Electrodynamic Wheel Maglev Vehicle Control using an Integrated Eddy Current Approach

标题：采用集成涡流技术的电动轮式磁悬浮车辆控制摘要：磁悬浮车辆利用磁场来产生悬浮力、推进力和导向力，而无需物理接触，因此速度远远超过300英里/小时是可能的。磁悬浮可以提供比航空旅行更具竞争力的旅行时间。车辆和轨道之间没有摩擦力，磁悬浮列车的能耗比飞机低，这意味着一旦交通系统开发完成，运营成本应该会很低。此外，飞机完全依赖石油，因此产生了大量的空气污染物，而磁悬浮车辆则从许多可再生能源中获得电力。最近，由于SpaceX Hyperloop提议在部分真空的管道或隧道内使用高速车辆，人们对磁悬浮车辆技术重新产生了兴趣。通过减少空气阻力，车辆的速度可以达到800英里/小时。这样的速度是高铁无法实现的。此外，与高铁不同，磁悬浮车辆能够快速加速，爬陡峭的坡道，通过急转弯，并在极端恶劣的天气条件下运行。磁悬浮车辆能够利用更轻的重量和更小的车辆，其固有的安静运行消除了在城市环境中降低成本的噪声的需要。尽管磁悬浮有许多吸引人的特点，但美国公司和运输当局一直不愿投资这项技术。在海外，高铁被广泛使用，而不是磁悬浮。这样做的部分原因无疑是因为磁悬浮列车的初始资本成本极高。这项研究试图利用电动轮式磁悬浮车辆来证明可以开发出一种坚固、负担得起和节能的低开发风险、低资本密集型磁悬浮车辆。电动车轮的使用可以从根本上降低磁悬浮系统的成本，因为只需使用平坦的非磁性铝导轨就可以实现推力、悬浮和导向力。这也使得能够以简单的低成本方式实现定向切换。这项研究项目将有助于将电力工程作为一个令人兴奋的研究领域的教育和意识。高中生和研究生将在所有级别协助这一项目。首席调查员将监测电气工程本科课程中少数族裔学生的留校率，目标是通过暑期和学期的研究经验提高留校率。这项研究将发表在领先的控制和磁学杂志上。这项研究将集中展示电动轮式磁悬浮车辆的控制和性能。通过将Halbach磁悬浮转子在扁平铝板导轨上进行机电旋转，产生涡流，同时提供悬浮力和推力。通过主动控制转速，可以实现横向和角向稳定。电动车轮将利用最近推导出的三维涡流力、扭矩、磁刚度和磁阻尼方程来控制。利用现有的两个小尺度电动轮式磁悬浮装置对6自由度动态控制进行了验证。随后，将建造一个全尺寸电动轮式磁悬浮装置，该装置将能够支撑和运送围绕108英尺椭圆形测试轨道的100公斤质量。这项研究将涉及新的集成涡流控制策略的开发。通过使用精确的基于三维解析的涡流方程，可以利用更精确的预测控制方法。将考虑稳定性要求、效率、推力和悬浮水平之间的有见地的权衡。这项研究可能会导致控制基于三维涡流的机器的新方法。将采用多变量状态空间预测控制技术，以确保复杂耦合设备的稳定性。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Title: Electrodynamic Wheel Maglev Vehicle Control using an Integrated Eddy Current ApproachAbstract: Maglev vehicles utilize magnetic fields in order to create suspension, propulsion and guidance forces without physical contact and thus speeds well in excess of 300 miles/hour are possible. Maglev can offer trip times that are competitive with air travel. The lack of frictional forces between the vehicle and the guideway, and maglev's low energy consumption compared to aircraft means that the operational costs, once the transportation system has been developed, should be low. Furthermore, whereas aircraft rely solely on petroleum and consequently create a large amount of air pollutants, maglev vehicles derive electric power from many renewable energy sources. Recently there has been renewed interest in maglev vehicle technology because of the SpaceX Hyperloop proposal to use high-speed vehicles within partially evacuated tubes or tunnels. By reducing air resistance, vehicle speeds up to 800 mile/hour could be achievable. Such speeds cannot be achieved using high-speed rail. Also, unlike high-speed rail, maglev vehicles have the ability to accelerate rapidly, climb steep grades, negotiate tight turns and operate in extremely adverse weather conditions. Maglev vehicles enable lighter weight and smaller vehicles to be utilized and their inherently quiet operation eliminates the need for costly noise abatement in urban environments. Despite maglev's many attractive characteristics U.S. firms and Transit authorities have been reluctant to invest in this technology. Overseas, high-speed rail has been extensively used rather than maglev. The reason for this is undoubtedly, in part, due to maglev's extremely high initial capital cost. This research seeks to use an electrodynamic wheel driven maglev vehicle to demonstrate that a low development risk, low capital-intensive maglev vehicle that is robust, affordable and energy efficient can be developed. The use of electrodynamic wheels could radically reduce maglev's system costs because the thrust, suspension and guidance force can be achieved by utilizing only flat non magnetic aluminum guideways. This also enables directional switching to be achieved in a simple low-cost way. This research project will contribute to the education and awareness of power engineering as an exciting area for research. High school and graduate students will assist with this project at all levels. The principal investigator will monitor the retention of minority students within the electrical engineering undergraduate program with the goal of increasing the retention rate through summer and academic semester research experiences. The research will be published in leading control and magnetics journals. The research will focus on demonstrating the control and performance capabilities of electrodynamic wheel maglev vehicles. By electromechanically rotating Halbach magnetic rotor's over flat aluminum sheet guideways eddy currents are induced that can simultaneously provide both the suspension and thrust force. By actively controlling the rotational speeds lateral and angular stability can be achieved. The electrodynamic wheels will be controlled by making use of recently derived 3-D eddy current force, torque, magnetic stiffness and magnetic damping equations. The 6-degrees of freedom dynamic control will be validated by utilizing two existing sub-scale electrodynamic wheel maglev setups. Following this a full-scale electrodynamic wheel maglev setup will be constructed that will be capable of supporting and transporting a 100kg mass around a 108 foot oval-shaped test track. This research will involve the development of new integrated eddy current control strategies. By using exact 3-D analytic based eddy-current equations more precise and predictive control approaches can be utilized. Insightful trade-offs between stability requirements, efficiency, thrust and suspension levels will be considered. This research could lead to new methodologies for controlling 3-D eddy-current based machines. Multivariable state-space predictive control techniques will be employed in order to ensure stability of the complexly coupled device.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.