Suspending, guiding and propelling vehicles using magnetic forces

• US 6,983,701 B2
• Filed: 10/01/2003
• Issued: 01/10/2006
• Est. Priority Date: 10/01/2001
• Status: Active Grant

• Current Assignee: Magnemotion Incorporated (Rockwell Automation, Inc.)
• Original Assignee: Magnemotion Incorporated (Rockwell Automation, Inc.)
• Inventors: Clark, Tracy M., Thornton, Richard D.
• Primary Examiner(s): MULLINS, BURTON S
• Application Number:
  US10/676,726
• Publication Number:
  US 20040119358A1
• Time in Patent Office: 832 Days
• Field of Search: 505902-905, 310 12- 13, 310/190, 104281-284
• US Class Current: 104/282
• CPC Class Codes: B60L 13/06 Means to sense or control vehicle position or attitude with respect to railway
• CPC Class Codes: B60L 2200/26 Rail vehicles

Abstract

Magnetic levitation methods and apparatus use arrays of vehicle magnets to provide three forces: suspension, guidance and propulsion. The magnets, which can be permanent magnets or superconducting magnets operating in the persistent current mode, have associated control coils that allow the magnets to provide a controllable attractive force to a laminated steel rail. The control coils adjust the gap between the magnets and the rails so as to be in stable equilibrium without requiring significant power dissipation in the control coils. These same magnets and steel rails also provide lateral guidance to keep the vehicle on the track and steer the vehicle on turns. The suspension control coils can provide lateral damping by means of offset magnets in the suspension arrays. Windings in transverse slots in the steel rails are excited with currents that react against the field produced by the vehicle magnets to create vehicle propulsion. The magnet size is adjusted to provide negligible cogging force even when there are as few as three winding slots per wavelength along the rail. Means are used to mitigate end effects so that a multiplicity of magnet pods can be used to support the vehicle.

Claims

1. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to provide guidance for the vehicle without the need for additional structure to provide such guidance; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap.

2. A magnetic suspension system according to claim 1, comprising a first control system effective for controlling the coils.

3. A magnetic suspension system according to claim 2, comprising a second control system effective for driving the windings of the synchronous motor.

5. The system of claim 1, further comprising one or more devices disposed on the vehicle effective to damp any of heave, roll, sway and yaw oscillations.

6. The system of claim 1, further comprising a linear synchronous motor effective to produce substantially smooth forces without producing substantial cogging forces.

7. The system of claim 1, further comprising a position sensing system effective to determine the position of the vehicle with respect to the guideway.

8. The system of claim 1, wherein the array of magnets further comprises end magnets of a size and location effecting minimal end effects and cogging forces.

10. The system of claim 8, further comprising one or more devices disposed on the vehicle effective to damp any of heave, sway and yaw oscillations.

4. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to provide guidance for the vehicle without the need for additional structure to provide such guidance; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap, and

at least one pair of magnets disposed in a lateral offset manner to damp any of sway and yaw forces.

9. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to provide guidance for the vehicle without the need for additional structure to provide such guidance; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap,

wherein the array of magnets further comprises end magnets of a size and location effecting minimal end effects and cogging forces, and

wherein the array of magnets further comprises at least one pair of magnets disposed at a lateral offset.

11. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more ararys of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to provide guidance for the vehicle without the need for additonal structure to provide such guidance; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

a system effective to substantially stabilize a vertical gap,

wherein said one or more arrays of magnets comprise any of superconducting magnets and/or permanent magnets.

12. A system according to claim 11, comprising a winding control system effective to produce acceleration forces.

13. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising at least one array of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to provide guidance for the vehicle without the need for additional structure to provide such guidance; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap;

a first control system effective for controlling the coils;

a second control system effective for driving the windings effective to produce acceleration of the vehicle; and

wherein said at least one array of magnets comprises any of superconducting magnets and/or permanent magnets.

14. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to allow at least one of negotiating turns and resisting lateral wind force; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap.

15. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to allow at least one of negotiating turns and resisting lateral wind force; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

a system effective to substantially stabilize a vertical gap; and

wherein said one or more arrays of magnets comprise any of superconducting magnets and/or permanent magnets.

16. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising at least one array of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap sufficient to allow at least one of negotiating turns and resisting lateral wind force; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap;

a first control system effective for controlling the coils;

a second control system effective for driving the windings effective to produce acceleration of the vehicle; and

wherein said at least one array of magnets comprises any of superconducting magnets and/or permanent magnets.

17. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rails, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap; and

at least one pair of magnets disposed in a lateral offset manner to damp any of sway and yaw forces.

18. A magnetic suspension system comprising

a guideway comprising one or more ferromagnetic rail, at least one of which further comprises windings for a linear synchronous motor;

a vehicle comprising one or more arrays of magnets, which one or more arrays of magnets effects;

(i) magnetic attraction forces across a substantially planar gap to at least one guideway rail;

(ii) lateral restoring forces across said same substantially planar gap; and

(iii) longitudinal forces across said same substantially planar gap in response to electrical current in one or more of the windings;

at least one control coil wound around the magnets effecting a substantially stable vertical gap

wherein the array of magnets further comprises end magnets of a size and location effecting minimal end effects and cogging forces,

wherein the array of magnets further comprises at least one pair of magnets disposed at a lateral offset.