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High-speed mass transportation, a new concept : an exploratory study by members of the faculty of Rensselaer Polytechnic…

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SECTION F CONTROL by Dean K. Frederick Imsong Lee
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F-l F-l. ABSTRACT A high speed ground transportation system involving fast moving vehicles in a confined guideway requires…
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ns " F-2 PI? - The impulsive disturbances may be produced by im- perfections in the guideway structure and alignment…
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F-3 local vertical, as shown in Fig. F-l. If ¢, the vehicle's angle of roll relative to the same reference, is not…
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F-4 considerations might affect the curve design are presented in the following two sections,' along with some…
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F-5 the open-loop, i.e., programmed, torque in terms of x. To ,examine the torque requirements during a curve, it will be…
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F-6 The behavior of y', i', and "f along a typical curve are shown in Fig. F-3. Because the section of…
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F-7 y' (~) and y(~) can be obtained by straight- forward integration, using the approximation that * dx/dt ~ V: ~ [~…
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F-8 • Differentiation of I./J and use of Eqs. (1) and (3a) yields the desired expression for the open-loop con- trol torque…
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F-9 is a rather complicated function of e but, espe- cially for law values of a, closely resembles the output of a bang-bang…
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F-10 Since the tube will be located from a set of calculated points this approach imposes no complication in the tube design…
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F-ll and b is the distance of the center of mass below the geometric center. However, due to the· absence of any dissipative…
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F-12 J 8 + 1.2 Wb8 = Nfb (22) It is easy to verify that a feedback torque derived . from measurements of 8 and 8 according…
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F-13 . could not determine that component due to 9. However, a relatively simple approximate solution appears feasible,…
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F-14 Having established the above parameters, the curve of the tube, the roll angle, and the open loop con- trol torque are…
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F-15 circular length of tube having a constant curvature equal to y"(2L) must be added. During this arc the open-loop…
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F-16 sensitivity of 10 lbs/volt, the torque constant will be G T = 640 ft lb/volt. Assuming a pendulum sensitivity of 10…
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F-l7 system, which the vehicle would undergo for a disturbance resulting in an initial value of 9 = O.lO rad/sec. F-4.…
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F-18 support mechanisms and thrust to compensate the disturbances due to the guideway tolerances. For example, it may be…
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regulate the dispatching times and traffic profile throughout the transportation system. A. The vehicles will be dispatched…
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=y F-20 which is precalculated according to criteria of safety and economy. This traffic profile is stored in the central…
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F-21 required curve geometry, an improvement of system per- formance and a simplification of the equipment required may be…
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F-22 function is quadratic and the dynamics of traffic flow is linear. In general, however, analytical solutions are…
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CENTER OF MASS EARTH'S VERTICAL VEHICLE CENTERLINE FIG. F-I GEOMETRIC CENTER
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y 01( "'-0 - ....... f - - INCREASING '" TOTAL CURVE "/ o / ::l+ / / / ____ L.. ___…
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