In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
Vol.
10, No.
1, Mar
ch 2019,
pp.
74~82
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
5
9
1
/ij
ped
s
.
v10
.
i
1.pp
7
4
-8
2
74
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Hybrid electromagnetic sus
pensi
o
n for high-speed
vac
uum
transport
Nik
o
la
y
Gr
ebenni
k
o
v
1
,
Alexand
e
r
Kiree
v
2
, Nik
ol
ay
Ko
z
hemy
ak
a
3
,
Ge
n
n
a
d
y
Kon
on
ov
4
1
,
2,
3,
4
Clos
ed
J
oi
n
t
-S
to
ck
C
omp
a
ny
S
cien
tifi
c-Tech
nical
Cent
e
r P
R
IVO
D
-N
,
Novocherkas
sk, Russi
a
1
Ros
t
ov St
ate T
r
ansp
ort
Univ
ers
ity
(
RSTU),
R
ostov
-
on
-Don
,
R
uss
i
a
2
P
l
at
ov
S
outh-Ru
ss
ian
Stat
e
P
o
ly
t
e
ch
ni
c Univ
ersit
y
(
N
P
I), N
ovo
ch
e
r
ka
ssk
, Rus
sia
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
Ju
n
5
,
2018
Re
vise
d O
c
t
2
9
,
2018
Ac
ce
p
t
ed
No
v
1
5
,
2
018
Th
e
gi
ven
pap
e
r
pres
e
n
ts
a
h
ybri
d
e
l
ectrom
a
gnetic
s
us
pen
s
i
on
de
si
gned
f
or
hi
gh
-speed
v
acuum
t
ran
s
po
rt,
w
h
ere
th
e
m
a
in
l
evi
t
a
t
i
on
f
o
rce
is
g
en
erated
b
y
perm
an
e
n
t
m
a
gnet
s
,
whil
e
th
e
el
ectrom
a
g
n
et
c
on
trol
s
th
e
air
gap
.
T
h
e
com
p
uter
m
o
d
e
l
i
s
desig
n
ed
b
y
m
ean
s
o
f
M
ATL
A
B/
Sim
u
link
s
o
ft
ware
pack
ag
e,
w
h
i
ch
a
ll
ow
s
us
t
o
simu
lat
e
t
he
d
yn
a
m
i
c
o
p
e
rat
i
o
n
al
m
o
des
of
t
h
e
sy
st
e
m
.
The
calcul
a
ted
stu
d
i
e
s
are
carri
ed
o
ut
w
hen
the
v
e
hi
cle
acc
elerati
ng
to
1
00
0
km/h
w
it
h
a
cco
un
t
of
t
rack
i
rregu
la
ri
ti
es.
P
e
rm
a
n
ent
m
a
gn
e
t
s
in
corp
orated
i
n
th
e
s
y
st
em
o
f
el
ectrom
a
g
n
et
ic
s
u
s
pen
s
i
on
m
a
ke
i
t
possible
t
o
redu
ce th
e energ
y
co
n
su
m
p
t
i
o
n
needed
f
or l
ev
it
ation
f
o
rce g
e
ner
ation.
K
eyw
ord
s
:
A
i
r ga
ps
Elec
trom
ag
ne
ti
c
suspe
n
s
i
o
n
Energ
y
e
ff
ic
ie
ncy
Lev
ita
t
i
on
M
a
g
n
e
ti
c
l
e
vi
ta
t
i
on
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
N
.
V
.
G
rebe
nni
ko
v,
Close
d
J
oi
nt-S
toc
k
C
ompa
ny
S
c
i
e
nt
ifi
c
-Tec
hn
i
c
a
l
Ce
n
ter
P
R
IV
O
D
-N
,
K
r
ivos
h
l
y
k
ova
4
A
,
N
ovoc
he
rkass
k
,
Ros
t
o
v
re
g
io
n,
Russia
, P
ost
a
l
code
:
3
4
642
8.
Em
ail:
g
r
e
b
en
ni
kov
nv@
mai
l
.ru
1.
I
N
TR
OD
U
C
TI
O
N
The
c
onc
e
p
t
o
f
h
i
gh-s
p
ee
d
l
a
nd
t
ra
n
s
por
t
deve
l
opm
en
t
p
r
ov
ides
f
o
r
t
h
e
a
b
s
e
n
c
e
o
f
“
w
h
e
e
l
-
r
a
i
l
”
con
t
ac
t
sys
t
e
m
.
Instead,
va
rio
u
s
ve
hi
c
l
e
l
e
v
i
t
a
tio
n
sy
ste
m
s
are
p
ropos
ed
:
a
i
r
be
ar
i
n
g
sus
p
en
sion
[1]
,
elec
tr
oma
gne
t
i
c
l
e
v
i
t
a
ti
on
[2
]-
[4]
or
e
le
ctrod
y
n
am
ic
l
e
v
ita
ti
on
[
5].
Th
e
prese
n
t
pa
pe
r
show
s
t
h
e
hy
br
id
elec
tr
oma
gne
t
i
c
suspe
n
s
i
o
n
[
6],
w
h
er
e
the
levi
t
a
t
i
o
n
f
orce
i
s
g
e
n
erat
e
d
b
y
p
e
rma
n
ent
mag
n
e
ts,
wh
e
r
ea
s
t
h
e
elec
tr
oma
gne
t
is
u
se
d
t
o
r
eg
u
l
ate
the
a
i
r
ga
p
[7]
.
A
t
lea
s
t
f
o
u
r
hy
bri
d
l
ev
i
t
at
ion
m
o
d
u
l
es
a
r
e
i
ns
ta
l
l
e
d
a
t
th
e
veh
i
c
l
e.
T
he
y
con
s
ist
of
U
-
s
ha
pe
d
e
l
ec
tro
m
a
gnet
s
e
q
u
i
p
p
e
d
w
ith
per
m
a
n
en
t
ma
gne
ts
a
t
the
e
nd
o
f
e
ac
h
.
T
he
bl
oc
k
d
i
a
g
ra
m
of
t
he
h
y
b
ri
d
ele
c
tr
oma
gne
t
i
c
susp
ens
i
on
a
r
e
show
n
i
n
F
i
gure
1.
T
he
w
i
n
d
i
ng
s
o
f
U
-
s
haped
elec
tr
oma
gne
t a
r
e
pow
ere
d
by U
Z
conve
rter
.
O
n
e
o
f
t
he
p
r
o
b
l
em
s
for
h
i
gh-s
p
e
e
d
vac
u
um
t
ra
nsp
o
r
t
(
HS
V
T
)
movi
ng
i
n
v
acu
um
c
o
n
d
i
tio
ns
(disc
h
ar
ge
d e
n
vi
r
onme
n
t) is t
h
e rem
oval o
f
he
a
t e
n
e
r
g
y
lo
s
ses.
The hy
bri
d
e
l
e
c
t
rom
a
g
n
e
tic sus
pe
n
s
i
on a
llow
s
a
l
lo
ws
u
s
to
r
ed
u
ce
t
h
e
e
n
e
r
gy
c
o
n
s
u
mpti
o
n
n
eed
ed
f
o
r
l
ev
i
t
a
ti
o
n
force
ge
ner
a
t
i
o
n
a
nd,
a
s
a
re
sul
t
,
t
o
r
e
duc
e
the
hea
t
l
o
s
se
s
a
m
oun
t.
A
n
o
t
h
er
p
r
oble
m
i
s
tha
t
t
he
h
y
b
ri
d
elec
tr
om
agne
ti
c
sus
p
en
si
o
n
i
s
an
uns
ta
bl
e
system
and
so,
a
quick
r
esponse c
o
n
t
r
o
l
s
y
ste
m
i
s
requ
ire
d
t
o re
gu
la
te
it.
To
t
e
s
t
t
h
e
c
o
n
t
r
o
l
m
o
des,
a
c
om
pu
t
e
r
m
odel
of
a
hybr
id
e
l
e
c
t
ro
m
a
g
n
e
tic
s
us
pen
s
i
o
n
[8]
w
i
th
a
con
t
ro
l
s
y
s
t
em
i
s
bui
l
t
,
w
h
ic
h
ope
rate
s
ac
c
o
rd
in
g
to
t
he
d
a
t
a
c
omi
n
g
fr
om
c
urrent
s
e
n
sors
Т
А
a
nd
air
ga
p
sens
ors
BZ.
I
f
d
ev
ia
ti
o
n
f
r
o
m
the
set
a
i
r
ga
p
va
lue
,
t
he
c
orre
c
tive
ac
ti
o
n
s
ho
u
l
d
be
i
mm
edia
te
ly
e
ffe
c
t
e
d
b
y
app
l
yi
ng
vo
l
t
a
g
e
to
w
i
ndi
ng
s
o
f
t
he
U
-sh
a
pe
d
elec
trom
agne
t
.
T
he
l
ar
ge
r
t
h
e
dev
i
a
t
io
n,
t
he
g
rea
t
er
t
he
corr
ecti
v
e
effe
ct
h
as
t
o
be
.
The
m
o
st
h
i
gh-
qua
l
i
t
y
c
o
n
t
ro
l
has
be
e
n
p
rove
d
b
y
t
he
s
ys
tem
ha
vi
n
g
a
n
in
t
e
rm
edia
te
li
n
k
form
i
n
g a
q
u
ad
rat
i
c
d
ep
end
e
n
c
e
[9
] o
f
t
he
a
i
r
ga
p
varia
tio
n, w
h
i
c
h
is the
i
n
p
u
t
s
igna
l for t
h
e
P
I
D
contro
l
l
e
r
o
f
t
h
e
cur
r
en
t
val
u
e
i
n
t
he
w
i
n
d
i
ng
s
of
a
U
-
s
ha
p
e
d
e
l
e
c
t
r
o
m
a
g
n
e
t
.
T
h
e
a
i
r
g
a
p
c
o
n
t
r
o
l
s
y
s
t
e
m
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
H
y
brid elec
t
r
o
m
ag
net
i
c suspe
n
sio
n
for
hi
g
h
-spee
d
v
a
cu
um
tr
ans
p
o
r
t
(Nik
o
l
ay
G
r
ebe
nni
k
o
v)
75
is
b
ase
d
o
n
t
h
e
“
z
e
r
o
pow
er
”
pr
i
n
c
i
p
l
e
[1
0
]
i
n
the
nom
i
n
a
t
e
o
p
e
r
a
t
i
o
n
m
o
d
e
[
1
1
]
.
T
h
e
a
i
r
g
a
p
v
a
l
u
e
v
a
r
i
e
s
depe
n
d
i
n
g on t
h
e ex
terna
l
l
oa
d
i
n
the
w
a
y
t
h
a
t the
a
v
era
g
e c
u
rr
e
n
t
va
l
u
e o
f
the
c
ontro
l e
l
ec
t
r
oma
gne
t te
nds t
o
ze
ro.
Thi
s
a
ppr
oa
ch a
ll
ow
s
minimiz
i
ng
the
e
n
e
r
g
y
c
onsum
p
tio
n
fo
r
t
h
e
levitation
force
generati
on.
F
i
gure
1.
B
loc
k
dia
gra
m
o
f a
hy
bri
d
e
lec
t
ro
m
a
gne
tic
s
us
p
e
ns
i
o
n
2.
DYNA
M
I
C M
O
DES
SIM
U
LATIO
N
I
n
o
rde
r
t
o
sim
u
la
te the dyna
mic
con
d
i
t
i
o
n
s
o
ccur
r
i
ng
in
t
he
h
y
brid
e
lec
t
rom
a
gne
t
i
c
s
u
s
p
en
sio
n
,
it
is
wo
rt
h
w
hil
e
a
pp
l
y
i
n
g
th
e
p
r
i
n
c
i
pl
e
s
o
f
th
e
co
mp
ut
er
m
o
d
e
l
i
ng
d
e
s
i
gn
de
sc
ribe
d
in
[
12]
,
[13]
.
The
m
odel
i
s
base
d
on
t
he
d
iffere
n
t
ia
l
e
qua
t
i
o
n
s
sy
ste
m
d
e
s
cri
b
i
n
g
the
e
l
e
c
t
ri
cal
a
nd
m
e
c
ha
n
i
c
a
l
pr
ocesses
w
i
t
h
i
n
the s
y
stem
.
EM
P
M
2
EM
P
M
z
2
d(
i
,
z
)
d
(
z
)
vR
i
w
,
dt
dt
dz
mF
(
i
,
z
)
F
(
z
)
m
g
f
.
dt
(
1
)
wher
e
i
i
s
t
h
e
curr
ent
in
t
he
w
i
n
d
i
n
g
,
z
i
s
t
h
e
a
i
r
g
a
p
,
w
i
s
the
num
ber
o
f
w
i
n
d
i
ng
turns,
EM
i
s
t
h
e
fl
ux
lin
ka
ge
o
f
the
w
i
n
d
i
n
g,
PM
i
s
th
e
ma
gne
tic
f
l
u
x
o
f
t
he
p
er
ma
nen
t
m
a
gne
t,
g
i
s
t
he
g
ra
v
i
t
y
a
cc
eler
at
i
o
n,
m
i
s
t
h
e
l
e
v
it
at
ion
obj
e
c
t
mas
s
,
R
i
s
th
e
co
pp
er
r
e
s
i
s
t
a
n
c
e,
v
i
s
t
h
e
w
i
nd
i
ng
p
o
w
e
r
supp
ly
v
ol
tage,
EM
F
i
s
t
h
e
elec
tr
oma
gne
t
i
c
force
,
PM
F
i
s
the pe
rm
anen
t
magne
t for
ce,
z
f
is the
pert
urbi
n
g
f
orce
.
The
nec
e
s
s
ary
in
form
ation
fo
r
t
h
e
com
p
uter
m
ode
lin
g
i
s
t
he
r
esu
l
t
s
o
f
e
lectr
o
m
a
gne
tic
c
a
l
c
u
l
a
t
i
o
n
(depe
nde
nc
y o
f
f
l
u
x
l
i
nk
a
g
e
EM
(i
,
z
)
,
elec
troma
g
net
i
c
f
o
rce
EM
F(
i
,
z
)
a
s
t
h
e
fu
nc
t
i
o
n
o
f
cu
r
r
ent
an
d
a
i
r
ga
p,
grav
ita
t
i
o
n
f
orce
o
f
t
h
e
pe
rma
n
en
t
m
a
g
n
et
a
s
the
a
i
r
ga
p
func
t
i
on
PM
F(
z
)
)
perfo
rm
ed
by
me
an
s
of
t
he
f
in
ite
elem
en
ts
m
et
h
o
d
(
F
EМM).
The
ca
lc
ula
tio
n
by
FE
M
M
i
s
run
for
t
h
e
m
o
d
u
le
o
f
the
hy
bri
d
e
l
e
c
t
ro
m
a
gnet
i
c
suspens
i
on,
that
i
s
we
c
onsider
together
t
he
a
ssem
b
ly
o
f
a
U-sh
ap
ed
e
l
e
c
t
ro
magn
e
t
a
nd
p
e
r
man
e
nt
m
ag
n
e
t
s
.
A
s
a
c
alcu
la
ti
on
re
s
u
lt,
w
e
i
n
s
t
a
n
tly
o
b
t
a
i
n
the
le
v
ita
t
i
o
n
f
o
r
ce
de
pe
nde
nce
o
f
t
he
h
yb
rid
e
l
ec
t
r
op
e
r
m
a
nent
ma
gnet
mo
du
l
e
EPM
F(
i
,
z
)
a
s
the
fu
nc
t
i
on
of
c
urr
e
n
t
a
nd
a
i
r
gap.
T
h
i
s
approac
h
m
a
k
e
s
i
t
p
oss
i
b
l
e
to
s
im
pli
f
y
the s
y
stem
(1)
a
nd de
scr
i
be
i
t
in t
he
f
ol
low
i
n
g
w
ay:
EP
M
2
EP
M
z
2
d(
i
,
z
)
vR
i
,
dt
dz
mF
(
i
,
z
)
m
g
f
.
dt
(
2
)
I
n
o
rder
t
o
d
o
r
e
s
ear
ch,
the
com
p
u
t
e
r
m
ode
l
of
t
he
h
y
b
ri
d
elec
t
r
o
m
a
gne
ti
c
suspe
n
s
i
o
n
i
s
deve
lo
pe
d
by MA
T
L
A
B
/
S
imuli
n
k softw
a
r
e
pa
c
ka
ge a
n
d
show
n i
n
F
ig
ure
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
ow
E
l
e
c
&
Dr
i
S
y
st,
Vol.
10,
N
o.
1
,
Mar
c
h
2
0
1
9
:
74
–
82
76
F
i
gur
e
2.
B
l
o
c
k
d
i
a
gr
am
o
f
a
hy
br
i
d
e
l
e
c
t
r
o
m
a
gnet
i
c
su
s
p
e
n
sio
n
Th
e
c
o
mp
ut
e
r
m
o
d
e
l
con
s
i
s
t
s
o
f
t
h
e
fo
llo
w
i
ng
c
o
m
pone
n
t
s:
t
h
e
u
n
i
t
f
or
s
olu
t
i
o
n
of
e
lec
t
r
i
ca
l
pr
o
c
esses
eq
u
a
ti
o
n
s
–
E
l
ec
tr
i
c
;
the
un
it
f
or
s
o
l
uti
on
of
m
ec
han
i
c
a
l
p
ro
c
e
sses
eq
u
a
ti
on
s
–
M
ech
an
i
c
a
nd
cont
r
o
l
system
unit –
Control S
y
st
em
.
2.
1.
E
l
ect
ric
un
i
t
The
Elec
tric
u
n
i
t
is
s
how
n
in
F
ig
ure
3
is
d
e
s
igne
d
for
sol
u
ti
o
n
o
f
di
ffe
r
e
n
t
ial
e
qua
t
i
o
n
s
of
el
ec
t
r
i
c
al
p
ro
c
e
sse
s.
F
i
gur
e
3.
E
lec
t
r
i
c
un
it
str
u
ct
u
r
e
T
h
e
ma
in
e
l
e
me
n
t
i
s
a
T
abl
e C
u
rre
nt
u
ni
t
,
w
hic
h
c
o
n
ta
in
s
t
h
e
ta
bu
lar
da
t
a
o
f
t
h
e
e
l
e
c
tr
om
ag
net
w
i
n
d
i
n
gs
c
ur
r
e
nt
d
e
p
e
nde
nc
e
a
s
a
f
u
n
ct
i
on
of
a
ir
g
a
p
a
nd
f
l
u
x
l
in
ka
g
e
(,
)
if
z
.
This
d
e
p
e
nde
nc
e
is
ob
ta
ine
d
by
pr
oce
s
s
i
n
g
t
he
c
alcu
la
t
i
o
n
r
esu
l
t
s
o
f
t
h
e
hy
br
id
e
l
ec
tr
om
ag
n
e
t
i
c
suspe
n
sio
n
3
D
mo
del
a
n
d,
a
s
a
r
e
sult,
w
e
ge
t
the
fol
l
o
wing
d
e
pen
d
e
n
c
e
:
(,
)
fi
z
.
Rs
e
l
e
ment
t
a
k
es
i
nt
o
a
c
c
oun
t
t
h
e
vo
l
t
a
g
e
d
ecre
a
s
e
a
t
the
c
o
p
p
e
r
r
e
s
i
s
ta
nce
o
f
e
lec
t
r
o
ma
gne
t
w
i
n
d
i
ngs.
T
h
e
c
o
ntr
o
l
of
v
ol
ta
ge
s
up
p
l
y
t
o
e
lec
t
r
o
ma
gne
t
w
i
n
d
i
ngs
i
s
pe
r
f
or
m
e
d
by
Sw
it
c
h
u
n
i
t
.
T
o
kee
p
t
he
s
e
t
c
ur
r
e
nt
v
a
l
ue
,
Relay
u
n
i
t
i
s
u
se
d
w
h
ic
h
ge
n
e
r
a
tes
the
hy
st
er
e
s
is
e
ffe
c
t
w
he
n
c
o
mm
utin
g
the
Sw
it
c
h
k
e
y
.
The
a
l
l
o
w
a
ble
am
pli
t
u
d
e
h
y
s
ter
e
si
s
val
u
e
is
d
e
t
er
m
i
ne
d
by
t
h
e
c
a
pab
i
l
ity
o
f
the
e
l
em
ent
ba
se
o
f
sem
i
c
o
n
duc
t
o
r
de
vi
c
e
s
us
i
n
g
i
n
t
h
e
su
pp
l
y
in
g
s
y
stem
o
f
t
h
e
h
ybr
id
e
l
e
c
tr
om
agne
t
i
c
s
uspe
nsio
n.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
H
y
bri
d
e
l
e
c
t
ro
m
a
g
n
et
ic sus
p
e
n
s
i
o
n
f
o
r hi
g
h
-
s
pee
d
vac
u
um
tr
ansp
o
r
t
(
N
ik
ol
ay
G
r
ebe
n
n
i
kov
)
77
The
lower
t
h
e
hyste
res
i
s
a
m
p
l
i
t
u
de
,
t
h
e
mor
e
p
rec
i
se
l
y
t
he
r
egu
l
a
t
i
o
n
i
s
c
a
r
r
i
e
d
o
u
t
a
n
d
t
h
e
e
f
f
e
c
t
i
v
e
va
lue
of
t
he
c
ur
r
e
nt
i
n
the
e
l
ec
tr
oma
gne
t
w
i
n
d
i
n
gs
i
s
de
c
r
ea
sed
,
w
h
e
r
e
a
s
t
h
e
fr
e
que
n
c
y
o
f
s
em
ico
n
duc
t
o
r
ke
y
s
s
w
i
t
c
hin
g
i
s
i
nc
r
e
a
s
ed.
T
h
e
lev
i
t
a
ti
on
f
o
r
ce
is
de
t
e
r
m
in
e
d
b
y
the
o
b
ta
i
n
ed
c
ur
r
e
n
t
v
al
ue;
f
o
r
th
is
pur
pos
e
,
the
Ta
b
l
e Fo
rc
e
b
l
o
ck
i
s
pr
ov
i
d
ed,
w
h
i
c
h
co
n
t
ai
ns
t
a
b
ula
r
d
a
t
a
o
f
t
he
l
e
v
i
t
a
t
i
o
n
f
o
r
c
e
de
pe
nde
nce
o
f
t
he
hy
br
i
d
e
l
e
c
t
r
o
m
a
gnet
i
c
m
o
d
u
le
a
s
a
f
unc
tio
n
o
f
a
ir
g
a
p
a
n
d
c
ur
r
e
n
t
i
n
w
in
din
g
s
EPM
F(
i
,
z
)
a
s
show
n
in
F
igu
r
e
4
.
F
i
gur
e
4.
L
evi
t
a
ti
o
n
f
or
ce
de
p
e
nde
nce
EP
M
F(
i
,
z
)
2
.
2
.
M
ech
a
n
ic un
it
The
m
ech
a
n
i
c
u
n
i
t
is
s
h
o
w
n
i
n
F
i
gur
e
5
is
d
e
s
i
g
ne
d
to
s
o
l
ve
t
he
d
iffer
e
nt
i
a
l
e
qua
t
i
on
s
o
f
v
e
h
ic
le
ve
r
t
i
c
al
m
o
v
e
m
ent.
I
n
a
d
dit
i
on,
t
he
r
e
i
s
a
R
e
ac
ti
o
n
F
or
c
e
u
n
i
t
,
w
hi
ch
i
s
u
s
ed
t
o
li
mit
th
e
ob
j
ect
m
ov
e
m
e
n
t
w
i
t
h
i
n
t
he
p
e
r
m
i
ssi
ble
a
i
r
gap.
T
he
limi
t
a
t
ion
occur
s
b
o
t
h
fr
om
a
bove
(
in
c
a
s
e
of
t
he
a
i
r
g
ap
d
ec
r
e
a
s
i
ng
to
z
e
r
o
)
a
nd
fr
om
b
el
ow
(
i
n
c
ase
of
t
he
a
i
r
g
a
p
i
nc
r
e
a
s
in
g
t
o
t
he
m
a
xim
u
m
set
va
l
u
e)
.
Usin
g
t
h
is
u
n
i
t
al
l
o
w
s
u
s
to
r
e
a
c
h
t
he
p
r
o
t
o
t
ype
s
i
m
i
l
a
r
i
t
y
t
o
t
he
r
e
a
l
ob
je
ct
a
nd
r
e
d
u
c
e
t
h
e
t
i
m
e
n
e
e
d
e
d
f
o
r
c
o
n
t
r
o
l
al
go
r
i
th
ms d
e
b
u
ggi
ng
.
F
i
gur
e
5.
M
ec
h
a
nic
u
n
it
s
t
r
u
c
t
ur
e
2
.
3
.
C
o
nt
r
o
l
s
y
s
t
e
m
u
ni
t
The
Co
ntr
o
l
S
y
st
e
m
u
n
i
t
i
s
s
how
n
i
n
F
ig
ur
e
6
is
d
e
v
el
o
p
ed
i
n
ac
co
rd
an
ce
w
i
t
h
t
h
e
hyb
rid
e
l
e
c
tr
om
agne
t
i
c
s
uspe
ns
ion
bloc
k
d
i
a
g
r
a
m
show
n
in
F
i
g
ur
e
1,
a
nd
i
t
con
s
is
t
s
o
f
th
e
c
u
r
r
ent
hig
h
-
spe
e
d
c
o
n
t
r
o
ller
(
P
I
D
C
o
n
t
r
o
lle
r
1)
i
n
the
elec
tr
om
agne
t
w
i
nd
i
n
g
s
a
s
a
func
t
i
o
n
o
f
the
qua
dr
at
ic
d
e
v
ia
tio
n
of
t
he
a
ir
ga
p
f
r
om
t
he
s
et
v
a
l
ue
.
The
s
econ
d
c
o
n
t
r
o
lle
r
(P
I
D
C
on
tr
o
ller
2
)
is
s
low
e
r
and
i
t
i
s
des
i
gne
d
to
c
or
r
e
c
t
t
he
a
ir
ga
p
se
tt
ing
i
n
o
r
d
er
t
o
m
i
nimi
ze
t
he
a
ver
a
ge
c
ur
r
e
nt
i
n
e
l
ec
t
r
o
m
a
gne
t
w
i
n
d
in
gs.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
ow
E
l
e
c
&
Dr
i
S
y
st,
Vol.
10,
N
o.
1
,
Mar
c
h
2
0
1
9
:
74
–
82
78
F
i
gur
e
6.
S
t
r
uctur
e
o
f
the
C
o
n
t
r
o
l
S
y
stem
uni
t
3.
RESU
L
T
S
A
ND ANALY
S
IS
3.
1.
Var
i
at
ion
in
v
er
tica
l lo
ad
A
t
t
h
e
f
i
r
s
t
s
t
a
g
e
o
f
t
h
e
r
e
s
e
a
r
c
h
,
t
h
e
s
y
s
t
e
m
s
t
a
b
i
l
i
t
y
h
a
s
b
e
en
s
im
ula
t
e
d
w
he
n
a
s
h
ar
p
c
h
an
g
i
n
g
o
f
the
ver
t
ica
l
l
oa
d
(
s
he
dd
i
ng/r
i
s
e
)
.
T
r
a
nsie
nt
p
r
o
ce
sses
ar
e
in
ve
s
t
i
g
a
t
ed
w
he
n
the
r
e
i
s
a
n
a
b
r
upt
c
han
g
e
of
t
he
ve
r
t
i
c
al
l
oa
d
d
u
e to
t
he
m
a
ss
cha
n
g
i
n
g
b
y
5
0
%
p
e
r
one
h
y
b
r
i
d l
ev
i
t
a
t
ion
modu
le.
A
t
t
he
t
im
e
t =
5
s,
t
h
e
l
oad
is
d
ec
r
e
a
s
e
d
.
A
t
t
he
tim
e
t
=
10
s,
t
he
l
oad
is
i
n
c
r
e
ased.
Fig
u
r
e
7
s
h
o
w
s
o
s
c
i
l
l
o
g
r
a
m
s
o
f
t
h
e
l
e
v
i
t
a
t
i
o
n
f
o
r
c
e
,
a
i
r
gap,
c
ur
r
e
nt
i
n
the
c
o
n
t
r
o
l
w
i
n
d
in
g,
a
n
d
p
ow
er
c
onsum
p
tio
n
d
u
r
i
ng
the
t
r
a
n
sie
n
t
pr
oce
s
s.
(a)
(b
)
F
i
gur
e
7.
(
a)
O
sc
ill
o
g
r
a
m
s
o
f
the
pr
oce
s
se
s
w
h
en
t
he
w
or
k
load
i
s
d
ec
re
a
s
ed
b
y
5
0
%
a
n
d
(
b
)
in
c
r
e
a
sed
by
50
%
B
a
se
d
o
n
t
he
c
om
pu
ter
sim
u
la
t
i
o
n
r
esu
l
t
s
,
it
is
o
bv
iou
s
t
ha
t
th
e
pr
op
ose
d
s
ys
tem
o
f
t
he
h
ybr
id
e
l
e
c
tr
om
agne
t
i
c
s
us
pens
i
o
n
a
n
d
t
h
e
de
ve
lope
d
c
o
n
t
r
o
l
s
y
s
t
e
m
s
uc
c
eed
i
n
wor
k
i
n
g
o
u
t
in
t
ime
t
h
e
loa
d
c
h
an
g
i
n
g
w
h
i
c
h
f
a
lls
a
t
t
h
e
le
vi
ta
ti
o
n
m
od
ul
e
.
I
t
ne
e
d
s
2.
5
s
t
o
st
a
b
il
ize
t
h
e
tran
sie
n
t
pr
o
c
ess
a
f
t
e
r
the
dr
am
ati
c
l
oad
chan
g
i
n
g
.
Th
e
gr
eates
t
e
n
er
g
y
c
ons
ump
t
i
o
n
occ
u
r
s
a
t
t
h
e
t
i
m
e
o
f
a
s
udde
n
l
o
a
d
c
h
a
n
g
e
.
Th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
H
y
bri
d
e
l
e
c
t
ro
m
a
g
n
et
ic sus
p
e
n
s
i
o
n
f
o
r hi
g
h
-
s
pee
d
vac
u
um
tr
ansp
o
r
t
(
N
ik
ol
ay
G
r
ebe
n
n
i
kov
)
79
pe
ak
p
ower
e
xpe
n
d
ed
o
n
st
abi
l
i
za
ti
o
n
i
nc
rea
s
e
s
w
i
t
h
t
h
e
i
n
c
r
ea
s
e
of
t
he
m
a
g
n
itu
de
o
f
t
h
e
abr
u
p
t
l
oa
d
c
h
an
g
i
n
g
.
T
he
e
ner
g
y
cons
umpt
i
on
w
h
e
n
t
he
l
oa
d
r
i
s
i
ng
is
h
i
g
h
e
r
t
ha
n
w
h
e
n
t
he
l
oa
d
she
d
d
i
ng.
3
.
2
.
M
o
v
e
ment
w
ith
a
c
co
u
n
t
o
f
t
h
e
t
ra
ck
st
r
ucture
p
er
t
u
rb
a
t
io
n
s
T
h
e
se
con
d
s
ta
g
e
o
f
th
e
re
searc
h
i
s
t
h
e
si
m
u
l
a
ti
on
o
f
t
h
e
l
e
vit
a
tio
n
pr
oc
ess
in
t
he
m
o
v
e
m
e
nt
w
i
t
h
a
ccou
n
t
o
f
t
h
e
tr
ac
k s
t
r
u
c
t
ur
e
per
t
ur
bat
i
on
s.
The
l
ev
i
t
a
t
ion
si
m
u
lat
i
on
i
n
m
ovem
e
nt
h
a
s
b
ee
n
per
f
or
m
e
d
u
nde
r
di
ffere
n
t
lo
ads
pe
r
one
m
o
d
u
l
e
.
This
a
rt
icle dem
on
stra
te
s
t
h
e
s
imu
l
a
t
io
n
r
e
su
lt
s for
a
ful
l
loa
d
o
f
1
50
k
g
p
e
r
a
m
odu
le
w
he
n
s
i
mula
ti
ng
t
h
e
t
r
ac
k
str
u
ct
ur
e
per
t
ur
bat
i
on
s.
The
tra
c
k
i
rr
eg
ular
it
ies
due
t
o
the
t
r
ack
“
sag
g
i
n
g”
a
t
the
su
pp
or
ti
ng
po
les
a
r
e
ta
ken
e
q
u
a
l
to
4
mm
pe
r
3
0
m
e
t
er
s
of
t
he
t
r
a
c
k
.
The
i
n
i
tia
l
a
i
r
gap
is
2
2
mm
.
D
u
r
i
n
g
t
h
e
f
i
r
s
t
tw
o
sec
o
nds,
th
e
ve
hic
l
e
star
ts
c
l
im
b
i
n
g
a
nd
the
r
a
ted
w
o
r
k
ing
gap
i
s
s
et,
a
t w
h
ic
h t
h
e
ave
r
age
c
ur
r
e
nt va
l
ue
t
en
ds
t
o
zer
o.
A
t the
tim
e
of 2
s
,
the
H
S
V
T
s
ta
r
t
s
a
cce
l
e
r
a
t
i
n
g
.
F
o
r
sim
u
la
t
i
o
n
o
f
the
hybr
id
e
le
c
tr
om
agn
e
tic
s
u
s
pe
nsi
o
n,
t
he
a
c
c
e
l
e
r
ati
o
n
is
take
n
t
o
b
e
2.
5
m/s
2
.
I
t
i
s
a
s
sum
e
d
t
h
a
t
t
h
e
s
us
pe
ns
io
n
r
a
ils
o
f
30
m
lo
ng
a
r
e
sa
gg
ed
b
y
4
mm,
w
h
i
c
h
i
s
r
e
pr
e
s
e
n
te
d
b
y
a
s
in
us
oida
l
si
gna
l
(
R
a
i
l
a
lter
a
ti
o
n
)
w
i
t
h
a
m
p
l
i
tu
de
o
f
2
m
m
.
The
al
ter
n
a
t
i
n
g
fr
e
q
ue
ncy
of
t
he
a
i
r
ga
p
gr
ow
s
p
r
o
por
t
i
ona
ll
y
to
s
pe
ed.
F
i
gur
e
8
s
h
ow
t
he
r
es
ul
t
s
o
f
t
h
e
com
p
u
t
e
r
m
ode
lin
g.
O
sc
i
l
l
ogr
am
s
ar
e
de
vel
o
ped
w
ith
v
isua
l
a
i
d
s
o
f
MA
TLA
B
s
o
f
t
w
a
r
e
p
a
c
ka
ge
.
T
h
e
fo
l
l
ow
i
n
g
os
ci
llo
gr
a
m
s
a
r
e
pr
ese
n
t
e
d
i
n
Figu
re
8
(fro
m
th
e
to
p
to
t
h
e
bo
t
t
om)
:
a.
osc
i
l
l
ogr
am
o
f
the
spe
e
d
cha
n
ge
(
S
p
eed)
;
b.
osc
i
l
l
ogr
am
o
f
the
sin
u
s
o
i
d
a
l
s
i
gna
l
(
Rai
l
a
l
t
e
r
a
ti
on)
,
w
h
ich
s
im
ul
a
t
es
t
he
t
r
ack
s
t
r
uct
u
r
e
s
agg
i
ng
;
c.
osc
i
l
l
ogr
am
o
f
the
l
e
v
ita
ti
on
f
o
r
c
e
cha
n
ge
(
Levi
ta
t
i
o
n
f
or
c
e
)
;
d.
osc
i
l
l
ogr
am
o
f
the
air
ga
p
c
h
a
nge
(
A
i
r
ga
p)
;
e.
osc
i
l
l
ogr
am
o
f
the
ve
h
i
c
l
e
ver
tica
l
l
y
pos
i
tio
n
(V
ehic
le
Z
-
p
o
s
i
t
io
n);
f.
osc
i
l
l
ogr
am
o
f
the
cur
r
e
n
t
c
ha
nge
i
n
the
co
nt
r
o
l
w
i
n
d
i
n
g
s
o
f
t
h
e
m
a
gne
t
i
c
s
u
sp
ens
i
on
s
y
st
e
m
(
Cur
r
e
nt)
;
g.
osc
i
l
l
ogr
am
o
f
the
p
o
w
e
r
cons
umpt
i
on
c
h
an
g
e
(
P
o
w
e
r
)
.
The
gi
ve
n
a
b
o
v
e
o
s
ci
l
l
o
g
r
a
m
s
d
em
o
n
s
t
r
a
te
t
he
tim
e
pe
r
i
o
d
o
f
0
t
o
2
s,
w
hic
h
c
or
r
e
spon
ds
w
it
h
th
e
time
o
f
s
y
s
tem
t
r
ans
iti
on
to
t
he
l
e
v
ita
t
i
o
n
m
ode.
The
t
i
m
e
p
er
i
od
of
2
t
o
12
0
s
cor
r
e
sp
o
n
d
s
w
it
h
the
ti
me
o
f
v
e
hi
c
l
e ac
c
e
l
e
rat
i
on
wi
t
h
th
e c
o
nstant accelerat
i
o
n
of а = 2
,5
m/s
2
.
(a)
(b
)
F
i
g
u
r
e
8
. Osc
i
l
lo
gra
m
o
f the
p
r
oce
s
se
s oc
currin
g
i
n
t
h
e
tra
c
tio
n
le
v
i
t
a
ti
on
sys
t
em
w
he
n
a
cce
ler
a
tio
n
w
i
t
h
ac
cou
n
t
of
the
tra
c
k struc
t
ur
e irr
e
gu
lari
tie
s (
a
)
and e
n
large
d
fr
a
g
me
nt
(
b)
Whe
n
t
he
v
e
h
i
c
le
c
lim
bs,
the
c
o
n
s
um
ed
pow
e
r
o
f
o
n
e
h
y
b
r
i
d
ele
c
t
r
o
ma
gne
t
is
1
60
0
W
(
n
o
t
in
d
i
cat
e
d
i
n
F
i
g
u
r
e
8
,
w
h
e
r
ea
s
w
h
en
m
o
v
i
ng,
t
he
pow
e
r
r
e
a
c
h
es
a
p
p
r
oxim
a
te
l
y
5
0
W
per
o
n
e
hy
br
i
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
ow
E
l
e
c
&
Dr
i
S
y
st,
Vol.
10,
N
o.
1
,
Mar
c
h
2
0
1
9
:
74
–
82
80
e
l
e
c
tr
om
agne
t.
T
he
v
e
h
icle
posi
t
i
on
in
s
pa
ce
a
lo
n
g
z
-
a
xi
s
is
p
r
a
c
t
i
ca
ll
y
unc
ha
nge
d
w
h
ic
h
cause
d
by
the
sy
st
e
m
i
n
e
r
t
n
e
ss
a
n
d
g
a
p
sign
a
l
f
i
l
t
e
ring
i
n
t
h
e
cont
ro
l
sy
st
e
m
w
i
t
h
t
h
e
v
a
ri
ab
l
e
f
re
qu
en
cy
d
e
p
e
ndi
n
g
on
spee
d.
F
i
g
ur
e
8
s
h
ow
t
ha
t
t
h
e
air
gap
s
i
ze
c
han
g
e
s
i
n
t
h
e
sa
me
w
a
y
a
s
t
h
e
r
a
i
l
s
d
e
v
i
a
t
i
o
n
.
A
s
t
h
e
s
p
e
e
d
incr
ease
s
,
the
air
ga
p
va
l
u
e
alm
o
s
t
c
han
g
es
i
n
ac
c
o
rdan
c
e
w
it
h
the
give
n
exter
n
a
l
i
n
t
er
fe
r
e
nce
s
.
A
t
t
he
s
am
e
time
,
t
he
v
e
r
tic
al
pos
iti
o
n
o
f
th
e
H
S
V
T
i
s
pr
a
c
t
i
cal
l
y
unc
han
g
e
d
(no
pou
ndi
ng
o
f
HS
VT)
a
n
d
t
h
e
HS
V
T
di
sp
lace
me
n
t
a
mpli
tude
(
w
i
t
h
ou
t
sh
oc
k-
abs
o
r
b
e
r
s
a
nd
v
i
br
a
tio
n
d
am
pers)
i
n
s
pace
a
t
t
h
e
spee
d
of
1
0
0
0
k
m/
h
is 0
.
0
6
mm
.
3
.
3
.
M
o
v
e
ment
o
n a
steep
t
ra
c
k
g
ra
d
i
ent
The
thir
d
rese
arc
h
s
tage
i
s
to
s
i
m
u
l
at
e
t
h
e
lev
ita
t
i
o
n
p
ro
ce
ss
i
n
t
he
m
o
v
em
ent
wi
t
h
a
ccou
n
t
o
f
th
e
stee
p
tr
ac
k
s
t
r
u
ct
ur
e
pe
r
t
ur
b
a
ti
o
n
s.
T
he
s
i
m
ulat
i
on
of
t
h
e
t
r
a
n
sie
n
t
pr
o
c
e
s
s,
w
hic
h
o
c
c
u
r
s
w
he
n
g
o
i
ng
fr
om
t
h
e
h
o
r
i
z
o
n
t
a
l
t
r
a
c
k
s
e
c
t
i
o
n
t
o
t
h
e
r
i
s
e
w
i
t
h
s
p
e
c
i
f
i
e
d
s
l
o
p
e
a
nd
f
u
r
t
he
r
move
me
nt
a
lo
ng
t
he
s
lo
pe,
is
pe
r
f
or
m
e
d
a
t
t
he
l
in
e
a
r
spee
d
o
f
t
he
H
S
V
T
equa
l
e
d
to
2
78
m
/s
a
n
d
t
h
e
ste
e
p
tr
ac
k
gr
a
d
i
e
nt
e
qua
le
d
t
o
40
‰.
F
i
g
u
r
e
9
s
h
o
w
s
t
he
o
sc
ill
ogr
a
m
s
of
t
he
m
ov
e
m
e
n
t
on
a
ste
e
p
tr
ac
k
gr
a
d
i
e
nt
.
F
i
gure
9. O
sc
illo
gra
m
o
f the
p
r
oc
esses oc
curr
i
n
g
in
t
he l
ev
i
t
a
t
i
o
n
sys
t
e
m
w
hen
move
me
nt
on
a
stee
p
tr
ac
k
gr
a
d
i
e
n
t
I
t
f
o
l
low
s
f
r
o
m
the
osc
i
l
l
o
gr
am
s
that
i
n
a
ti
m
e
i
nt
e
r
va
l
fr
om
5
s
t
o
12
s,
t
her
e
i
s
a
smoo
th
t
r
a
ns
i
t
i
o
n
fro
m
a
ho
rizon
t
a
l
t
rack
s
ectio
n
to
t
h
e
s
tee
p
t
r
a
ck
g
rad
i
e
n
t
of
4
0
‰
;
t
h
e
l
e
n
g
t
h
of
t
he
t
r
a
ns
iti
on
s
ecti
o
n
i
s
33
3
6
m
.
The
r
e
has
bee
n
t
he
f
l
u
c
t
ua
t
i
n
g
c
ha
nge
o
f
t
h
e
air
gap
va
l
u
e
w
i
th
t
he
d
e
v
iat
i
on
a
m
pli
t
u
d
e
o
f
20
%
r
e
lat
i
ve
l
y
t
he
m
e
a
n
va
l
u
e
a
n
d
t
h
e
fr
e
q
ue
nc
y
of
a
b
o
u
t
1
0
H
z.
T
hi
s
flu
c
tu
atin
g
n
a
tu
re
o
f
th
e
air
g
a
p
v
a
lu
e
c
h
an
ge
o
c
c
u
r
s
due
t
o
t
h
e
tr
ac
k
i
r
r
e
gu
lar
i
t
i
es
.
T
h
e
pr
ese
n
ce
of
the
t
r
ans
i
t
i
on
sec
t
i
o
n
an
d
the
m
ovem
e
n
t
a
t
the
stee
p
tr
a
c
k
gr
a
d
i
e
n
t
o
f
4
0
‰
do
no
t
pr
ac
t
i
c
a
lly
e
f
f
e
c
t
o
n
t
h
e
o
v
e
r
a
ll
p
i
c
t
u
r
e
o
f
t
h
e
p
r
oc
esses
wi
th
out
a
c
c
o
unt
of
t
r
a
c
k
i
r
r
e
gul
a
r
it
i
e
s.
T
he
p
ea
k
p
o
w
e
r
c
onsum
p
t
i
o
n
is
obse
r
ved
a
t
the
be
gi
nni
n
g
a
nd
e
n
d
i
n
g
o
f
the
tr
a
n
sit
i
on
sec
t
i
on.
A
c
c
o
r
d
i
n
g
t
o
t
he
m
ode
lin
g
te
st
r
esu
l
t
s
,
t
h
e
p
o
w
e
r
r
e
qui
r
e
d
for
le
v
ita
t
i
on
k
e
e
p
i
ng
i
n
s
t
e
a
d
y
mode
s
is
40
W
pe
r
o
n
e
m
od
u
l
e
(
f
u
l
l
l
oa
d
of
1
50
k
g
per
a
mo
du
le)
w
h
e
n
s
te
ep
m
o
v
in
g
w
i
t
h
acc
ou
nt
o
f
tr
a
c
k
ir
r
e
gu
lar
i
tie
s.
T
he
s
pec
i
f
i
c
e
n
er
g
y
c
ons
umpt
i
o
n
ne
e
d
e
d
f
or
l
e
v
i
ta
t
i
o
n
i
s
0.
2
7
W
/k
g.
T
he
c
a
l
cu
la
t
i
o
n
r
esul
ts
pe
r
f
or
m
e
d
f
o
r
e
l
e
c
tr
od
y
n
am
i
c
s
uspe
ns
i
o
n
i
s
g
i
v
en
i
n
[
1
4]
,
w
h
ic
h
s
h
o
w
s
t
hat
the
s
p
ec
i
f
i
c
e
ner
gy
c
ons
u
m
pt
i
o
n
ne
ede
d
f
or
l
e
v
i
t
at
ion
i
s
96.
8
W/
k
g
.
Thu
s
,
t
h
e
r
e
se
ar
c
h
c
a
r
ried
o
u
t
has
pr
o
v
ed
t
he
a
p
p
l
i
c
a
b
il
it
y
of
t
he
h
ybr
id
e
l
e
c
tr
om
agne
t
i
c
s
uspe
nsio
n
f
o
r
l
e
v
i
ta
t
i
o
n
g
e
n
er
a
tio
n
i
n
h
ig
h-
sp
eed
v
ac
uum v
e
h
i
c
les
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
I
S
S
N
:
2088-
86
94
H
y
brid elec
t
r
o
m
ag
net
i
c suspe
n
sio
n
for
hi
g
h
-spee
d
v
a
cu
um
tr
ans
p
o
r
t
(Nik
o
l
ay
G
r
ebe
nni
k
o
v)
81
4.
CONCL
U
S
ION
The
ar
tic
l
e
h
a
s
b
e
e
n
r
ev
iew
e
d
th
e
h
ybr
id
e
l
e
ctr
o
m
a
gne
t
i
c
s
us
pe
n
si
o
n
d
es
ig
ne
d
f
o
r
a
h
i
gh-
sp
e
e
d
veh
i
c
l
e.
T
he
j
o
i
n
t
a
p
p
lic
at
i
o
n
of
a
n
e
l
e
c
t
rom
a
gne
t
an
d
per
m
a
n
en
t
m
a
g
n
e
t
s
for
le
vi
tat
i
o
n
a
l
l
o
w
s
u
s
to
a
c
h
ie
ve
the
si
g
n
i
f
ican
t
r
e
duc
ti
o
n
o
f
th
e
ene
r
g
y
c
onsum
pt
ion
t
o
e
ns
ure
t
h
e
v
ehi
c
l
e
l
ev
it
at
ion
.
T
h
e
l
ev
it
at
ion
fo
rce
i
s
gene
ra
ted
b
y
p
er
ma
n
e
nt m
agnet
s
w
hi
le
t
he
e
l
e
ctr
o
m
a
gne
t
con
t
ro
ls
t
he air gap
.
A
c
cordi
n
g
to
s
i
m
ula
t
i
on
re
s
u
lts
o
f
the trac
ti
o
n
l
e
v
i
t
a
t
i
on
sys
t
em
o
f
t
h
e
h
i
gh
-speed vac
u
u
m
t
r
ans
por
t,
w
e
c
a
n
m
ake
th
e
fo
llow
i
n
g
c
o
n
c
l
us
io
ns
:
a.
The
co
nfirm
a
ti
on o
f
t
h
e
“
ze
r
o
pow
er
”
algori
t
hm
e
ffic
i
e
n
cy i
n th
e
l
e
vit
a
ti
o
n
m
o
d
e
h
a
s
b
e
e
n
o
bt
ai
n
e
d;
b.
The
le
v
ita
t
i
on
a
i
r
ga
p
va
l
u
e
d
e
pen
d
s
o
n
t
he
v
ert
i
cal
l
oa
d
v
a
lue
a
nd
it
i
s
r
e
gula
t
e
d
i
n
the
ra
nge
f
rom
10
t
o
16 m
m
;
c.
The
am
plit
u
d
e
curre
nt va
l
u
e
o
f the
h
y
b
rid e
l
e
c
trom
ag
net
i
c
susp
e
n
s
io
n
is 5
a
;
d.
The
m
a
ximum
curr
ent
va
lue
in
t
he
c
o
n
tro
l
w
in
din
g
s
o
f
t
h
e
l
e
v
ita
tio
n
mod
u
l
es
d
oes
n
o
t
e
xc
ee
d
1
2
a
.
This
cur
r
ent is ne
e
d
ed
f
or
a
shor
t
ti
m
e
onl
y
d
u
ri
n
g
t
ransie
nt m
o
d
e
s;
e.
In
s
te
ad
y lev
i
ta
ti
o
n
sta
tes t
h
e
curr
ent va
l
u
e
i
n
the
c
o
n
t
ro
l w
i
n
d
i
ngs
o
f the
l
e
vi
t
a
tio
n
mod
u
l
es te
nds
t
o
ze
ro;
f.
The
m
a
x
i
ma
l
ele
c
tr
ic
l
o
sse
s
in
t
he
l
e
v
ita
t
i
o
n
e
le
c
t
rom
a
g
n
e
tic
m
odu
l
e
s
(f
ull
lo
ad
o
f
150
k
g
)
o
f
t
r
ac
ti
on
lev
i
t
a
tio
n
sys
t
e
m
in
t
h
e
stea
dy
s
t
a
t
e
d
o
not
e
x
c
e
e
d
4
0
w
;
g.
A
t
t
he
s
e
c
t
i
o
n
of
40
‰
s
l
o
p
e
,
t
he
p
ow
er
r
e
quir
e
d
b
y
t
he
l
evi
t
a
t
io
n
s
y
st
e
m
w
he
n
m
ovi
ng
a
t
t
he
s
l
o
pe
i
s
alm
o
st
e
qua
l
to
t
he
pow
er
c
ons
um
ed
b
y
t
h
e
le
v
i
ta
t
i
o
n
s
y
s
tem
a
t
the
hor
izo
n
ta
l
sec
t
io
n
w
ith
a
c
c
o
u
n
t
o
f
trac
k struc
t
ure
per
t
ur
bat
i
on
s.
ACKNOW
LEDG
E
MEN
T
S
The
w
o
rk
h
a
s
b
ee
n
de
vel
o
p
e
d
w
i
t
h
s
u
ppo
r
t
o
f
R
u
ss
ian
M
i
n
i
stry
o
f
E
duca
tio
n
an
d
S
c
ienc
e.
T
he
un
ique
i
de
n
t
i
f
i
e
r
of the
app
l
i
e
d
r
esea
rch
i
s
R
F
M
EF
I579
16
X
0
1
32.
REFE
RENCES
[1]
Hyperloop A
l
pha. [Onli
ne
]
.
A
va
ilable: http://w
ww.s
p
acex.com
/sit
es/sp
acex/fi
l
es/h
yp
e
r
l
o
o
p
_
a
lph
a
-20
1
3
081
2.p
d
f
[2]
Th
e
w
e
bsite
o
f
th
e
E
v
acuat
ed
T
u
b
e
T
r
ans
p
o
r
t
Techn
o
l
ogy.
[
Onlin
e
].
A
v
a
i
l
able:
ht
tp:
//et3.eu/et
3-onli
n
e-
edu
catio
n.
html
[3]
Ki
reev
A
.
V
.,
K
o
zh
em
yaka
N
.M
.,
“
K
ono
no
v
G.N.
P
o
t
en
ti
al
D
ev
elo
p
m
e
nt
o
f
Vehicle
Tract
ion
Levit
a
tion
Sys
t
ems
with
M
agn
e
ti
c
S
u
sp
ensi
on,”
I
n
te
r
n
at
io
na
l J
o
u
r
na
l o
f
P
o
w
e
r
E
l
ectro
n
i
cs an
d
Drive Syst
ems
(
I
JPEDS)
;
6(1):
2
6
-3
1, 2
01
5.
[4]
A.V.
K
ireev
,
G.N.
K
o
non
ov
,
A
.
V
.
L
eb
edev,
“
S
tartin
g
O
p
erati
n
g
M
o
de
o
f
the
Combined
T
r
action
Levitation
S
y
s
t
e
m
o
f
th
e
Veh
i
cl
e
Eq
ui
pp
e
d
w
it
h
M
a
g
n
eti
c
S
us
pen
s
i
o
n
,
”
In
te
rna
tio
na
l J
o
urna
l o
f
Po
we
r
E
l
e
c
t
ron
i
c
s
an
d Driv
e
S
y
ste
m
s (I
J
P
ED
S)
;
8
(
1):
17
6-183,
2
0
1
7
.
[5]
Th
e
web
s
i
t
e
of Hy
p
erlo
op
O
n
e
. [O
n
li
ne].
A
va
i
l
a
b
le:
h
ttp
s:
//
hyp
e
rlo
o
p
-
one.
c
om/b
lo
g/
how
-and
-wh
y
-were-lev
i
t
a
ti
n
g
[6]
Jeo
n
g
-
Mi
n
Jo,
Yo
ung
-Jae
Han
,
C
h
a
ng
-You
ng
L
ee,
“
D
e
si
gn
o
f
t
h
e
M
i
niatu
r
e
M
a
g
l
ev
u
si
ng
Hybri
d
M
agn
e
ts
i
n
Magnetic
L
evitat
i
on
S
y
s
te
m,”
In
tern
atio
nal Jo
urn
a
l
of
M
a
th
e
m
atica
l
,
Co
mp
u
t
a
t
i
o
n
a
l
,
Ph
ysi
c
al,
El
ectri
cal
a
n
d
Com
put
er Engineeri
n
g
;
6
(
2
)
:
195-19
8,
201
2.
[7]
Je
on
g-M
i
n
Jo
e
t.
a
l.,
“
D
e
si
gn
an
d con
t
r
o
l of
t
h
e minia
t
ure mag
l
ev us
i
n
g
el
ectro
ma
gn
ets
an
d
per
m
an
ent
m
agn
ets
in
magnetic levit
a
ti
on syst
em
,”
C
o
n
t
r
ol
A
utom
a
t
io
n
an
d
S
y
st
ems
(ICCAS
)
.
20
10.
[8]
Greb
enni
ko
v
N.
a
nd
K
i
r
eev
A
.
,
“
Electro
m
a
gn
etic
S
usp
e
ns
ion
us
ed
f
o
r
Hi
gh
-S
p
eed
V
acuum
T
rans
po
rt,”
Int
e
rnat
i
o
na
l
Jo
urnal of App
lied Engineeri
ng
Research
;
12(1
2
):
3
2
9
3
-
329
7,
2
0
17.
[9]
Greb
enni
ko
v
N.
,
Ki
reev
A
.
an
d
Leb
e
dev
A.
,
“
C
o
n
tro
l
S
y
s
te
m
Desig
ned
fo
r
El
ectrom
a
g
n
etic
S
uspen
s
io
n
o
f
H
ig
h
-
S
p
eed
Vacu
um
Tran
s
p
o
rtatio
n
,
”
Inter
nati
o
n
a
l Jou
r
na
l
of
Appli
e
d Eng
i
n
eerin
g
Resea
r
ch
,
1
2(16
):
548
5-5
487
,
2
01
7.
[10]
Ye
ou
-Kua
n
g
T
ze
n
g
, T.C.
Wa
n
g
,
“Opt
im
a
l
d
e
s
ig
n
o
f
t
he
e
le
c
t
roma
g
n
e
t
i
c
l
e
v
i
t
a
t
i
o
n
w
i
t
h
p
e
r
m
a
n
e
n
t
a
n
d
e
l
e
c
t
r
o
m
a
gn
ets,
” IE
E
E
T
r
an
sactio
ns
on
M
a
g
n
e
tics
,
30(6): 4731-4733, 19
9
4.
[11]
Orl
a
ndo
H
om
en
d
e
M
e
ll
o,
I
saias
d
a
S
i
l
va,
F
e
rnan
do
A
nto
n
i
o
C
a
m
ar
g
o
,
Jo
sé
R
ober
t
o
Card
os
o,
O
s
w
al
do
Ho
rik
a
wa,
“
Zero
power contr
o
l
e
i
n
the si
n
g
le
axi
s
cont
ro
lled ma
gnet
i
c bea
r
in
g
,
”
A
BCM
Sym
p
osium
S
e
ries
i
n
Mech
atro
ni
c
s
,
5:
3
9
-
48,
2
012.
[12]
Ni
kolay
G
reb
e
nn
ik
ov,
A
lex
a
nder
Ki
reev
a
nd
G
ennad
y
K
o
n
o
n
o
v
,
“
C
o
m
p
u
ter
m
o
d
e
li
ng
o
f
co
m
b
in
ed
t
ract
ion
lev
i
t
a
tio
n
s
y
s
t
e
m
eq
ui
pped
w
i
t
h
l
i
n
ear
swit
c
hed
relu
ctan
ce
m
o
to
rs
,
”
J
o
urn
a
l
o
f
E
n
gine
e
r
in
g
an
d
Ap
p
lie
d Sc
ie
nc
e
s
,
10
(8-1
2):
247
-2
5
1
,
201
5.
[13]
Ni
kolay
G
reb
e
nni
ko
v,
A
l
e
xan
d
er
K
ireev
,
Nikolay
K
ozhem
y
aka,
“
M
a
t
hem
a
tical
M
od
el
o
f
Lin
ear
S
witch
e
d
Relu
ctance
M
o
tor
w
i
t
h
M
utual
Ind
u
ct
a
n
ce
Con
s
id
erati
on,”
Int
e
rna
t
i
o
n
a
l
Jour
na
l o
f
Po
wer E
l
ectr
o
n
i
cs
and
Drive
S
y
ste
m
s (I
J
P
ED
S)
;
6
(
1):
26
-31,
20
1
5
.
[14]
M
i
ch
ae
l
F
l
ank
l
,
To
bi
as
W
e
l
l
e
rdieck,
Ard
a
T
üys
üz,
J
ohan
n
W
.
Kola
r,
“
S
cali
n
g
l
a
w
s
f
or
e
lect
rody
nam
i
c
s
u
sp
ensio
n
i
n
h
ig
h-
s
p
e
e
d
tr
a
n
s
p
o
r
ta
t
i
on
,”
I
E
T
E
l
ect
r
i
c Power App
licat
ions
, 1
2
(
3): pp
. 35
7
–
3
6
4
, 2
01
8.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
ow
E
l
e
c
&
Dr
i
S
y
st,
Vol.
10,
N
o.
1
,
Mar
c
h
2
0
1
9
:
74
–
82
82
BIOGRAPHI
E
S
OF
AUT
HORS
Ni
ko
l
a
y
Greb
e
n
ni
ko
v
recei
ved
the
s
p
eci
alt
y
o
f
a
railw
ay
e
ng
inee
r
and
P
h
.
D
.
in
f
ie
l
d
o
f
techn
i
cal
sci
e
nces
a
t
t
h
e
Ro
sto
v
S
tate
T
rans
po
rt U
ni
versity
,
R
u
ssia,
i
n
2
00
9
and
20
12,
r
esp
ectiv
e
l
y
.
At
p
resent
h
e
is
a
n
assi
st
ant
p
r
of
es
so
r
of
t
he
L
o
c
om
o
t
i
v
e
and
L
oco
m
oti
v
e
F
a
c
ilit
i
es,
Ro
st
ov
S
t
ate
Tran
sp
ort
Un
iv
ersit
y
,
Russi
a
.
H
e
a
l
s
o
wo
rk
s
i
n
t
he
c
lo
sed
j
oin
t
-s
tock
c
o
m
pa
ny
«
S
c
ientif
i
c
-
Techn
i
cal
C
ent
e
r
«
P
RIV
O
D-N»
,
N
o
v
o
ch
e
r
k
a
ss
k,
R
u
s
s
i
a.
H
is
c
urren
t
r
es
ea
rch
in
teres
t
s
in
c
l
ud
e
m
odelin
g
an
d
tes
t
i
ng
o
f
e
lect
rical
s
ystem
s
.
He
i
s
th
e
auth
or
o
f
m
o
r
e
th
an
30
arti
c
l
es
a
n
d
5
inventions.
Al
exand
e
r
Kireev
w
as
b
orn
i
n
R
u
s
s
i
a
in
197
4.
H
e
received
the
P
h
.D
.
d
e
gree
i
n
t
h
e
a
rea
of
electri
cal m
ach
in
es f
ro
m
S
outh-Ru
ss
ian
Stat
e Tech
ni
c
a
l
Univ
ersi
t
y
,
R
u
s
s
i
a
,
i
n
2
0
0
4.
At
p
resen
t
h
e
is
a
g
eneral
m
an
a
g
er
o
f
cl
os
ed
j
oin
t
-sto
ck
c
om
p
a
n
y
«
S
cien
tif
i
c-Tech
ni
cal
C
ent
e
r
«PRI
VO
D-
N»,
N
ovocherkassk,
Rus
s
i
a
.
He
a
ls
o
w
o
rks
assistant
prof
ess
o
r
o
f
t
he
E
l
ectri
c
p
o
w
e
r
su
ppl
y
and
electri
c
dri
v
e,
S
outh-
Ru
ss
ian Stat
e Tech
nical
Univ
e
r
si
t
y
,
R
u
s
s
i
a
.
Hi
s
cu
rrent
r
esearch
i
nt
ere
s
ts:
elect
rical
m
achi
n
es,
f
r
equ
e
ncy
co
n
v
ert
e
rs
a
nd
con
t
ro
l
systems
.
H
e
is the au
t
h
o
r o
f
m
ore than
60
a
r
ticl
e
s and
15
in
v
en
t
i
on
s.
Ni
ko
l
a
y
Kozh
em
yak
a
w
as
b
o
r
n
i
n
R
ussia
in
1980
.
He
f
in
ish
e
d
S
out
h-Ru
ss
ian
State
Techn
i
cal
Un
iversit
y
(
N
P
I),
on
"
El
ectrical
t
rans
po
rt"
s
p
ecial
ty
,
Russia
i
n
2
0
0
2
.
He
r
ece
i
v
ed
P
h
D
d
egree
in
Techn
i
cal
S
ciences f
rom
S
o
u
t
h-Ru
ss
ian Stat
e Tech
nical
Univ
e
rsit
y,
Ru
s
s
i
a
,
in
20
07
.
At
p
resent
h
e
is
a
t
echni
cal
d
i
r
ecto
r
o
f
cl
os
ed
j
oin
t
-stock
c
om
pan
y
«
S
c
i
e
ntif
ic-T
e
c
hn
ical
C
ent
e
r
«
P
RIVO
D-N»
,
Nov
o
ch
erkass
k,
R
us
si
a.
H
is
m
ain
sci
e
ntific
i
n
t
erest
s
a
r
e
re
l
a
te
d
to
p
o
w
e
r
con
v
erto
rs
f
o
r
e
l
e
ct
rical
d
ri
ve,
electri
cal
t
racti
o
n
sy
st
e
m
s,
a
nd
electri
cal
v
ehi
c
les
.
H
e
is
t
h
e
aut
hor
o
f
m
o
re
t
h
a
n
1
5
a
rt
ic
l
e
s
a
n
d
5
in
ven
t
i
ons
.
Gen
n
ady
Ko
no
no
v
w
a
s
b
o
rn
i
n
Ru
ss
ia
i
n
1
952.
H
e
fin
i
s
h
ed
S
ou
th-R
u
s
s
i
an
S
tate
T
echn
i
cal
Un
iversit
y
(
N
P
I),
o
n
"Auto
m
a
t
ion
an
d
Rem
o
te
C
o
n
t
r
ol"
s
p
eci
alty,
Rus
sia
i
n
19
7
9
.
At
p
resent
h
e
is
a
l
eadi
ng
speci
a
l
ist
of
c
l
o
se
d
join
t
-
s
t
ock
com
pan
y
«
S
c
i
e
ntific-T
echni
cal
C
ent
e
r
«PRI
VO
D-
N»,
N
ovocherkassk,
Rus
s
i
a
.
His
main
s
cien
tific
interest
s
are
relat
e
d
to
M
aglev
tran
spo
r
tatio
n
s
y
s
t
em,
vehi
cles
t
rac
t
io
n
driv
e.
H
e
i
s
t
he
a
ut
ho
r
o
f
m
o
r
e
t
h
an
2
0
a
r
ti
c
l
es
a
nd
7
inventions
Evaluation Warning : The document was created with Spire.PDF for Python.