Development of a Halbach Array Magnetic Levitation System

By: Dirk DeDecker Jesse VanIseghem

Advised by: Mr. Steven Gutschlag Dr. Winfred Anakwa

Outline
Introduction Previous Work Project Summary Changes to Original Proposal Physics of Halbach Array Magnets Preliminary Calculations and Simulations

Outline Cont.
Equipment List Lab work Problems and Solutions Results Future Projects Patents References Acknowledgements

Introduction
Magnetic levitation
technology can be used in high speed train applications Maglev suspension allows trains to accelerate to over 300 mph and reduces maintenance by almost eliminating all moving parts

Previous Work
Dr. Sam Gurol and Dr.
Richard Post have worked on The General Atomics Low Speed Urban Maglev Technology Development Program utilizing the rotary track method

Previous Work Cont.

Work by Paul Friend in 2004
Levitation Equations Matlab GUI

Work by Glenn Zomchek in 2007

Design of system using Inductrack method Successful levitation to .45 mm.

Previous Work - Results

Inductrack results from Glenn Zomcheks project (2007)

Project Summary
The goals of our project are:
Develop an improved Halbach array magnetic levitation system to achieve 0.5 cm at a track speed of 10 m/s Demonstrate successful levitation

Changes to Original Proposal

Focused on demonstration of levitation of
the magnet device Changed closed loop system to open loop

Physics of Halbach Array Magnets

Designed by Klaus Halbach Creates a strong, enhanced magnetic field on one side, while almost
cancelling the field on the opposite side Peak strength of the array: B0=Br(1-e-kd)sin(/M)/( /M) Tesla k = 2/, M = # of magnets, Br = magnet strength, d = thickness of each magnet = Halbach array wavelength

Physics of the Inductrack

Halbach array moving at velocity v m/sec
over inductrack generates flux
0sin(t), 0 Tesla-m2, linking the circuit = (2/)v rad/sec

Voltage induced in inductrack circuit: Inductrack R-L circuit current equation:

V(t) = L*di(t)/dt + R*i(t)
V(t) = 0cos(t)

Physics of the Inductrack Cont

Close-packed conductors,
made utilizing thin aluminum or copper sheets Allows for levitation at low speeds Can be modeled as an RL circuit Transfer function has pole at -R/L

R1

V1

L1

Physics of the Inductrack Cont.

Dr. Post used the induced current and
magnetic field to derive
Lift force: <Fy> = Bo2w2/2kL*1/1+(R/L)2*e-ky1 Drag force: <Fx> = Bo2w2/2kL* (R/L) /1+(R/L)2*e-ky1
Where y1 is the levitation height in meters

Physics of the Inductrack Cont.

Phase shift relates to drag and levitation
forces Lift/Drag = *L/R L = 0 w/(2kdc) , where dc is the center to center spacing of conducting strips and w is the track width

Physics of the Maglev System

Force needed to levitate:
F = m*9.81 Newtons m=.465 kg F = 4.56 N

Breakpoint velocity:
By solving Lift/Drag for v,

vb=/(2) m/sec

Simulation with Matlab GUI

Equipment List
9 radius polyethylene wheel, with a width of 2 57x2x1/4 copper sheet of thin conducting

strips 125 - 6mm cube neodymium magnets Balsa wood structure to house the 5x25 Halbach array Metal and hardware for motor stand Dayton permanent magnet DC motor Digital Force Gauge Model: 475040 Displacement Transducer Model: MLT002N3000B5C

Lab Work - Design

Designed wheel and copper track to be
built Wheel and track were machined by TriCity Machining

Lab Work - Design Cont.

Decided to switch from aluminum track to
copper
Lower resistivity of copper(Cu = 1.68x10-8 *m, Al = 2.82x10-8 *m) R = PcRc/(Nt*c*Ns) , where Rc is the resistivity Lift/Drag 2**v/*(L/R) Aluminum Lift/Drag ratio = 0.102 Copper Lift/Drag ratio = 0.171

Lab Work Halbach Array Device

Balsa wood structure built Magnets glued into balsa wood
Used shrink wrap and epoxy

Aluminum covering built to ensure

magnets do not eject from balsa wood

Lab Work Halbach Array Device

Array is 5x25 magnets = 28 mm Makes our arc length
Fv = Fi*cos()

Fi

approximately 8, with an angle of 25 degrees to either side

cos(25) = .9063 Arc length s = 9*0.436 = 3.93

This arc length keeps 90% of

the force in the vertical direction

Force Diagram

Lab Work Set up

Motor stand designed and built to hold
motor, wheel, and balsa wood device Holes drilled in copper track and track connected to wheel All pieces assembled into the complete system

Lab Work Set up

Lab Work Displacement Sensor

Displacement sensor outputs linear
voltage change for changes in displacement

Problems and Solutions

Copper track too short Once holes drilled in copper, track became
weak Magnets were very difficult to glue in direction they had to be

Results Force Measurements

Levit at ion For ce M easur ement s
15

10

Force [ N]
5 0 0

10

Tangent i al V el o ci t y [ m/ s]

Results Displacement Measurements

Lev i t at i on H ei ght M easur ement s
0.4 0.35

0.3

Displacement [ cm]

0.25

0.2

0.15

0.1

0.05

0 0

10

12

Tangent i al V el o ci t y [ m/ s]

Results
Successful levitation of 0.365 cm at 843
RPM, corresponding to a tangential velocity of 10.0 m/s Materials for shield are ordered and will be built

Future Projects
Closed-loop control of levitation height Dynamically balance wheel More dampening of vibration

Acknowledgements
Dr. Winfred Anakwa Mr. Steven Gutschlag Mr. Joe Richey and Tri-City Machining Mr. Darren DeDecker and Caterpillar Inc. Mrs. Sue DeDecker Mr. Dave Miller

Applicable 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 incorporating 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

Works Consulted
Glenn Zomchek. Senior Project. Redesign of a Rotary Inductrack for Magnetic
Levitation Train Demonstration. Final Report, 2007.

Paul Friend. Senior Project. Magnetic Levitation Technology 1. Final Report, 2004. Gurol, Sam. E-mail (Private Conversation)

Post, Richard F., Ryutov, Dmitri D., The Inductrack Approach to Magnetic
Levitation, Lawrence Livermore National Laboratory. Levitaiton, Lawrence Livermore National Laboratory.

Post, Richard F., Ryutov, Dmitri D., The Inductrack: A Simpler Approach to Magnetic

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.

Questions?

Results Backup
Table 1: Displacement Sensor Calibration Measurements
Input Voltage [V] 5.323 Displacement [in] 0.0 Output Voltage [V] 0.23

5.323
5.323

0.4
0.9

0.963
2.302

5.323
5.323

1.2
1.5

3.0432
3.877

5.323
5.323

1.7
2.1

4.398
5.327

Results Backup
Table 2: Force Sensor Measurement
Motor Voltage [V] 15 25 35 45 Motor Current [A] 2.8 4.3 5.4 6.0 140 260 390 533 RPM Velocity [m/s] 1.676 3.112 4.668 6.379 Force [N] 1.1 3.6 7.6 11.0

50
55 59

6.2

609
679 741

7.289
8.127 8.869

12.3
14.2 14.9

Results Backup
Table 3: Displacement Sensor Measurements
Motor Voltage [V] 0 15 25 30 35 40 45 0 3.0 3.7 4.0 4.4 3.9 3.6 Motor Current [A] RPM Velocity [m/s] 0 1.676 3.316 4.153 4.991 6.045 7.074 Sensor Output [V] 5.320 5.310 5.222 5.213 5.203 5.138 5.080 0 0.010196 0.099919 0.109095 0.11929 0.175367 0.244698 0.280384 Change in Displacement [cm]

0 140 277 347 417 505 591

50
55 60

3.5
3.3 3.1

678
756 843

8.115
9.049 10.090

5.045
5.012 4.962

0.31403
0.365008