A magnetic levitation vehicle with autonomous cControl

Abstract

Magnetic levitation is a promising phenomenon which is being utilized to innovate transportation technology. A magnetic levitated train floats on electromagnetic waves and uses non-contact magnetic guidance and propulsion systems to overcome the limitations of the wheel on rail technology by drastically reducing vehicle to track frictional losses. Given the ever rising demand of mass transportation of people and commercial freights, researchers and contractors are trying to industrialize magnetic levitation transportation systems due to the advantages offered over conventional transportation systems used nowadays. The main objective of this thesis is the design and development of a magnetic levitating vehicle on track model and the study of the possible techniques that can be utilized to achieve high propulsion speeds at lowest power requirement as possible. Conventional models and commercial trains are usually equipped with electromagnets on the guideway and permanent magnets or electromagnets on the vehicle. The model put forth in this research is the linearized three phase brushless dc motor based on the main principle of equipping permanent magnets on the guideway and three electromagnets on the vehicle. A prototype track was setup to determine the optimal propulsion permanent magnets separation in the guideway to produce a magnetic flux that exhibits a variation as close as possible to linear between adjacent magnets. Hall-effect sensors are fixed on the vehicle and in phase with each electromagnet to sense the magnetic flux density in the guideway together with the magnetic orientation. The magnetic flux density readings are combined to achieve position sensing in order to synchronize the operation of the vehicle electromagnets with the track magnets. Position sensing is also used to achieve vehicle speed sensing and control. The developed 1.5kg vehicle manages to reach a maximum of 1.41 km/h with 12W applied power in the 1 meter track. The system manages to overcome inertia forces from rest position using only magnetic propulsion without the need of external forces. The working prototype based on the proposed magnetic levitation and propulsion systems is demonstrated which reflects on a small scale magnetic levitation technology that can be planned for future trains.