IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0197762
(2002-07-17)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- Lockheed Martin Corporation
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
8 인용 특허 :
4 |
초록
▼
A magnetically levitated transporter comprising a plurality of bogies attached thereto and traveling over a track comprising a plurality of rails, and a method for operating such transporter, comprising a plurality of magnets attached to each bogie, a plurality of the magnets being offset outboard w
A magnetically levitated transporter comprising a plurality of bogies attached thereto and traveling over a track comprising a plurality of rails, and a method for operating such transporter, comprising a plurality of magnets attached to each bogie, a plurality of the magnets being offset outboard with respect to the rails and a plurality of the magnets being offset inboard with respect to the rails, and a computer control system employing gain scheduling to control current provided to each of the magnets.
대표청구항
▼
1. A magnetically levitated transporter operating along a track comprising a plurality of rails, said transporter comprising:a plurality of bogies attached to said transporter and traveling along the track; a plurality of magnets attached to each bogie, a plurality of said magnets being non-repulsiv
1. A magnetically levitated transporter operating along a track comprising a plurality of rails, said transporter comprising:a plurality of bogies attached to said transporter and traveling along the track; a plurality of magnets attached to each bogie, a plurality of said magnets being non-repulsive and offset outboard with respect to the rails and a plurality of said magnets being non-repulsive and offset inboard with respect to the rails; and a computer control system comprising decoupling and gain scheduling means controlling current provided to each of said magnets, such that independent control of five degrees of freedom are obtained. 2. The transporter of claim 1 wherein said plurality of magnets for each bogie numbers six.3. The transporter of claim 2 wherein said plurality of said magnets being offset outboard numbers four and said plurality of said magnets being offset inboard numbers two.4. The transporter of claim 3 wherein said plurality of said magnets being offset outboard are proximate corners of said attached bogie.5. The transporter of claim 1 wherein said gain scheduling means receives for each magnet as input desired force, gap from rail, and lateral displacement and outputs for each magnet a current command.6. The transporter of claim 5 wherein said gain scheduling means keeps actual force of each magnet against its rail approximately equal to said input desired force.7. The transporter of claim 1 wherein said gain scheduling means eliminates static instabilities due to irregularities in the rails.8. The transporter of claim 1 wherein said computer control system additionally comprises means for decoupling for each bogie lift, pitch, roll, lateral displacement, and yaw.9. The transporter of claim 8 wherein said decoupling means comprises means for employing a decoupling matrix.10. The transporter of claim 8 wherein said decoupling means permits said magnets of a bogie to provide independent control of lift, pitch, roll, lateral displacement, and yaw.11. A method of operating a magnetically levitated transporter having a plurality of bogies attached thereto and traveling along a track comprising at least one rail, the method comprising the steps of:attaching a plurality of magnets to each bogie, a plurality of the magnets being non-repulsive and offset from opposing sides of the at least one rail; and controlling force provided by each of the magnets via a computer control system comprising decoupling and gain scheduling means, such that independent control of five degrees of freedom are obtained. 12. The method of claim 11 wherein In the attaching step the plurality of magnets for each bogie numbers six.13. The method of claim 12 wherein in the attaching step the plurality of the magnets being offset outboard numbers four and the plurality of the magnets being offset inboard numbers two.14. The method of claim 13 wherein in the attaching step the plurality of the magnets being offset outboard are proximate corners of the attached bogie.15. The method of claim 11 wherein the controlling step comprises the steps of the gain scheduling means receiving for each magnet as Input desired force, gap from rail, and lateral displacement and outputting for each magnet a current command.16. The method of claim 15 wherein the outputting step maintains actual force of each magnet against its rail approximately equal to the input desired force.17. The method of claim 11 wherein in the controlling step the gain scheduling means eliminates static instabilities due to irregularities in the at least one rail.18. The method of claim 11 wherein in the controlling step the computer control system additionally comprises means for decoupling for each bogie lift, pitch, roll, lateral displacement, and yaw.19. The method of claim 18 wherein in the controlling step the decoupling means comprises means for employing a decoupling matrix.20. The method of claim 18 wherein the controlling step comprises the step of providing via the decoupling means to the magnets of a bogie independent control of lift, pitch, roll, lateral displacement, and yaw.21. The transporter of claim 1 wherein said five degrees of freedom comprise magnetic gap, lateral position, roll angle, pitch angle and yaw angle.22. The method of claim 11 wherein the five degrees of freedom comprise magnetic gap, lateral position, roll angle and yaw angle.
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