mu-zero Hyperloop

Goal: Develop a non-linear levitation control for a 6DOF free-floating hyperloop pod.

Based on an electromagnetic suspension (EMS), the reluctance force is utilized to generate a force that counteracts gravity and makes the vehicle levitate. Complex non-linear electromagnetic system properties must be stabilized. It is important to get as close as possible to the rail in order to save energy, but the force becomes significantly more non-linear and the control system more complex. In addition, temperatures and irregularities in the surface make static stabilization more difficult. The idea was first to develop a very accurate physical model. On the basis of this model, the system behaviour can be linearized in the operating range via linear compensation and simple PI-PD controllers can be developed. In a final step, a distance between the EMS systems and the rail is calculated using a state estimation consisting of a Kalman filter. It is important here that these EMS systems are decoupled via viscoelastic materials.