• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1082-1087
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• 2003

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive levitation object called a platen This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using lagrangian method and used coenergy to express an electromagnetic force. We proposed control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation result is provided to verify the effectiveness of the proposed control scheme.

• Tribology and Lubricants
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• v.14 no.4
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• pp.44-50
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• 1998

This paper describes the simulation of the levitation force between permanent magnet and high Tc(critical temperature) superconductor(HTSC). Levitation force is evaluated numerically on the basis of the magnetic vector potential method and the critical state model. The superconductor is approximated to 2-D slab model. By performing computations, the following characteristics have been investigated: the process of the generation of hysteresis, the various hysteretic behaviors. The characteristics of hysteresis are important for the application to magnetic bearing, for the damping and the nonlinear stiffness is related to hysteresis.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.6
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• pp.906-915
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• 2004

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.11
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• pp.1077-1085
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• 2007

Typically, three types of levitation technologies are applied to magnetic levitation systems: electromagnetic suspension, electrodynamic suspension, and hybrid electromagnetic suspension. A Halbach array is a special arrangement of permanent magnets which augments the magnetic field on one side of the device while cancelling the field to near zero on the other side. The application of this Halbach array magnet to the electrodynamic suspension has been recently studied in order to increase the levitation capability. This paper is focused on an analytical method of the magnetic levitation system using Halbach array magnet. The suitability of the proposed method is verified with comparing to the finite element method. In addition, dynamic stability of the magnetic levitation system is discussed. From this study, it is confirmed that the proposed method provides a reasonable solution with less computation time compared to the finite element method and the magnetic levitation system using Halbach array magnet is stable dynamically.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.9
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• pp.515-521
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• 2002

This paper presents the scheme that improves control responsibility and stability of the controlled-PM electromagnet levitation system with zero Power controller. A magnetically levitation system is used widely because friction can almost be disappeared. But it is difficult to control due to restraint of controllable area and nonlinear characteristics of electromagnetic force, which is proportioned to a square of the magnetic flux density and is in inverse proportion to a square of the air-gap. So, the application of observer theory in which the levitation system is considered to be a linear dynamic model has resulted in omitting the time dependence on mover's speed. Consequently, the performance of the observer is quite poor during transients. Therefore, this paper proposed the controlled-PM electro-magnetic levitation control method in which the variable load is estimated by using the reduced order extended luenverger observer and its system is controlled at a new zero power equilibrium air-gap position. It is also verified that the proposed control method improve the control performance through simulation and experiment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.12
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• pp.2236-2245
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• 2011

This paper deals with the levitation force characteristics of electromagnet for MAGLEV vehicle application. The magnetic flux density distribution and levitation force characteristics of the electromagnet are investigated by means of equivalent magnetic circuit model. Firstly, we defined the aligned and unaligned electromagnet module for the full-electromagnet, and magnetic flux paths are represented for each model including leakage and fringing flux paths. Because of the analysis model contains both the permanent magnet and electromagnet coil, we calculated the airgap magnetic flux density and levitation forces using flux superposition in electromagnetic circuit. The results are validated extensively by comparison with finite element analysis. Moreover, the 1/4 scaled magnetic levitation and propulsion test vehicle has been manufactured and tested in order to verify these predictions. The experimental results confirms the validity of the analytical prediction with equivalent magnetic circuit model for the description of a electromagnet.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.4
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• pp.715-721
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• 2010

This paper deals with the design and characteristic analysis of electro-magnet/permanent-magnet (EM-PM) hybrid levitation and propulsion device for high-speed magnetically levitated (maglev) vehicle. The machine requires PMs with high coercive force in order to levitate the vehicle by only PMs, and propulsion force is supplied by long-stator linear synchronous motor (LSM). The advantages of this configuration are an increasing levitation airgap length and decreasing total weight of the vehicle, because of the zero-power levitation control. Several design considerations such as machine structure, manufacturing, and control strategy are described. Moreover, the levitation and propulsion device for high-speed maglev vehicle has been designed and analyzed usign the electromagnetic circuit and FE analysis. In order to verify the design scheme and feasibility of maglev application, 3-DOF static force test set is implemented and tested. The obtained experimental data using the static tester shows the validity of the design and analysis approaches.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.395-401
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• 2014

Magnetic levitation systems using the attraction force of electromagnets have many constraints according to the variation of air gap and the nonlinearity of electromagnetic force and inductances. As a result of these constraints, the nonlinear control of a magnetic levitation system has been improved by the latest advanced processors and accurate measurement system which can overcome problems such as many constraints and nonlinearity. This paper concentrates on the modeling of a nonlinear magnetic levitation system and an application of an exponential reaching law based sliding mode controller using the exponential reaching law which is one of the most robust controllers against external unexpected disturbances or parameter fluctuations. Controllability of a magnetic levitation system using the sliding mode control algorithm and robustness against parameter fluctuations have been verified through the experimental results.

• 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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• 2008.04c
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• pp.83-85
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• 2008

This paper deals with design and dynamic analysis of electromagnets for levitation applications. On the basis of equivalent magnetic circuit (EMC) method and 3-D finite element analysis (FEA) model, initial and detailed design for electromagnets are performed. Using the state equation for the closed-loop control, the dynamic analysis of electromagnets is also performed. Finally, this paper investigates the variation of levitation force according to current under fixed nominal air-gap, and the variation of required current according to load weight in order to maintain the nominal air-gap. From these results, the validation of design and dynamic analysis of electromagnets is confirmed. In particular, the influence of winding temperature on levitation control is discussed in detail.