Analysis and simulation of current regulated air-cored electromagnet for pitching motion control of the underwater vehicle ME02

The experimental single sided linear motor maglev vehicle ME02 available in our laboratory is levitated and propelled by permanent magnet linear synchronous motor (PM LSM). To eliminate the undesired pitching motion resulting from the unbalanced torques developed around the vehicle center of gravity, two air-cored electromagnets (AEM) are located in the vehicle´s most front and rear. The proposed electromagnets are feed with controlled current such that the developed torque works against the pitching torque. In the current paper, analytical voltage model for the AEM is introduced. The model is based on derivation of the analytical solution of the multilayer boundary field problem of PM LSM. A voltage chopper is utilized in its current regulated mode to track the demand current required to damp the pitching motion. To validate the effectiveness of the proposed system, simulated study for pitching motion control is carried out with the mass and location of center of gravity are taken as disturbances. The results show the robustness of the introduced control scheme.