Trajectory control of controlled-PM linear synchronous motor magnetic levitation vehicle - FEM dynamics simulations and experiments in mass-reduced-control mode

A novel magnetic levitation train system can be constructed by using a long-stator controlled-PM linear synchronous motor having propulsion and attractive-mode levitation functions and minimum loss. Realizing this system requires simplifying manufacture of the long-stator guideway. In the long-stator on the ground, semiclosed large slots are adapted and designed for one-turn coils of a waveform to be easily installed. The large slots cause the PM LSM detent forces to give strong influences on dynamic operations of the running vehicle. A two-dimensional FEM used for the dynamics simulations is capable of precisely analyzing the detent forces produced between the stator teeth and the PMs. This paper presents FEM dynamics simulations and experiments in mass-reduced-control mode of a 1/2 scale model magnetic levitation vehicle supported by small rubber rollers. The simulation model developed here includes the vehicle speed performance, position sensors and drag force due to friction between rubber roller and rail. The detent force problem in propulsion motion is successfully solved by adapting the feedback control of the vehicle propulsion based on the I₁₀-controlled method. The trajectory control is thus accomplished for the vehicle to follow speed and position patterns. The dynamics simulations are verified from the experiments. The simulation program proposed here enables us to investigate the magnetic levitation train system, including LSM design and vehicle dynamic operations.