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Modeling of novel cross-type hybrid 4-pole carrier system and experimental air gap control

Enes Mahmut Göker (Department of Mechatronics Engineering, Yıldız Technical University, Istanbul, Turkey)
Ahmet Fevzi Bozkurt (Department of Mechatronics Engineering, Yıldız Technical University, Istanbul, Turkey)
Kadir Erkan (Department of Control and Automation Engineering, Yıldız Technical University, Istanbul, Turkey)



The purpose of this paper is to introduce a novel cross (+) type yoke with hybrid electromagnets and new reluctance modeling to precisely calculate attraction force is given.


The comparison of attraction force and torque analyses between the proposed formulation and the existing formulation in the literature is comparatively presented. For the correctness of the force and torque values calculated in the model created, the system was created in ANSYS Maxwell and its accuracy was proved by making analyses. The maglev carrier system is inherently unstable from the point of view of control engineering. For that, it needs an active controller to eliminate this instability. For the levitation of the carrier system, it is necessary to design a controller in three axes (z, α and β). I-PD controller was designed for the air gap control of the carrier system in three axes and the controller parameters were determined by the canonical method.


While the new formulation proposed in the modeling of the carrier system has a maximum error of 1.03%, the existing formula in the literature has an error of 16.83% in the levitation distance point.


A novel cross-type hybrid carrier system has been proposed in the literature. With the double integral used in modeling the system, it takes a long time to solve symbolically, and it is difficult to simulate dynamic behavior in control validation. To solve this problem, attraction force and inclination torque values are easily characterized by new formulation and besides the simulations are conducted easily. The experimental setup was manufactured and assembled, and the carrier system was successfully levitated, and reference tracking was performed without overshoot.



This study is supported by YT U Maglev laboratory under Yıldız Technical University Mechatronics Engineering Department.


Göker, E.M., Bozkurt, A.F. and Erkan, K. (2024), "Modeling of novel cross-type hybrid 4-pole carrier system and experimental air gap control", COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, Vol. ahead-of-print No. ahead-of-print.



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