1. BRADLEY UNIVERSITY Department of Electrical and Computer Engineering Sr. Capstone Project Advisor: Dr. Anakwa Student: Paul Friend

2. Overview: Background Information Halbach Array Inductrack Sensors Propulsion Methods Controls Physical Design Theories Parts and Equipment Schedule Resources

3. Background Information Inductrack: Created by Richard F. Post in the late 1990’s at Lawrence Livermore National Laboratory 20 meter test track Burst Propulsion

4. Background Information Inductrack: Contracted by NASA for Satellite Launcher Low-Speed Urban Maglev Program

5. Halbach Array Created by Klaus Halbach Creates a strong, nearly one-sided magnet with a sinusoidal field by directing the magnetic fields.

6. Halbach Array Standard Formation Expanded Wavlength Doubled Method

7. Halbach Array B 0 = B r (1 – e -2πd/λ )[(sin(π/M))/( π/M)] [Tesla] B 0 = 0.82843 (1/2” Gr. 38 NdFeB Cube Magnets) B x = B 0 sin((2π/λ)x) e -(2π/λ) (y1 – y) [Tesla] B y = B 0 cos((2π/λ)x) e -(2π/λ) (y1 – y) [Tesla]

8. Inductrack Basic Methods: Array of Inductors Laminated Copper Laminated Aluminum

9. Inductrack Array of Inductors Used in 1st Inductrack Insulated Litz-wire Ferrite Loading

10. Inductrack Laminated Copper Square Litz-wire bulks Used for Low-Speed Urban Maglev Program

11. Inductrack Laminated Copper & Aluminum Thin Sheets Slots cut to guide eddy currents Slots terminated at ends for “shorts”

12. Inductrack Physics Lenz’s Law Discovered in 1834 Eddy currents created due to moving magnetic field (Not guided)

13. Inductrack Physics Circuit Equation: V = L dI/dT + RI = ωφ 0 cos(ωt) [V] Lift/Drag Ratio: Lift/Drag = / = ωL/R = (2πv/λ) (L/R) Power Efficiency: K = / = (2π/λ) (L/R) [Newtons/Watt]

14. Inductrack Physics λ optimum = 4π y1 [m] Magnet thickness of λ/5 Only valid for max. load for min magnet weight and for original Inductrack 50:1 levitated weight/magnet weight ratio

15. Inductrack Inductrack II

16. Sensors Types: Velocity Sensor Optical Sensor Magnetic Sensor

17. Propulsion Types: Linear Synchronous Motor (LSM) Linear Induction Motor (LIM)

18. Propulsion Linear Synchronous Motor (LSM) Used for Low-Speed Urban Maglev Program Allows for large air gap ~ 25 mm Varied 3-phase frequency and current for contols Solid copper cables and laminated iron rails Works with Halbach array

19. Propulsion Linear Induction Motor (LIM) Typically electromagnets in train Aluminum ladder as track Levitation and propulsion aquired

20. Propulsion Modified Linear Induction Motor (LIM) Synchronized electromagnets Precision sensing required Controled via the current PWM Current Level

21. Controls Properties to Control (80515 Microcontroller Based) Levitation Hieght Direction Velocity

22. Controls Levitation Height Control Theory of current Low-Speed Urban Maglev Program Height by causing a phase shift Compromises the structure

23. Controls Direction and Velocity Control Modified Induction Motor (LIM) Sensing and Electromagnets

24. Controls Direction and Velocity Control Inputs: Mode of Operation Velocity or Current Outputs: Train Levitation Train Propulsion LCD Display Train Control System Train: Levitation Guidance Propulsion Mode of Operation Velocity or Current LCD

25. Controls Direction and Velocity Control Modes of Operation: 0.) Open Loop Backwards Current Input 1.) Closed Loop Backwards Velocity Input with Control 2.) Backwards Coast with No Propulsion 3.) Stop 4.) Forwards Coast with No Propulsion 5.) Closed Loop Forwards Velocity Input with Control 6.) Open Loop Forwards Current Input Train Control System Train: Levitation Guidance Propulsion Mode of Operation Velocity or Current LCD

26. Controls Free Running Position Detector Inputs: Current Direction Addressed Sensor Outputs: Addresses Senosr Addresses Electromagnets Velocity DirectionPosition Detector E-Magnet Addresser Track E-Magnets Track/ Train Track Sensors Sensor Addresser Sensor Output Velocity Calculation Current Converter Velocity

27. Controls Open Loop Modes 0 & 6 Inputs: Current Level Direction Outputs: Current Level Current Converter Position Detector

28. Controls Closed Loop Modes 1 & 5 Inputs: Velocity Direction Desired Velocity Current Adjuster Current Converter Position Detector Velocity

29. Controls Coast Modes 2 & 4 Direction is indicated for sensor prediction Utilizes free running position detector with no current Velocity still displayed Stop Mode 3 Pulse electromagnets in front of train Position detector can not be used Details have not been worked out

30. Controls High Power DC Switching Current Control Power MOSFET Insulated -gate bipolar transistor (IGBT) Gate-turn-off thyristor (GTO)

31. Controls Current Converted Converts current levels 0 - 256 (0-FF hex) to increasing current levels using PWM and resistor paths

32. Controls Magnet Addresser Directs current to each individual electromagnet using an array of switches for each section, and corresponding placement in each section.

33. Physical Design Materials Wood and 1/16” Aluminum

34. Testing Inductrack Testing Use of a horizontal or lateral wheel Utilized by Post

35. Theories Disk Method Wheel Method Tractor Tread Method Paddle Wheel Method

36. Standards Table of standards used by the Low-Speed Urban Maglev Program Will be used for concepts to keep in mind

37. Patents Richard F. Post Magnetic Levitation System for Moving Objects U.S. Patent 5,722,326 March 3, 1998 Richard F. Post Inductrack Magnet Configuration U.S. Patent 6,633,217 B2 October 14, 2003 Richard F. Post Inductrack Configuration U.S. Patent 629,503 B2 October 7, 2003 Richard F. Post Laminated Track Design for Inductrack Maglev System U.S. Patent Pending US 2003/0112105 A1 June 19, 2003 Coffey; Howard T. Propulsion and stabilization for magnetically levitated vehicles U.S. Patent 5,222,436 June 29, 2003 Coffey; Howard T. Magnetic Levitation configuration incorperating levitation, guidance and linear synchronous motor U.S. Patent 5,253,592 October 19, 1993 Levi;Enrico; Zabar;Zivan; Air cored, linear induction motor for magnetically levitated systems U.S. Patent 5,270,593 November 10, 1992 Lamb; Karl J. ; Merrill; Toby ; Gossage; Scott D. ; Sparks; Michael T. ;Barrett; Michael S. U.S. Patent 6,510,799 January 28, 2003

38. Schedule Tentative schedule: Weeks 1 – 4Development and testing of tracks Weeks 5 – 8Development of a propulsion method Weeks 9 – 10Integration of the propulsion and the Inductrack Weeks 11 – 13Propulsion Controls Week 14Finish Loose Ends Based on progress, meetings with Dr. Anakwa will determine the direction the project will take after each step

39. Parts and Equipment 40 - 1/2” NdFeB, Grade 38 Cubes$90.00 40 - 1/4” NdFeB, Grade 38 Cubes$14.40 Litz-wire Bulks, Copper Sheets, Aluminum Sheets, Wheels, Conductive balls, and Electromangets Cart/Train non inductive materials and CNC router machine time provided by Midwestern Wood Products Co.

40. Resources Many Documents by Richard F. Post (LLNL) General Conversation with Richard F. Post (LLNL) General Conversation with Phil Jeter (General Atomics) General Conversation with Hal Marker (Litz-wire) General Converastion with Dr. Irwin (Bradley University)