Electrodynamic Wheel Maglev Vehicle Control using an Integrated Eddy Current Approach

摘要：磁悬浮车辆利用磁场来产生悬浮、推进和引导力，而无需物理接触，因此速度超过300英里/小时是可能的。磁悬浮列车可以提供与航空旅行相比具有竞争力的旅行时间。车辆和导轨之间没有摩擦力，与飞机相比，磁悬浮的低能耗意味着，一旦运输系统开发出来，运营成本应该很低。此外，飞机完全依赖石油，因此会产生大量的空气污染物，而磁悬浮车辆的电力来自许多可再生能源。最近，由于SpaceX的超级高铁（Hyperloop）提议在部分疏散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，车辆时速可达800英里/小时。高速铁路无法达到这样的速度。此外，与高铁不同的是，磁悬浮列车具有快速加速、爬坡、急转弯和在极端恶劣天气条件下运行的能力。磁悬浮车辆可以使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噪音的昂贵需求。尽管磁悬浮有许多吸引人的特点，但美国公司和交通部门一直不愿投资这项技术。在国外，高铁已经取代磁悬浮被广泛使用。毫无疑问，部分原因是由于磁悬浮的初始资本成本极高。本研究旨在利用电动轮驱动磁悬浮车辆来证明一种低开发风险、低资本密集型、坚固、经济、节能的磁悬浮车辆是可以开发的。电动车轮的使用可以从根本上降低磁悬浮系统的成本，因为推力、悬架和导向力可以通过使用平坦的非磁性铝导轨来实现。这也使得定向交换能够以一种简单低成本的方式实现。这个研究项目将有助于教育和认识到电力工程是一个令人兴奋的研究领域。高中和研究生将在各个层面协助这个项目。首席研究员将监控电气工程本科项目中少数民族学生的保留率，目标是通过夏季和学术学期的研究经验提高保留率。这项研究将发表在领先的控制和磁学期刊上。该研究将重点展示电动轮式磁悬浮车辆的控制和性能能力。哈尔巴赫磁转子在平面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，可以实现横向和角度的稳定。电动车轮将利用最近导出的三维涡流力、扭矩、磁刚度和磁阻尼方程来控制。6自由度动态控制将通过利用两个现有的次级电动轮式磁悬浮装置进行验证。在此之后，将建造一个全尺寸的电动轮式磁悬浮装置，该装置将能够在108英尺的椭圆形测试轨道上支撑和运输100公斤的质量。这项研究将涉及开发新的集成涡流控制策略。利用精确的三维解析涡流方程，可以采用更精确的预测控制方法。将考虑稳定性要求、效率、推力和悬架水平之间的深刻权衡。这项研究可能会导致控制三维涡流机器的新方法。为了保证复杂耦合装置的稳定性，将采用多变量状态空间预测控制技术。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值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.