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Pitching Stability Analysis and Control for Underwater Maglev Linear Motor Vehicle ME02
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| Author(s) |
Kinjiro Yoshida, Mohamed El-Nemr, Yuki Yamashita |
| Abstract |
Marine Express (ME) is amphibious superconducting
magnetic levitation train that can run both underwater
and on-land using the same guideway. The underwater
experimental Maglev model vehicle ME02 in our laboratory
is driven by the long-stator permanent magnet linear
synchronous motor (PM LSM). Having the two motions
freedom establishes the possibility for the undesired rotational
pitching motion in the plan of these two motions. As a
direct result of the different forces affecting the ME02, several
torques are developed around the vehicle center of
gravity. In the current paper, two air-cored electromagnets
(AEM) are implemented to maintain the pitching stability
or in other words to damp the pitching motion. The coils
current controller gains are optimally tuned using the genetic
algorithm (GA). The pitching motion and its control
are simulated for the ME02 while performing a trip between
four stations with different loading conditions. Through the
study, electromagnetic forces produced by the PM LSM and
AEM are found from the analytical solution of the multilayer
boundary field problem. Hydrodynamic forces are
estimated from the finite surface element method. Furthermore,
the mass proprieties of the vehicle are estimated from
3D finite volume element method. The results show clearly
the effectiveness of controller gains optimization using GA.
In addition, the estimation of vehicle’s mass properties is a
valuable guide for the future ME design. |
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| Filename: | T4-401.pdf |
| Filesize: | 497.7 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-12 by System |
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