EQUATION OF MOTION MAGNETIC LEVITATION ROLLING STOCK
This article deals with the problem of control the trajectory of the crew magnetic levitation relative trajectory of the software regarding the track structure of the perturbation of the gravitational and magnetic fields levitation systems, lateral stabilization and traction. The crew is presented as a system of rigid bodies, whose motion is subject to gravitational and electromagnetic forces. The spatial displacement with limited powers of levitation and lateral stabilization regarding a discrete track structure are selected by drawing up the estimated equations of the dynamics of the crew as inertial coordinates of the centers of mass of solids. The coordinates of any point on the carriage in a local coordinate system are converted in the coordinate system associated with the center of mass of the crew to bring the point of application of external force to the center of mass of the crew. A general model of the dynamics of the crew is based on the equation of Lagrange-Maxwell which binds to the active mass of the external forces of gravity that govern the electromagnetic force, the force of inertia and friction. The kinetic energy of the mechanical system is defined by the velocity projections on the axis of the fixed coordinate system as a quadratic form. The crew simulated magneto elastic coupling with the track structure changing the potential energy of magnetic levitation and lateral stabilization at the deformation of the object or the displacement and rotation of the center of mass of the crew in three-dimensional space. The inverse problem of dynamics is solved to determine the control forces for a given trajectory of the crew magnetic levitation. The equations of motion the crew on a magnetic cushion are linearized regarding increments relative coordinates of the centers of mass of the crew vector and presented in the form of equations of the phase space of states.