Improvement of levitation characteristics in a magnetic bearing system using HTSC‐permanent magnet hybrid structure

Magnetic bearing using pinning force of a permanent magnet and a high‐temperature superconductor has been developed. Additional permanent magnet is introduced to increase the levitation force of the magnetic bearing. In this hybrid magnetic bearing system, levitation force is mainly given by the repulsive force of the permanent magnets, and stability for the lateral direction is given by pinning force of the superconductor. The experimental device is developed. A ring‐type superconductor and a bulk one are examined. Levitation characteristics of the hybrid magnetic bearing are measured. The bulk superconductor shows better characteristics of both levitation and lateral stability than the ring one. Levitation force of the hybrid system becomes about twice as large as that of the nonhybrid one. Although, the repulsive force of the permanent magnet decreases the lateral stability of the system, its influence becomes small by choosing an adequate position of the permanent magnets and the superconductor. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 71–77, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10350     

磁悬浮系统的哈密顿建模和无源控制

针对磁悬浮系统非线性特点,采用端口受控哈密顿系统理论与无源性控制原理研究磁悬浮系统的建模和控制。将磁悬浮看作能量变换装置,从能量平衡角度推导出单自由度磁悬浮系统的端口受控哈密顿模型。在哈密顿结构基础上,引入结构互联和阻尼配置,给出闭环系统期望的哈密顿函数,设计了磁悬浮系统的无源控制器。设计中直接采用哈密顿函数作为存贮函数,保证了数学严密性,且使系统在满足无源性的条件下达到要求的性能,具有明确的物理意义。仿真结果表明,系统能够快速响应,并且对负载的变化具有很强的抗干扰性能。     

Proposal of permanent magnet repulsive maglev transportation system: possibility of automobile with magnetic levitation

This paper describes a maglev transportation system for automobiles. The track is an array of permanent magnet blocks, and the levitating body is the bedplate which consists of permanent magnet plates, propulsion coils, levitation coils, and guidance coils. The feature of this system is that an automobile equipped with the bedplate is free to approach into the track or to swerve from the track by using four wheels with the lift. The force acting on the levitating body is calculated on the assumption that each permanent magnet can be expressed as a surface current. From the calculation results, it is proven that an automobile of 4.35 m length, 1.8 m width, and 1700 kg weight can run at a speed of 500 km/h against the air resistance force of 3704 N on the condition that the battery has an output of 337.5 V and a capacity of 190 Ah. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 159(3): 65– 76, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20491     

磁悬浮系统模型的研究

为了设计磁悬浮系统的单磁体控制器,必须建立系统的状态空间模型。分析了磁悬浮系统的工作原理,结合经典动力学和电磁学基本理论,利用Lagrange方程的一般形式导出系统的非线性运动方程,并通过在工作点附近的线性化处理,得到系统数学模型的状态空间描述。仿真结果表明,所提出的系统模型是可行且有效的。     

径向高温超导磁悬浮轴承的端部效应分析

针对径向高温超导磁悬浮轴承轴向尺寸有限引起的端部效应会影响其轴向悬浮特性,提出一种基于H公式的二维有限元建模方法,对径向高温超导磁悬浮轴承的端部效应进行分析。首先,通过实验测试验证提出的有限元建模方法;然后,分别建立具有不同尺寸定、转子的径向高温超导磁悬浮轴承有限元模型;最后,得到不同尺寸的超导定子与不同极数的永磁转子下轴向悬浮力与位移的关系。结果表明,由于端部效应,随着超导定子分块数量的增加,轴向悬浮特性不断恶化;随着永磁转子极数的增加,轴向悬浮力最大值先提高后降低,最终趋于永磁转子无限长时的轴向悬浮力最大值。     

混合磁悬浮球系统吸引子及稳定性研究

为了避免磁悬浮球混沌运动,设计了永磁和电磁混合型磁悬浮球模型,推导了磁悬浮球的动力学方程,并建立了磁悬浮球系统的仿真模型.通过改变初始状态,得到不同初始条件下的磁悬浮球系统吸引子.混合型磁悬浮球系统具有单、双两类吸引子,双吸引子表现出较强的混沌特性,磁悬浮球围绕平衡点附近的波动较大,磁悬浮球由混沌运动状态向非混沌运动状态转变时,由双吸引子逐渐向单吸引子过渡,系统演变为具有周期特性的运动状态,再演变为相轨迹收敛于一个点,磁悬浮球处于较稳定的运动状态.仿真和实验结果表明,通过磁悬浮球吸引子的研究可了解混沌产生的初始区间,进而为设计中避开混沌区实现磁悬浮球的稳定运动提供了参考依据.     

磁悬浮效应检振系统设计

为了设计一种高效、高灵敏度的检振系统,在构建了磁悬浮球模型及控制系统的基础上,通过对系统的结构和运行参数分析,推导了外界振动下的系统动力学方程,并将其等效成表征质量-弹簧测振系统的常系数二阶微分方程,使等效阻尼系数和刚度系数与质量-弹簧系统的参数有一定的对应关系。在磁悬浮球质量分别为126.5g和198.5g的条件下,对振动频率为50Hz的激振器的位移波形及通过频谱分析得到的自功率谱进行了测量,对激振器不同位置的影响进行了实验比较。实验结果表明,该检测方法克服了一般测振系统无法克服的摩擦,提高了测量灵敏度,而且只要改变控制参数即可达到改变阻尼系数的目的,实现容易。     

Design of PSO‐based fuzzy logic controller for single axis magnetic levitation system

In this paper, a particle swarm optimization (PSO) method is proposed to design an optimal robust fuzzy logic controller (FLC). The objective of this paper is to design a nonlinear optimal robust controller for the single axis magnetic levitation system with high accuracy. PSO algorithm is applied to search globally optimal parameters of FLCs. Three different FLCs are designed. First, proportional derivative (PD)‐like FLC. Second, the FLC is based on the PSO algorithm to find the optimal range of the eight linguistic membership functions (FLC1 with PSO algorithm). Finally, the FLC is based on the PSO algorithm to find the optimal range and shape of the four linguistic membership functions (FLC2 with PSO algorithm). The performances of three different FLCs are compared. Simulation results show that PSO‐based optimal FLCs find the optimal range and shape of the four linguistic membership functions and achieved better performance than the other proposed controllers, minimizing 48 fuzzy rules. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于Halbach阵列的斥力型磁悬浮模型有限元分析

针对传统斥力型磁悬浮系统永磁部分磁密利用率低、悬浮高度不高、悬浮力小等问题,引入Halbach永磁阵列,对传统模型进行改进,其主要思想是在不改变模型材料与尺寸的前提下,将传统模型底部主磁环设计为Halbach阵列,利用Halbach阵列单边磁场的特点,提高底部主磁环的磁场利用率。分析结果表明,Halbach斥力型磁悬浮模型的磁场分布强度比传统模型大将近2倍;对于相同的悬浮高度,Halbach阵列结构模型的悬浮力明显高于传统模型,悬浮高度越低,二者的差异越大;对于同样重量的悬浮物,Halbach阵列结构可以获得更大的悬浮气隙。研究结果为斥力型磁悬浮模型的结构尺寸优化和悬浮控制提供依据。     

Electromagnetic analysis of inductrack magnetic levitation

A new type of magnetic levitation system called the Inductrack has been proposed by R. F. Post. This system is composed of a special arrangement of permanent magnets on board which is called the Halbach array, and a close‐packed array of shorted coils in the longitudinal direction on the ground. This composition can obtain a large magnetic force, a very low take‐off speed, and a high lift‐to‐drag ratio. This paper describes numerical simulations of the Inductrack magnetic levitation by the Fourier series analysis which is utilized in the analysis of superconducting magnetic levitation. By using numerical examples considering a full‐scale car model, we reveal the features of the Inductrack system in comparison with the superconducting magnetic levitation. © 2002 Wiley Periodicals, Inc. Electr Eng Jpn, 142(1): 67–74, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10061     

零刚度磁悬浮重力补偿器的分析与改进

零刚度磁悬浮重力补偿器(ZMLGC)工作在零刚度点附近,用以平衡重力并实现超低频隔振.但是,随着ZM-LGC的运动其轴向刚度增加显著,制约了隔振性能.为有效减小工作行程内轴向刚度的变化,首先基于等效电流模型分析了零刚度生成原理.然后,利用椭圆积分建立了ZMLGC的磁场和电磁力解析模型,并在Matlab中编程实现.提出了...     

A recurrent neural fuzzy controller based on self‐organizing improved particle swarm optimization for a magnetic levitation system

This paper proposes a recurrent neural fuzzy controller (RNFC) approach based on a self‐organizing improved particle swarm optimization (SOIPSO) algorithm used for solving control problems. The proposed SOIPSO algorithm can adaptively determine the number of fuzzy rules and automatically adjust the parameters in an RNFC. The proposed learning algorithm consisted of phases of structure and parameter learning. Structure learning adopts several subswarms to constitute the adjustable variables in fuzzy systems, and an elite‐based structure strategy determines the suitable number of fuzzy rules. This paper proposes an improved particle swarm optimization technique, which consists of the modified evolutionary direction operator (MEDO) and traditional PSO techniques. The proposed MEDO method used the EDO and migration operation to improve the search ability of a global solution. Finally, the proposed RNFC approach based on the SOIPSO learning algorithm (RNFC–SOIPSO) was adopted to control a magnetic levitation system. Experimental results demonstrated that the proposed RNFC–SOIPSO model outperforms other models. Copyright © 2014 John Wiley & Sons, Ltd.     

Construction and levitation guidance experiment of magnetic levitation system without gap sensors using inductance model of thin steel plates

Recently, the noncontact conveyance methods that are applied magnetic levitation techniques have been studied in many institutes. In this paper, from the view point of practical use, the authors construct a magnetic levitation system without using gap sensors which have been essential for the conventional magnetic levitation of thin steel plates. This system adopts both current sensors and Hall‐effect sensors in place of the gap sensors. In addition, we consider the peculiar inductance characteristics of magnetic levitation for a thin steel plate. Moreover, we conduct the levitation, guidance, conveyance and disturbance experiments.     

Research on magnetic levitation absolute vibration measurement method in vehicles

This paper presents a design for a magnetic levitation absolute-vibration test system which can be used by vehicles to measure the road surface roughness. The relationship between the vibration test system output voltage and measured speed of the object was obtained through testing, the power spectrum of the measured signal was obtained by virtual instrument analysis, the vibration waveforms of the vehicle over gentle and steep slopes were measured respectively and the road surface roughness was obtained by waveform analysis. Data was saved where the waveforms exceeded threshold. Finally, the steep slope was located using a GPS system. Experimental results show that the magnetic levitation absolute-vibration measurement method has characteristics of high sensitivity and a wide frequency range. This lays the foundation for research into multi-dimensional vibration measurements through magnetic levitation vibration test systems in vehicles.     

Characteristics of axial force and rotating torque and their control of permanent magnet type axial gap self‐bearing motor

This paper introduces an axial gap type self‐bearing motor. It is intended for a disk type flat motor to have both functions of rotation and axial position control. This motor is simple in construction and requires a simple control system. A permanent magnet type motor is analyzed theoretically and tested experimentally. The torque characteristics of the tested motor are measured at various values of axial force and air gap. Independent control of the axial force and torque is introduced for the servo motor control and synchronous motor control. The results show the high possibility of the proposed motor and control system. © 2000 Scripta Technica, Electr Eng Jpn, 132(1): 81–91, 2000     

磁悬浮系统Bode定理的应用

针对磁悬浮系统的控制问题,研究了控制系统设计中的限制因素,指出了磁悬浮系统的稳定性一般都可以用线性化方程来进行处理,因此磁悬浮系统的设计问题主要是性能问题,而系统的性能(灵敏度)则是受到Bode积分定理的约束;分析了球在悬浮状态下的漂浮运动对系统带宽的影响,利用Bode定理,给出了磁悬浮系统所能达到的灵敏度最小值,并得到了实验验证.根据所给出的积分约束可以在设计阶段就预见到系统所能达到的性能,对系统设计具有普遍意义.     

Magnetic characteristics of oxide superconductors for the application of running systems with magnetic levitation

A model vehicle is constructed which runs without contact to its magnetic rail using oxide superconductors. This paper describes the forces acting between the superconductor and the rail for such a purpose. The attractive and repulsive forces were measured at 77 K as a function of distance between the superconducting pellet and the magnetic rail. As suprconducting pellets, three kinds of materials, i.e., MPMG-Y123, BiPb2223, and Hg1223, were investigated for three kinds of permanent magnets, i.e., Nd-Fe-B, Sm-Co and ferrite.     

Characteristics of combined levitation and guidance eds maglev system

A levitation method has been introduced which uses 8-shape levitation coils arranged on the vertical surface of the guideway. These coils can act as a guidance means as well as the levitation means. The characteristics of this system are examined using numerical examples and experimental data. The cables connecting right and left coils are not connected to a high-voltage power source unlike the usual guidance system which is combined with propulsion. Thus the electric insulation of the cables is not a problem at present. Numerical examples show that the levitation characteristics of the combined levitation and guidance system are almost the same as in the system without the guidance function, and that it attains reduced running resistance with necessary guidance stiffness obtained. A test run was done at Miyazaki Test Line equipped with coils of this type arranged about 120 m, and the results show stable running and balanced displacement which agrees with calculated values.     

Adaptive robust nonlinear control of a magnetic levitation system via DSC technique

This paper considers the position tracking problem of a popular magnetic levitation system in the presence of modeling errors due to uncertainties of physical parameters. The recently developed dynamic surface control (DSC) technique is modified and applied to the system under study, to overcome the problem of “explosion of terms” associated with the backstepping design procedure. The input‐to‐state stability (ISS) property is ensured by the robust nonlinear damping terms, and the ultimate control error bounds are made sufficiently small by the adaptive laws. Experimental results are included to show the excellent position tracking performance of the designed control system. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 149(4): 42–51, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20092     

Magnetic damping of the electrodynamic suspension‐type superconducting levitation system

The damping characteristic of the bogie motion is one of the most important issues to be investigated in the superconducting magnetically levitated system based on electrodynamic suspension (EDS). We have therefore studied the damping characteristics and the mechanism of magnetic damping. Electric circuits consisting of coil resistances and inductances can describe the electromagnetic behavior of the levitation system. By numerical calculation based on the electric‐circuit equations combined with the equations of motion, damping characteristics of the bogie are examined for the system consisting only of levitation coils and superconducting coils, and also for the configuration with magnetic shielding structures incorporated. Furthermore, paying attention to the energy balance in the levitation and propulsion system when the bogie is forced to oscillate sinusoidally, we have investigated the relation between the input energy and the running speed, and compared the waveforms of levitation force and bogie oscillation to consider the characteristics and the mechanism of the damping. © 1999 Scripta Technica, Electr Eng Jpn, 127(2): 49–60, 1999