Orthogonally-switching control of PM LSM container transfer model vehicle

A new container transfer vehicle system, which is driven by permanent magnet linear synchronous motor (PM LSM), has been designed and developed in the authors´ laboratory. An eminent feature of this system is that the vehicle can run on a guideway network with orthogonal-crossings, which is constructed very simply by using a two-dimensional linear motor. This paper presents an experiment of switching orthogonally the PM LSM vehicle at the rectangular crossing without changing the direction of the vehicle. By controlling a two-dimensional force of thrust and lift forces produced only by the PM LSM at the rectangular crossing, the vehicle can be switched orthogonally from transverse to longitudinal guideways, and vice versa. A test experiment has been carried out successfully with the model vehicle