the number of pole pairs of the motor is
integrates some significant features, such as the following: variable and has a significant impact on the flux density. Fig. 10
1) a compact mechanical design which leads to a short rotor shows the flux density in the rotor ring of a motor with two
and 2) the mechanical protection of the PM to withstand high pole pairs [see Fig. 10(a)] versus a motor with three pole pairs
centrifugal forces. A shorter rotor has significantly lower air [see Fig. 10(b)]. Since the flux density for the motor with three
drag and thus reduces the required motor torque. pole pairs is significantly lower, this motor topology has been
A simplified cross section of the rotor and the stator is shown chosen. However, the fundamental frequency of this topology is
in Fig. 9. The mechanical support of the PM is very important very high, up to 7500 Hz at a rotational speed of 150 000 r/min.
because of the high operating speed of up to 150 000 r/min At this speed, the peripheral velocity of the ferromagnetic
and the limited tensile strength of the rare-earth PM materials ring is 280 m/s. Since the ring is used as the rotor of the
(typically 100 MPa). This mechanical support is provided by magnetic bearing, this is also the velocity of the rotor surface
a ferromagnetic ring that fulfills additional functions: Since it in the magnetic bearing.
2994 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014

Fig. 12. Simulation of the phase current and the scaled motor torque for the
VSI with block commutation for a motor speed of 150 000 r/min.

only feasible with variable dc voltage. For this reason, a dc–dc


converter is applied at the input. The schematic diagram of this
Fig. 11. Different inverters for high-speed motors. (a) VSI with additional inverter is shown in Fig. 11(b). The ripple of the current in the
external inductances. (b) VSI for block commutation with dc–dc converter. inductor can be adjusted by varying the value of the inductor
(c) QSCI.
and the switching frequency.
If the value of the capacitor CDCi is sufficiently high, the
V. M OTOR I NVERTER
voltage UDCi can be considered constant. For a rough estima-
The very high fundamental frequency required for high- tion of the ripple current in the motor winding, an equivalent
speed operation in conjunction with the low motor inductance inductance can be calculated with the voltage equation of the
requires a particular inverter topology. Although numerous PMSM
inverter topologies are known for high-speed drives [25]–[27],
only very simple topologies that operate with safety low dc dis
u s = Rs is + L s + uq
voltage are considered here. In addition to the efficiency of dt
the inverter topology, the complexity of the driver plays an
where us , is , and uq denote the vectors of the phase voltages,
important role. Fig. 11 shows three possible inverter topologies
the phase currents, and the back electromotive force, respec-
that should be considered in more detail.
tively. The resistance matrix Rs and the inductance matrix Ls
for a symmetric motor can be written as
A. VSI With Sine Commutation ⎡ ⎤ ⎡ ⎤
R1 0 0 L11 L12 L12
A voltage source inverter (VSI) connected to a fixed dc Rs = ⎣ 0 R1 0 ⎦ , Ls = ⎣ L12 L11 L12 ⎦
bus, as shown in Fig. 11(a), is widely used and has become 0 0 R1 L12 L12 L11
the de facto industry standard. Operating a slotless high-speed
motor, however, requires a very high switching frequency and with the phase resistance R1 , the self inductance L11 , and the
additional phase inductors to keep the current ripple low. Also, mutual inductance L12 . If one phase is connected to UDCi , the
for a fundamental frequency of 7.5 kHz, the sampling frequency second is connected to ground, and the third is left opened, an
of the controller should be in the range of 75 kHz or higher to equivalent resistance and inductance can be calculated as
ensure highly efficient field-oriented control of the motor. Ow-
ing to these disadvantages, this inverter topology was discarded. Rs = 2R1 , Ls = 2(L11 − L12 ). (7)

For the current motor design, the equivalent resistance and


B. VSI With Block Commutation
inductance are approximately 100 mΩ and 3 μH, respec-
To overcome the disadvantage of the very high sampling tively. The simulation of the phase currents and the relative
frequency required for sine commutation, block-commutated motor torque for these parameters at a rotational speed of
VSI could be used. In this case, the controller must provide a 150 000 r/min is shown in Fig. 12. The phase currents have a
signal with low frequency jitter at six times the fundamental very high ripple that results in considerable torque ripple. For
motor frequency. For the current application, this signal has this application, the torque ripple is less significant because of
a frequency of up to 45 kHz. The speed control of a block the high moment of inertia, but the current ripple substantially
commutation VSI in which only one low-side and one high- increases the copper losses in the motor and the losses in the
side MOSFET are switched on for an electrical angle of 120◦ is MOSFETs.
SILBER et al.: HIGH-SPEED DRIVE FOR TEXTILE ROTOR SPINNING APPLICATIONS 2995

Fig. 13. Simulation of the phase current and the scaled motor torque for the
QCSI with block commutation for a motor speed of 150 000 r/min.

Fig. 14. Bearing inverter for two actively controlled DOFs.

C. QSCI With Block Commutation Fig. 15. Third generation of the prototype spinning unit with integrated
electronics.
On the basis of the VSI topology, the ripple current in
the motor phases can be further reduced when the capacitor
CDCi is omitted. Thus, the inductance required for the dc–dc VII. E XPERIMENTAL R ESULTS
converter is connected in series to equivalent inductance as
The third generation of the experimental spinning unit is
calculated in (7). To avoid overvoltage across the six motor
shown in Fig. 15. The complete system comprising magnetic
MOSFETs, diode D was added. The inverter topology is a
bearing with backup bearing, a high-speed motor, a bearing
combination of a VSI at the output with a current link and is
and motor inverter, and signal electronics is integrated into a
commonly referred to as a quasi-current source inverter (QCSI)
compact housing. With this spinning unit, high-quality yarn
[26]. The schematic of this inverter is shown in Fig. 11(c).
was produced at a rotational speed of 50 000 r/min up to
The improvement of the QCSI over the VSI (both with block
140 000 r/min with various rotor diameters. Compared to a
commutation) is significant and can clearly be seen in Fig. 13.
conventional rotor spinning machine, the power consumption
In the simulation, the value of the inductance was 180 μH, and
is approximately 20% lower at the same rotational speed.
the switching frequency of the dc–dc converter was 125 kHz.
Moreover, this system of material flow has certain advantages in
Since there are several advantages over the VSI with block
relation to textile technology, which will be further investigated
commutation, such as higher efficiency and no dc-link ca-
in the next few steps of development. It was confirmed that the
pacitor, this inverter topology has been selected for the rotor
stiffness of the passively stabilized DOFs is sufficient for the
spinning application.
spinning process.
The radial deflection of the rotor is limited to around ±20 μm
for the full range of operation. Even at very high acceleration
VI. B EARING I NVERTER
rates, where a rotational speed of 140 000 r/min is reached
Two independent full-bridge drivers, as shown in Fig. 14, can within 7.5 s from rest, this orbit is not significantly exceeded, as
be employed to generate bearing forces. Low-side shunt resis- shown in Fig. 16. The measurement of the radial position was
tors Rsx and Rsy enable cost-efficient current measurement. To done with the position sensors of the magnetic bearing.
guarantee efficient operation with low switching losses, always The QCSI operates well across the whole operation range,
one low-side switch is permanently switched on, and the other and good agreement between theoretical prediction and mea-
half bridge is modulated. surements was obtained. This can be seen in Fig. 17 for a
2996 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 61, NO. 6, JUNE 2014

ACKNOWLEDGMENT
This work was conducted within the Austrian Center of
Competence in Mechatronics, which is part of the Competence
Centers for Excellent Technologies K2 program of the Austrian
Government. The authors would like to thank all partners
involved for their support.

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pp. 861–868.
[25] C. Zwyssig, S.D. Round, and J. W. Kolar, “Power electronics interface for
a 100 W, 500 000 rpm gas turbine portable power unit,” in Proc. Appl. Milan Moravec received the Dipl.Ing. degree from
Power Electron. Conf., Mar. 2006, pp. 283–289. the Faculty of Electronics, Technical University in
[26] I. Takahashi, T. Koganezawa, G. Su, and K. Oyama, “A super high speed Brno, Brno, Czech Republic.
PM motor drive system by a quasi-current source inverter,” in Conf. Rec. In 1987, he became an Electronics Designer fo-
IEEE IAS Annu. Meeting, Oct. 1993, vol. 1, pp. 657–662. cusing on the development of single-purpose ma-
[27] T. Green, M. Taha, N. Rahim, and B. Williams, “Three-phase step-down chines for Elitex textile machinery CZ. From 1993
reversible ac-dc power converter,” IEEE Trans. Power Electron., vol. 12, to 2004, he developed software for automated textile
no. 2, pp. 319–324, Mar. 1997. machines at the design center of Rieter CZ s.r.o,
Ústí nad Orlicí, Czech Republic, a sister company of
Rieter Machine Works Ltd., Winterthur, Switzerland.
His work focused on control software and robotics
for textile machinery. From 2005 to 2007, he worked on the mechatronics
of yarn quality sensors. Since 2008, he has been a member of the Research
and Development Department of Rieter CZ s.r.o., concentrating on drives and
methods for bobbin winding and magnetic bearings for textile machinery. He
Siegfried Silber (S’95–A’99–M’03) received the
has led an international project in cooperation with the Institute of Mechatronics
Dipl.Ing. degree in electrical engineering from the
at Johannes Kepler University Linz, Linz, Austria. As part of his research
University of Technology, Graz, Austria, in 1995 and
activities, he has submitted several patents in the area of textile machines.
the Ph.D. degree from Johannes Kepler University
Linz, Linz, Austria, in 2000.
Since 2000, he has been a Senior Researcher at
Johannes Kepler University Linz and at the Linz Wolfgang Amrhein was born in Aschaffenburg,
Center of Mechatronics GmbH, Linz, where he is Germany, in 1957. He received the degree in
engaged in research projects. Since 2005, he has electrical engineering at the Technical University
been the Manager of the business unit Electrical Darmstadt, Darmstadt, Germany, in 1982. From
Drives and Actuation Systems. His research interests 1982 to 1990, he was a Scientific Assistant at
include magnetic bearings, bearingless motors, brushless motors, and power the Swiss Federal Institute of Technology Zurich,
electronics. Zurich, Switzerland, and received the Ph.D. degree
in 1988.
In 1990, he joined Papst-Motoren GmbH, St.
Georgen, Germany; in 1992, he became the Head of
the development department of this company. Since
1994, he has been a Professor and, subsequently, the Head of the Institute
for Electric Drives and Power Electronics, Johannes Kepler University Linz,
Linz, Austria. In 2000, he was appointed the Scientific Head of the Linz
Jiri Sloupensky received the M.Sc. degree in elec- Center of Competence in Mechatronics, Linz. His research interests focus on
tronic computer engineering from the Czech Techni- electric drives with special emphasis on small electric motors, magnetic bearing
cal University, Prague, Czech Republic. He received systems, bearingless motors, and power electronics.
the Ph.D. degree from the Prague Technical Univer-
sity, in 1986.
He then worked at the Cotton Industry Research
Institute in Usti nad Orlici, Czech Republic, de- Martin Reisinger received the Dipl.Ing. degree in
veloping microprocessor-based control systems for mechatronics from Johannes Kepler University Linz,
advanced spinning machinery. This activity also Linz, Austria, in 2003.
formed the basis of his Ph.D. work in technical He is currently a Senior Researcher with the Linz
cybernetics at the Faculty of Mechanical Engineering Center of Mechatronics GmbH, Linz, where he has
of the Technical University in Liberec, Czech Republic. Since 1991, he has been engaged in the field of electrical drives and
been leading the Research and Development Department of Rieter CZ, Usti power electronics since 2001. His main research ac-
nad Orlici, which is a subsidiary of the Swiss Rieter Holding, a world leader in tivities are power electronics, basic converter design
textile spinning. He contributes to the development of new designs for textile for electrical drives, and the design of integrated
spinning machinery based on advanced mechatronical concepts. actuators and magnetic bearings.

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