Modeling of the Transrapid’s electromagnets and the application to large mechatronic vehicle models

Abstract

This work gives an overview of a general approach for modeling the electromagnets of a magnetic levitation (Maglev) vehicle based on electromagnetic suspension. The method intends to map the magnets’ static and dynamic behavior in a frequency range relevant for use in mechatronic simulation models and Maglev control or observer design. The methodology starts with setting up the equivalent magnetic circuit considering magnetic reluctances, fringing and leakage flux, magnetic saturation, and eddy currents. Then, the resulting equations are coupled with the magnet’s electric circuits using Ampère’s law and Faraday’s law of induction. Further, a numerical model reduction technique is sketched, which yields a simplified version of the previously derived magnet model with nearly the same input-output structure and input-output behavior, suitable for large simulation models and control design. The approach’s capabilities and strengths are shown by the agreement to measurements and by implementing the resulting models in large mechatronic vehicle models of the Transrapid.