A prototype of an energy-efficient MAGLEV train : a step towards cleaner train transport

The magnetic levitation (MAGLEV) train uses magnetic field to suspend, guide, and propel vehicle onto the track. The MAGLEV train provides a sustainable and cleaner solution for train transportation by significantly reducing the energy usage and greenhouse gas emissions as compared to traditional train transportation systems. In this paper, we propose an advanced control mechanism using an Arduino microcontroller that selectively energizes the electromagnets in a MAGLEV train system to provide dynamic stability and energy efficiency. We also design the prototype of an energy-efficient MAGLEV train that leverages our proposed control mechanism. In our MAGLEV train prototype, the levitation is achieved by creating a repulsive magnetic field between the train and the track using magnets mounted on the top-side of the track and bottom-side of the vehicle. The propulsion is performed by creating a repulsive magnetic field between the permanent magnets attached on the sides of the vehicle and electromagnets mounted at the center of the track using electrodynamic suspension (EDS). The electromagnets are energized via a control mechanism that is applied through an Arduino microcontroller. The Arduino microcontroller is programmed in such a way to propel and guide the vehicle onto the track by appropriate switching of the electromagnets. We use an infrared-based remote-control device for controlling the power, speed, and direction of the vehicle in both the forward and the backward direction. The proposed MAGLEV train control mechanism is novel, and according to the best of our knowledge is the first study of its kind that uses an Arduino-based microcontroller system for control mechanism. Experimental results illustrate that the designed prototype consumes only 144 W-hour (Wh) of energy as compared to a conventionally designed MAGLEV train prototype that consumes 1200 Wh. Results reveal that our proposed control mechanism and prototype model can reduce the total power consumption by 8.3 x as compared to the traditional MAGLEV train prototype, and can be applied to practical MAGLEV trains with necessary modifications. Thus, our proposed prototype and control mechanism serves as a first step towards cleaner engineering of train transportation systems

Modeling, Identification, Validation and Control of a Hybrid Maglev Ball System

In this thesis, the electrodynamics of a single axis hybrid electromagnetic suspension Maglev system was modeled and validated by applying it to a single axis hybrid maglev ball experiment. By exploring its linearized model, it was shown that the single axis hybrid Maglev ball has inherently unstable dynamics. Three control scenarios were explored based on the linearized model; (1) Proportional, Deferential (PD) control, (2) Proportional, Deferential, Integral (PID) and (3) PID controller with pre-filtering. This thesis has shown that a PID controller with a pre-filtering technique can stabilize such a system and provide a well-controlled response. A parametric system identification technique was applied to fit the theoretically derived model to a single axis hybrid maglev ball experiment. It is known that the identified model has different model parameters than the theoretically derived parameters. This thesis has examined and discussed the deviation from the theoretical model. Importantly, it was shown that such a system can be identified by estimating the values of two parameters instead of five to increase the accuracy. A Numerical nonlinear simulation was developed for the experiment based on the theoretically derived and experimentally identified model. This simulation was validated by real-time experiment outputs

Modeling and Performance Evaluation of Electromagnetic Suspension Systems for the Hyperloop

In 2012, the founder of SpaceX, Elon Musk, proposed a new method of transportation known as the Hyperloop. The proposed system, which would serve as the fifth method of transportation, described the fundamental theory of traveling in a near-vacuum tube at high speeds in a pod-like vehicle. Since Musk made his proposal, various companies and universities have investigated the Hyperloop concept in order to make it a reality. Researchers in the engineering and scientific community are currently investigating an effective electromagnetic suspension system design for the Hyperloop. It is hypothesized that a passive magnetic levitation (maglev) suspension system, as similarly designed for maglev trains, can be properly modeled and designed to provide optimized performance results for the proposed transportation method. The electromagnetic suspension design will utilize a specific arrangement of permanent magnets known as the Halbach array. In introducing linear velocity to the magnets, they will induce eddy currents along a conducting surface, and as a result, will create a force of levitation that will sustain the full weight of the capsule. Researchers have also proposed that in using a method of active magnetic levitation, where angular velocity instead of linear velocity is applied to the arrangement of magnets, the electromagnetic suspension will have improved control in stabilizing the induced levitation force and in keeping the displacement gap between the Hyperloop capsule and the conducting track constant. In order to approach this engineering problem, a specific methodology composed of literature review, calculation analysis, simulation, and testing evaluation has been selected for the purpose of obtaining satisfactory results for the proposed electromagnetic suspension systems. Through literature review, the physical theoretical models behind the proposed technology will be fully investigated in order to properly apply them as the foundational architecture of the suspension system. A mathematical model of the proposed suspension system will be designed and tested through MATLAB, for comparing the theoretical models with experimental data of existing technologies. Furthermore, the simulation results will be observed and analyzed in order to properly evaluate the figures of merit of the electromagnetic suspension methods

Maglev: an unfulfilled dream?

Although Maglev has been technically developed in a variety of forms, and has had some limited operational success, the dream envisaged in the 1960s and 1970s of wide-scale commercial implementation remains elusive. This paper provides a technical and historical appraisal, starting with the expected features believed in the early days to characterise Maglev, and reviews the actual achievements against these expectations, i.e. to assess the progress towards the original dream and its viability. The conclusion includes a commentary on the present day opportunities and barriers, and offers some suggestions for emphasis into the future. The objective is to stimulate a discussion aimed at helping to understand why the dream remains largely unfulfilled

A Study on the Effect of an Attractive and a Repulsive Forces with Feedback Control on a Magnetic Levitation System

This research was conducted to observe the effect of an attractive force and a repulsive force on a magnetic levitation (maglev) with the addition of a feedback control system. Initially, the study was conducted by observing the displacement gap from both type of maglev without an application of a control system. Closed loop control experiments were performed by implementing a Proportional-Integral-Derivative (PID) controller in order to maintain the displacement gap. Stable responses from both simulation control and experiments indicated that the PID controller can be employed to control the gap between the magnet and the levitated object. However, the results of the repulsive maglev control show faster response and smaller steady state error in comparison with the attractive maglev control

Synthesis of Hybrid Fuzzy Logic Law for Stable Control of Magnetic Levitation System

In this paper, we present a method to design a hybrid fuzzy logic controller (FLC) for a magnetic levitation system (MLS) based on the linear feedforward control method combined with FLC. MLS has many applications in industry, transportation, but the system is strongly nonlinear and unstable at equilibrium. The fast response linear control law ensures that the ball is kept at the desired point, but does not remain stable at that point in the presence of noise or deviation from the desired position. The controller that combines linear feedforward control and FLC is designed to ensure ball stability and increase the system's fast-response when deviating from equilibrium and improve control quality. Simulation results in the presence of noise show that the proposed control law has a fast and stable effect on external noise. The advantages of the proposed controller are shown through the comparison results with conventional PID and FLC control laws

Fourth International Symposium on Magnetic Suspension Technology

In order to examine the state of technology of all areas of magnetic suspension and to review recent developments in sensors, controls, superconducting magnet technology, and design/implementation practices, the Fourth International Symposium on Magnetic Suspension Technology was held at The Nagaragawa Convention Center in Gifu, Japan, on October 30 - November 1, 1997. The symposium included 13 sessions in which a total of 35 papers were presented. The technical sessions covered the areas of maglev, controls, high critical temperature (T(sub c)) superconductivity, bearings, magnetic suspension and balance systems (MSBS), levitation, modeling, and applications. A list of attendees is included in the document

Modeling and Performance Evaluation of Electromagnetic Suspension Systems for the Hyperloop

In 2012, the founder of SpaceX, Elon Musk, proposed a new method of transportation known as the Hyperloop. The proposed system, which would serve as the fifth method of transportation, described the fundamental theory of traveling in a near-vacuum tube at high speeds in a pod-like vehicle. Since Musk made his proposal, various companies and universities have investigated the Hyperloop concept in order to make it a reality. Researchers in the engineering and scientific community are currently investigating an effective electromagnetic suspension system design for the Hyperloop. It is hypothesized that a passive magnetic levitation (maglev) suspension system, as similarly designed for maglev trains, can be properly modeled and designed to provide optimized performance results for the proposed transportation method. The electromagnetic suspension design will utilize a specific arrangement of permanent magnets known as the Halbach array. In introducing linear velocity to the magnets, they will induce eddy currents along a conducting surface, and as a result, will create a force of levitation that will sustain the full weight of the capsule. Researchers have also proposed that in using a method of active magnetic levitation, where angular velocity instead of linear velocity is applied to the arrangement of magnets, the electromagnetic suspension will have improved control in stabilizing the induced levitation force and in keeping the displacement gap between the Hyperloop capsule and the conducting track constant. In order to approach this engineering problem, a specific methodology composed of literature review, calculation analysis, simulation, and testing evaluation has been selected for the purpose of obtaining satisfactory results for the proposed electromagnetic suspension systems. Through literature review, the physical theoretical models behind the proposed technology will be fully investigated in order to properly apply them as the foundational architecture of the suspension system. A mathematical model of the proposed suspension system will be designed and tested through MATLAB, for comparing the theoretical models with experimental data of existing technologies. Furthermore, the simulation results will be observed and analyzed in order to properly evaluate the figures of merit of the electromagnetic suspension methods

A Hybrid Controller for Stability Robustness, Performance Robustness, and Disturbance Attenuation of a Maglev System

Devices using magnetic levitation (maglev) offer the potential for friction-free, high-speed, and high-precision operation. Applications include frictionless bearings, high-speed ground transportation systems, wafer distribution systems, high-precision positioning stages, and vibration isolation tables. Maglev systems rely on feedback controllers to maintain stable levitation. Designing such feedback controllers is challenging since mathematically the electromagnetic force is nonlinear and there is no local minimum point on the levitating force function. As a result, maglev systems are open-loop unstable. Additionally, maglev systems experience disturbances and system parameter variations (uncertainties) during operation. A successful controller design for maglev system guarantees stability during levitating despite system nonlinearity, and desirable system performance despite disturbances and system uncertainties. This research investigates five controllers that can achieve stable levitation: PD, PID, lead, model reference control, and LQR/LQG. It proposes an acceleration feedback controller (AFC) design that attenuates disturbance on a maglev system with a PD controller. This research proposes three robust controllers, QFT, Hinf , and QFT/Hinf , followed by a novel AFC-enhanced QFT/Hinf (AQH) controller. The AQH controller allows system robustness and disturbance attenuation to be achieved in one controller design. The controller designs are validated through simulations and experiments. In this research, the disturbances are represented by force disturbances on the levitated object, and the system uncertainties are represented by parameter variations. The experiments are conducted on a 1 DOF maglev testbed, with system performance including stability, disturbance rejection, and robustness being evaluated. Experiments show that the tested controllers can maintain stable levitation. Disturbance attenuation is achieved with the AFC. The robust controllers, QFT, Hinf , QFT/ Hinf, and AQH successfully guarantee system robustness. In addition, AQH controller provides the maglev system with a disturbance attenuation feature. The contributions of this research are the design and implementation of the acceleration feedback controller, the QFT/ Hinf , and the AQH controller. Disturbance attenuation and system robustness are achieved with these controllers. The controllers developed in this research are applicable to similar maglev systems