Repulsive-levitation control at standstill using underwater ME02 as a land travelling ME simulator

A unique linear synchronous motor (LSM) vehicle ME02 is designed to travel underwater based on the theory of new combined levitation and propulsion for the Marine-Express. This paper presents its stable levitation control in repulsive-mode underwater during standstill. The repulsive-mode levitation can be realized under a condition that the buoyancy of the water is smaller than the weight of the vehicle, which means that the ME02 can simulate the ME running on land. Because ME02 is a combined levitation and propulsion system, positioning control at a demand standstill-point is simultaneously carried out by the help of thrust force to levitate steadily at the standstill point. The experiment in our Laboratory has shown that ME02 vehicle had been controlled successfully to levitate underwater in repulsive-mode during standstill by applying the decoupled-control method of lift and thrust forces.