• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.2
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• pp.213-220
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• 2016

This research aims to develop core technologies for passive carrier (no power in carrier itself) transfer system. The technologies are passive levitation, propulsion, and guidance, which can be great benefits for semiconductor and display manufacturing industries. Passive maglev carrier is necessary to precise position control for quiet and stable transfer operation. However, the structural characteristics of carrier and the installation errors of gap sensors cause the pitch motion. Hence, the controller design in consideration of pitch motion is required. This study deals with the reduction control of carrier pitch motion. PDA controller and PDA controller with pitch control are proposed to compare the pitch angle analysis. The pitch angle and the levitation precision are measured by experiment. Finally, the optimized design of pitch controller is presented and the effects are discussed.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.279-284
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• 2014

This paper proposes a optimum design method for the Fuzzy PID controller of magnetic levitation-based Rail-Guided Vehicle(RGV). Since an attraction type levitation system is intrinsically unstable, it is difficult to completely satisfy the desired performance through the methods designed by conventional controllers. In the paper, the Fuzzy PID controller with fixed parameters are applied and then the optimum parameters of fuzzy PID controller are selected by genetic algorithm. For the fitness function of genetic algorithm, the performance index of PID controller is used. To verify the performance of the proposed method, we used Matlab/simulink model of Maglev and compared the proposed method with the performance of PID controller. The simulation results show that the proposed method is more effective than conventional PID controller.

• Journal of the Earthquake Engineering Society of Korea
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• v.15 no.3
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• pp.1-9
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• 2011

The purpose of this study is to examine the dynamic characteristics of low, medium and high speed Maglev trains and guideways through dynamic interaction analysis. The coupled dynamic equations of motion for a vehicle of 10-dof and the associated guideway girders are developed by superposing vibration modes of the girder itself. The controller used in the UTM-01 Maglev vehicle is adopted to control the air gap between the bogie and guideway in this study. The effect of roughness, the guideway deflection-ratio and vehicle speed on the dynamic response of the maglev vehicle and guideway are then investigated using the 4th Runge-Kutta method. From the numerical simulation, it is found that the air gap increases with an increase of vehicle speed and the roughness condition. In particular, the dynamic magnification factor of the guideway girder is small at low and medium speeds, but the factor is noticeable at super-high speeds.

• Journal of the Korean Society for Railway
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• v.19 no.2
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• pp.135-144
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• 2016

It is essential to lighten the weight of switch girders in order to reduce their costs of manufacturing and make it easier to use them in construction. Lightening the weight of switch is also important to the Maglev 3-way switches system, however, the design variables should be considered very carefully if lightening is to be applied to the system, because these variables are vitally related to the levitation stability. Because Urban Maglev trains have a structure in which train bogie wraps around the guiderail, the adjustment of a girder's height is a possible way to reduce the weight. The safety of the application of this concept is ensured by repeated experiments in a test bed, however, due to a lack of space and budget limits, the design parametric study for the system model can substitute for actual application. The purpose of this paper is to study the design parameters that are concerned with levitation stability while a Maglev train is running on the Maglev 3-way system depending on the weight of the switch girders. In this study, switch girder weight is reduced by adjustment of girder height and girders are and modeled as a flexible body. The effect of the adjustment of girder height on the levitation stability can be analyzed by comparing the velocity of the train when it passes the switch girders, with the lateral gap, and the levitation gap which are obtained from the co-simulation of the Maglev train's dynamics model and flexible switching system. The results of this research will be used to design a Maglev switch.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1260-1261
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• 2011

LSM기반의 초고속자기부상열차는 고전압, 대전류의 추진 전력을 공급할 수 있도록 설계되어진 특수한 형태의 추진 인버터와 주행시 부상공극변동에 대해서도 강인한 부상특성을 제공할 수 있도록 개발된 부상제어시스템이 필요하다. 본 논문은 550km/h급 초고속자기부상 시스템에 대한 설계기술의 확보를 위한 것으로, 실 규모시스템 구현에 앞서 축소모형으로 각각의 시스템 구성품을 개발하되 실규도 시스템에 적용하는 방식의 2스텝의 추진용 인버터시스템과 전류원 초퍼기반의 부상시스템 토플로지를 구성하고 그 제어특성의 시험 및 평가를 위해 시뮬레이션을 수행하여 그 가용성을 확인하였다.

• Journal of the Korean Society for Railway
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• v.18 no.1
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• pp.15-24
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• 2015

In magnetic levitation vehicles, the clearance between the magnet and track should be maintained within an allowable range through a feedback control loop. The flexibility of the guideway would introduce additional modes in the overall suspension system, resulting in dynamic interaction between the guideway vibration and the electromagnetic suspension control system. This dynamic interaction can be a serious problem, particularly at very low speeds or standstill, and may cause airgap instability. To optimize the overall system dynamics, an integrated dynamic model including mechanical and electrical parts and a flexible guideway as well as a control loop was developed. With the proposed model, airgap simulations at standstill were performed while varying the control gains, specifically with the aim of understanding the effects of gains of the PID controller on the airgap variation. The findings may be used to achieve a stable levitation controller design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.181-186
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• 2006

본 논문에서는 자속 궤환을 포함하는 자기부상 시스템의 open-loop 특성에 대해서 다룬다. 훌륭한 외란 억제 특성을 포함하고 파라메타 변동에 대해서 둔감한 제어기를 설계하기 위해서 자속 궤환을 이용하는 것이 효과적일 수 있다. 적절한 센서에 의해서 측정 가능한 자속은 전류와 공극의 시간 변화에 대해서 선형적인 관계를 가지고 있으며, 자속의 궤한은 자기 부상시스템이 본질적으로 갖고 있는 전기적 엑츄에이터와 기계적 플랜트 사이의 간섭에 의해서 발생하는 비선형성을 감소시키는 역할을 한다. 모의시험 결과를 통해서 자속의 궤환이 자기부상 시스템의 부하변동에 대해서 open-loop 성능 향상에 효과적임을 보인다.

• 전기의세계
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• v.43 no.3
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• pp.18-28
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• 1994

현재까지 개발되고 있는 자기부상열차는 상전도 방식과 초전도 방식의 2종류로 대별 할 수 있다. 즉 상전도방식은 상전도 전자석에 의한 흡인력에 의해 지상에서 1cm정도를 부상하여 주행하는 시스템으로 영국의 버밍행공항의 People mover, 독일의 Transrapid, 일본의 HSST, 우리나라의 한양대, 자기 부상열차사업단, 대우중공업, 현대정공의 EXPO전시운행선등이 개발되어 있다. 초전도방식으로는 초전도전류에 의한 반발력에 의해 10cm이상 부상되어 운행되는 시스템으로 MLU 시스템이 있는데 지진이 심한 일본에서 개발되었다. 영국의 버밍햄공함의 People mover는 1984년부터 실용화되어 무인자동운전시스템으로 10년간을 아무 문제 없이 운행되고는 있지만 선로길이 620m 정도의 소규모 저속운송시스템에 지나지 않는다. 반면 독일의 Transrapid시스템은 31.5km의 트랙을 설치하여 시속 450km까지 운행을 계속하여 현재 15만km정도의 운행실적을 올리고 있다. 최근 독일내각은 함부르크-베를린 사이의 290km에 이르는 선로를 2005년까지 완공하기로 결정을 내리고 금년 상반기에 착공을 할 예정이다. 따라서 세계적으로 실용화단계에까지 도달한 대규모 고속시스템으로는 단연 Transrapid시스템을 꼽을 수 있다. 이에 Transrapid사와 미국, 일본등의 각 국에서 그간 세밀하게 조사하여 검토한 자료를 상세하게 소개하므로써 신교통시스템으로서의, 자기부상열차의 적합성과 개발의 타당성 및 당위성을 제시하여 이 분야에 관심있는 분들에게 참고는 물론 우리나라의 개발방향 설정에 유익한 자료가 되었으면 한다.

• Journal of the Korean Society for Railway
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• v.13 no.1
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• pp.1-8
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• 2010

In domestic developing magnetically levitated (Maglev) vehicle, bogie frames install electromagnets which provide the vehicles to run with levitation and guidance forces; moreover, the linear motors used for traction are integrated into the same mechanical structure. This paper presents the process which predicts the evaluation of life cycle for bogie frame on various running conditions. Durability analysis considering vibration effect is simulated by using random loads resulted from dynamic simulation which takes into account the irregularities of guide rail. And it supports additional weak points which were not examined in static analysis.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.269-275
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• 2013

In this paper, a new modeling method of a magnetic levitation(Maglev) system using extreme learning machine(ELM) is proposed. The linearized methods using Taylor Series expansion has been used for modeling of a Maglev system. However, the numerical method has some drawbacks when dealing with the components with high nonlinearity of a Maglev system. To overcome this problem, we propose a new modeling method of the Maglev system with electro magnetic suspension, which is based on ELM with fast learning time than conventional neural networks. In the proposed method, the initial input weights and hidden biases of the method are usually randomly chosen, and the output weights are analytically determined by using Moore-Penrose generalized inverse. matrix Experimental results show that the proposed method can achieve better performance for modeling of Maglev system than the previous numerical method.