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Research Papers

On Levitation and Lateral Control of Electromagnetic Suspension Maglev Systems

[+] Author and Article Information
Mohamed Aly

Doctoral CandidateMechanical and Aerospace Engineering Department,  Old Dominion University, Norfolk, VA 23529malyx002@odu.edu

Thomas Alberts

Mechanical and Aerospace Engineering Department,  Old Dominion University, Norfolk, VA 23529talberts@odu.edu

J. Dyn. Sys., Meas., Control 134(6), 061012 (Sep 13, 2012) (13 pages) doi:10.1115/1.4006885 History: Received October 21, 2011; Revised April 05, 2012; Published September 13, 2012; Online September 13, 2012

A study that compares between decentralized and centralized controllers for electromagnetic suspension (EMS) Maglev systems that use combined magnets with an inverted U-rail for levitation and lateral control is presented. A simple 2-DOF (degrees of freedom) Maglev system model (rigid and flexible body cases) that comprises heave and lateral modes is used. The study is based on two aspects. First, by sketching the multi-input multi-output (MIMO) root loci with every controller individually for system rigid and flexible body cases. Second, a gradient-like search algorithm based on an optimal criterion for decentralized and centralized controllers’ gains tuning is used. The work is generalized on a real EMS Maglev system, and the simulation results for these Maglev systems shows that the centralized control is more capable of lateral displacements suppression that may result from disturbing lateral forces than the decentralized one.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 15

Air gap and lateral displacement responses for the decentralized control

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Figure 16

Air gap and lateral displacement responses for the centralized control

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Figure 17

ODU vehicle air gap and lateral motion responses with the decentralized control

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Figure 18

Command currents in electromagnets for decentralized control

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Figure 19

ODU vehicle air gap and lateral motion responses with the centralized control

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Figure 20

Command currents in electromagnets for centralized control

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Figure 12

System closed loop control by centralized controller

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Figure 13

Sketch of bogie on tracks with six electromagnets distribution

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Figure 14

Test bogie magnets distribution considering staggering

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Figure 1

ODU Maglev test vehicle (in laboratory and on the guideway)

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Figure 2

(a) Separate levitation and guidance and (b) combined levitation and guidance

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Figure 3

Two staggered magnets configuration

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Figure 4

Simple model of a flexible Maglev system

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Figure 5

EMS system open loop generic pole-zero map-rigid and flexible cases

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Figure 6

MIMO control system

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Figure 7

A two DOF EMS Maglev system with decentralized control

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Figure 8

Root loci of the PD decentralized control with the system rigid and flexible cases

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Figure 9

A two DOF EMS Maglev system with centralized control

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Figure 10

Root loci of the PD centralized control with the system rigid case and flexible cases

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Figure 11

System closed loop control by decentralized controller

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