Leviduction — a Study in Electromagnetic Levitation
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LEVIDUCTION — A STUDY IN ELECTROMAGNETIC LEVITATION by Alan Attwood, B.Sc.(Eng.), A.C.G.I. July 1978 A thesis submitted for the degree of Doctor of Philosophy of the University of London and for the Diploma of Imperial College Electrical Engineering Department, Imperial College, London SW7. 2 ABSTRACT OF THESIS In 1972, by purely empirical methods, a new type of electromagnetic machine was discovered - a linear induction motor capable of producing levitating and laterally-guiding forces in addition to the normal axial propulsive force. The new machine was called an "electromagnetic river". This thesis describes some of the researches which followed the invention. Firstly several circular and linear versions of the new machine were investigated. Their novel abilities offer some immediate possibilities for industrial exploitation, particular examples being a rotary version acting as a frictionless bearing and a linear version capable of operating in a back-to-back "shuttle" mode. The latter may make it practicable to replace the noisy, impulsive mechanical method for propulsion of a shuttle across a weaving loom by a silent electrical system. More generally the new principle could be applied both to low-speed situations where there is a need for support and guidance without physical contact, and to more dramatic possibilities at high speed where passenger-carrying vehicles could be lifted, guided and propelled by a single set of electromagnetic coils. Secondly a series of experiments was performed on laboratory- scale models, with the aim of simulating the behaviour of a large- scale electromagnetic river. In an effort to understand the mechanism of stability a new experimental procedure was developed. This allows determination of the distribution of electromagnetic forces acting on a floating conducting plate, from a knowledge only of the surrounding magnetic field. Several theories are discussed concerning the stability mechanism; no single one however has yet succeeded in explaining every aspect of the phenomenon. 3 Finally a further new invention is described - a "Mark Two" electromagnetic river, superior to the original in all three axes of lift, guidance and propulsion. Time permitted only a preliminary investigation of this most recent class of machine. A Note on "Leviduction" Levitation by electromagnetic induction is but one of several distinct methods for the provision of lifting forces by the use of electric and magnetic phenomena. A few of the alternative methods are also capable of providing lateral stabilisation (which becomes guidance if the supported object is moving).. The acronym "Maglev" was coined for one of the better known of these systems, more fully titled "levitation and stabilisation by means of magnetic forces of attraction". However there has been a tendency to apply this name to the whole subject of electromagnetic levitation, regardless of the particular system under discussion. Such use unfortunately tends to carry with it the implication that the recognised drawbacks to the Maglev system also apply in general. To emphasise the difference between Maglev and the electromagnetic system that forms the subject of this thesis, it was decided to invent a name applicable only to the latter. The word coined was "leviduction", which is to be regarded as synonymous with "levitation and stabilisation by means of repelling forces between primary and induced secondary currents". There is, however, little call for use of the new word within the body of the thesis, since apart from a few well-defined exceptions the entire subject matter comes under the heading "leviduction". No confusion need arise. 4 ACKNOWLEDGMENTS A large number of people were involved in the work that is described in this thesis. To acknowledge all would be impossible, but a particular debt is owed to three groups of personnel. Firstly the academic staff in and around the laboratory at Imperial College. At the top of the list (in more ways than one) is Professor Eric Laithwaite, whose supervision, guidance and above all enthusiasm kept the work going throughout the three-year period with which this report is concerned. Also present at the time was Dr. J.F. Eastham (now Professor Eastham of Bath University), who with Professor Laithwaite was responsible for the research activities described in Chapter 1, and took much part in all that followed. Many thanks are due also to Dr. H. Bolton and Dr. E.M. Freeman for their invaluable contributions in the way of discussion and ideas, and special thanks to Elizabeth Boden for her help and her quiet and patient organisation of all administrative and secretarial affairs. None of the work described could have been carried out without the support of the technical staff, headed by the ever-helpful Barry Owen in the laboratory and Colin Jones in the workshop. Particular thanks are due to Cliff Johnson who was responsible for building many of the machines described, and also to Jim McEwen who wound the coils for almost all of the machines, and whose effective but original coil-winding techniques sometimes led to even more permutations of the machines than had been anticipated! Two people outside Imperial College who deserve special mention are Mr J.G. Steel of the Central Electricity Research Laboratories, Leatherhead, who took continued interest in the progress of the work and made a large number of helpful comments on the presentation of this report, and my father, now retired to the mountains of North Wales, whose attention to fine detail proved of immense value in the final presentation. Lastly appreciation should be expressed of the part played by Paul Jarvis, postgraduate student at Imperial College, and "Mirabel" the friendly college computer, without whose help the diagrams in their present form would not have been possible. 5 CONTENTS Chapter Page INTRODUCTION 8 1. THE ORIGIN OF THE ELECTROMAGNETIC RIVER 9 1.1 Transpo '72 9 1.2 The Birth of the Electromagnetic River 13 1.3 The Washington Model 17 1.4 An Expanding Geometry 23 2. STABILITY IN ALL AXES 28 2.1 Longitudinal stabilisation 28 2.2 The Magic Carpet 30 2.3 Height, stability and efficiency of levitation 34 2.4 Sustained oscillations 38 3. ELECTROMAGNETIC SPRINGS, WHIRLPOOLS AND OTHER THINGS 43 3.1 The machine with long poles 43 3.2 The double-loop pattern 46 3.3 Circular levitators 50 3.4 The Electromagnetic Whirlpool 55 4. DISTRIBUTION OF FORCE ON FLOATING PLATES 59 4.1 Rotor surface voltage distribution 59 4.2 Rotor surface flux 65 4.3 An analytical approach 70 4.4 Forces by Maxwell Second Stress 75 4.5 Pictorial representation of force distribution 86 5. THE PHASE-MIXED_ ELECTROMAGNETIC RIVER 90 5.1 Improvements in propulsion 90 5.2 Lift and guidance "for free" 93 5.3 The seven-metre stator 97 5.4 The Electromagnetic Shuttle 102 - '6- Chapter Page 6. LOW FLYING AIRCRAFT 110 6.1 Steel wheel. upon steel rail 111 6.2 Contact-free systems 117 6.3 The Electromagnetic River for high-speed transport 126 6.4 Protection against loss of supply 130 6.5 Secondary support system and speed restrictions 133 6.6 Choice of linear motor design 135 7. LABORATORY SIMULATION OF LARGE-SCALE ELECTROMAGNETIC RIVERS 140 7.1 The "Catamaran" Machine 140 7.2 Variable stator core dimensions - use of gramme-ring wound stator blocks 146 7.3 Simulation of a wide electromagnetic river by gramme-ring wound blocks 151 7.4 Human levitation 156 7.5 Levitators turned "the right way up" 158 7.6 The Electromagnetic Track Joint 161 7.7 Electromagnetic Scale Modelling 166 7.8 Tests at high frequency 169 7.9 Tests on load-bearing rotors 175 7.10 Dynamic stability tests 178 7.11 Review of Chapter 7 180 8. THE LECTURE NOTE FLOATER 183 8.1 An Annular Magic Carpet 184 8.2 A square levitator 187 8.3 Return to gramme-ring wound stator blocks 193 8.4 Success at last 197 9. THEORY 200 9.1 A Hypothesis 200 9.2 The Jumping Ring 201 9.3 Arguments with limitations 208 9.4 Stability by attracting and repelling currents 212 7 Chapter Page 9.5 Stability over a conventional linear motor 217 9.6 Stability by Shaded-Pole Action 219 9.7 Stability by Rules of Thumb 224 9.8 "Hills of Flux" 228 10. CONCLUSIONS AND RECOMMENDATIONS- 234 10.1 Review and suggestions for further work 234 10.2 Addition of backing steel 237 11. POSTSCRIPT - THE XI-CORE MOTOR 240 11.1 Kilowatts per tonne . 240 11.2 A new geometry 243 11.3 Design of the Xi-core motor 246 11.4 Performance of the Xi-core motor 250 11.5 Boundaries of stability 255 REFERENCES 263 • APPENDIX A. Engineering details of four machines 268 VoLu.rrie 11 2/7._ APPENDIX 13. An F ti-ernat-ive tl,eoreE,ca.l Rpproa.c h 273 flPPEIJD►x G. Rrfd.1ybiG4.t Q6riva.ionS of- t•ie Mablkewi 2.97 7cpressiont vied. iM. Appe » Lac Q APPENDix D. Lornpu.Fer Subroukines) Pu.ncboiS 0.41 Pro 3ra4•4 30q APPEND ix E. Cowipu.l--er Sourc,a Gode List. i»gb 336 8 INTRODUCTION Few inventions or discoveries are made by the direct process of defining a problem, setting out methodically to investigate all possible ideas for solution, gradually eliminating those which are unfruitful until the one remaining solution emerges as the perfect answer - and all in exactly three years, neatly to complete a higher degree! Equally, seldom is success achieved by continually pondering over a problem, turning it around and around until suddenly, in a flash of inspiration, the solution is clear - "Eureka" - in the manner of Archimedes. More often the process is one of fruitless lines of investigation, dead ends, turnings back, followed by an apparently fortuitous "grasshopper jump" into an entirely new plane and direction for no logical reason at all.