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Closed Loop Control of Halbach Array Magnetic Levitation System Height. By: Kyle Gavelek Victor Panek Christopher Smith. Advised by: Dr. Winfred Anakwa Mr. Steven Gutschlag. Closed Loop Control of Halbach Array Magnetic Levitation System Height. - PowerPoint PPT Presentation
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Closed Loop Control of Halbach Array Magnetic Levitation System Height
By: Kyle Gavelek Victor Panek
Christopher Smith
Advised by: Dr. Winfred Anakwa
Mr. Steven Gutschlag
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
I. Introduction
II. Previous Work
III. Project Summary
IV. Halbach Array
V. Inductrack
VI. Maglev System
VII. Design Equations
VIII. Preliminary Work
IX. Design Tasks
• Halbach Array Model
• DC Motor Model
• Controller Model
• uController and Flat Track
X. Equipment List
XI. Schedule
XII. Patents
XIII. References
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Maglev technology is applied in various fields today,most prominently in high speed trains.
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous
Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
• Dr. Richard Post
Fundamental research in the field of magnetic levitation while at the Lawrence Livermore National Laboratory. He designed the inductrack in the 1990’s.
• Paul Friend (2004)
Determination of levitation equations and successful design of MATLAB GUI software. The GUI software will be used to predict the results with variable input values.
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous
Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous
Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
•Glen Zomchek (2007)
Design and fabrication of inductrack levitation system which achieved .45mm vertical displacement.
• Dirk DeDecker and Jesse VanIseghem (2012)Re-design of inductrack levitation system with successful vertical displacement of 3.7mm from a starting displacement of 5.0mm
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous
Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Current rotary inductrack system
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
The objective of CLCML is to model the precious year’s magnetic
levitation system and implement closed loop control of the magnetic
levitation height.
ControllerPermanent Magnet DC
Motor
Halbach Array
Desired Displacement
+-
Resulting Displacement
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach
Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Magnetic fields created by Halbach array magnet configuration.
Sinusoidal magnetic field generated below the Halbach
array.
B0 = Peak Magnetic Field d = Thickness of magnet
Br = Individual Magnet’s Strength M = # of magnets per wavelength
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Φ = Magnetic Flux L = Inductrack Inductance
I = Current R = Inductrack Resistance
λ = magnetic field wavelength k = wave number = 2π/λ
y = vertical distance w = width
ω = kv v = ωmr = Tangential Velocity
B0 = Peak Magnetic Field
The copper inductrack is fastened to the outside of the rotating wheel making it a
rotary inductrack.
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Passing Halbach Array’s Magnetic
Field
Inherent Track
Properties
This animation displays the relationship between velocity of a rotary inductrack with a Halbach array as velocity increases.
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev
System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
As shown above the pole occurs at ω = -R/L
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
R = Inductrack Resistance
RC = Resistivity of Copper
= 1.68 x 10-8 Ωm
ℓ = Length of Inductrack
A = Inductrack Cross-sectional Area
L = Inductrack Inductance
μ0 = Permeability of free space
= 4π H/m
λ = Wavelength of magnetic field
PC = Mean Perimeter of Inductrack
dC = Spacing of Inductors
B0 = Peak Magnetic Field d = Thickness of magnet
Br = Individual Magnet’s Strength M = # of magnets per wavelength
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Using the design equations shown previously, the following values have been calculated in previous work. The accuracy of these values shall be tested through experimentation.
B0 = 0.8060 T R = 1.9 x 10-5 Ω L = 7.532 x 10-8 H
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
Rotational Velocity
Resulting Displacement
Halbach Array model
ControllerPermanent Magnet DC
Motor
Halbach Array
Desired Displacement
+-
Resulting Displacement
Fy = Vertical Force B0 = Peak Magnetic Field
w = Width of Inductrack k = Wave Number = 2π/λ
ω = kv v = ωmr = Tangential Velocity
y = vertical distance
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
ControllerPermanent Magnet DC
Motor
Halbach Array
Desired Displacement
+-
Resulting Displacement
1 / (sLa + Ra) Kt 1 / (sJ + b)
Kv
Input voltage
+-
Rotational Velocity
ωm = machine rotational speed b = Motor Viscous Friction
IA = Armature Current RA = Armature Resistance
VS = Source Voltage TC = Columbic Friction
KT = KV = Torque Constant = Velocity Constant
JA = Moment of Inertia
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
•The maximum overshoot of the system shall be <10%.
•The steady state error shall be less than 0.02 cm.•The rise time shall be minimized.•The settling time shall be less than 50 ms*
ControllerPermanent Magnet DC
Motor
Halbach Array
Desired Displacement
+-
Resulting Displacement
Controller Design Specifications:
Displacement Error
Resulting Displacement
μcontrollerDisplacement
to voltage conversion
*The settling time specification may need to be modified based on the motor’s capabilities.
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
μController Specifications:
•Accept a user-defined levitation height through keypad input.•Calculate the vertical displacement of the Halbach array device with a displacement transducer.
•Calculate an error signal by subtracting the system displacement with the desired displacement from the keypad.
•Calculate the voltage required by the DC motor to achieve the desired displacement based on the transfer function of the closed loop.
•Sample displacement not sooner than the settling time (50ms).•All calculations within 1ms.
•The track shall accommodate linear motion of the Halbach array until break velocity is reached.
•The track shall be designed to minimize break velocity.•The track shall be designed to minimize leakage flux and eddy currents.
Circular Track Design Specifications:
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment
List
Schedule
Patents
References
Equipment List:
Lexan sheets for protective enclosure
μController capable of meeting required specifications
Materials for fabrication of circular track
Materials for fabrication of new Halbach array
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
The safety enclosure and all modeling shall be completed before winter break.
During winter break each group member will complete some individual work.
Chris Kyle Victor
Winter Break Controller Research Website Design μcontroller research
Week 1-3 Controller Design μcontroller code development
Week 4-6 μcontroller code development incorporating controller and models
Week 7-9 μcontroller implementation and testing
Week 7-9 Flat inductrack research when idle
Week 10 Preparation for Student Expo
Week 11 Student Expo
Week 12-13 Final report and project presentation presentation
Week 14 Final Presentation
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
• Richard F. PostMagnetic Levitation System for Moving ObjectsU.S. Patent 5,722,326March 3, 1998
• Richard F. PostInductrack Magnet ConfigurationU.S. Patent 6,633,217 B2October 14, 2003
• Richard F. PostInductrack ConfigurationU.S. Patent 629,503 B2October 7, 2003
• Richard F. PostLaminated Track Design for Inductrack Maglev SystemU.S. Patent Pending US 2003/0112105 A1June 19, 2003
• Coffey; Howard T.Propulsion and stabilization for magnetically levitated vehiclesU.S. Patent 5,222,436June 29, 2003
• Coffey; Howard T.Magnetic Levitation configuration incorporating levitation,guidance and linear synchronous motorU.S. Patent 5,253,592October 19, 1993
• Levi;Enrico; Zabar;ZivanAir cored, linear induction motor for magnetically levitatedsystemsU.S. Patent 5,270,593November 10, 1992
• Lamb; Karl J. ; Merrill; Toby ; Gossage; Scott D. ; Sparks;Michael T. ;Barrett; Michael S.U.S. Patent 6,510,799January 28, 2003
Closed Loop Control of Halbach Array Magnetic Levitation System Height
Introduction
Previous Work
Project
Summary
Halbach Array
Inductrack
Maglev System
Design
Equations
Preliminary
Work
Design Tasks
Equipment List
Schedule
Patents
References
[1] Dirk DeDecker, Jesse VanIseghem. Senior Project. “Development of a Halback Array Magnetic Levitation System”. Final Report, May 2012
[2] Glenn Zomchek. Senior Project. “Redesign of a Rotary Inductrack for Magnetic Levitation Train Demonstration.” Final Report, 2007.
[3] Paul Friend. Senior Project. Magnetic Levitation Technology 1. Final Report, 2004.
[4] Post, Richard F., Ryutov, Dmitri D., “The Inductrack Approach to Magnetic Levitation,” Lawrence Livermore National Laboratory.
[5] Post, Richard F., Ryutov, Dmitri D., “The Inductrack: A Simpler Approach to Magnetic Levitaiton,” Lawrence Livermore National Laboratory.
[6] Post, Richard F., Sam Gurol, and Bob Baldi. "The General Atomics Low Speed Urban Maglev Technology Development Program." Lawrence Livermore National Laboratory and General Atomics.
