Trajectory control of controlled-pm LSM maglev vehicle. —Fem dynamics simulations and experiments in mass-reduced-control mode.—

A novel Maglev train system can be constructed by using a long-stator controlled-PM LSM which has functions of propulsion and attractive-mode levitation with a minimum loss. To realize this system, it is extremely important to simplify manufacture of the long-stator guideway. In the long-stator on the ground, semi-closed large slots are adapted and designed to install easily one-turn coils of a wave form. The large slots cause the PM LSM detent forces which give strong influences on dynamic operations of the running vehicle. A two-dimensional FEM is used for the dynamics simulations, which is capable of precisely analyzing the detent forces produced between the stator teeth and the PM's. This paper presents FEM dynamics simulations and experiments in mass-reduced-control mode of 1/2 scale model Maglev vehicle which is supported by small rubber rollers. A simulation model is also developed which includes the performance of vehicle speed and position sensors and the drag force due to frictions 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 the speed and position patterns. The dynamics simulations are verified from the experiments. The simulation program proposed here enables us to investigate the Maglev train system including the LSM design and the vehicle dynamic operations.