Investigation of Types of Technical Levitation and Mathematical Modeling of

the Action of Many Composites Non-Contact Electromechanical Mechanism

F.M. Matmurodov1, Basant Singh Sikarwar2 and Mohit Bhandwal3

1
PhD, professor, head of Research Project of Italian Turin Polytechnic University in Tashkent
2
PhD, Professor and Head, Department of Mechanical Engineering, Amity University Uttar Pradesh
NOIDA
3
Assistant Professor, Department of Mechanical Engineering, Amity University Uttar Pradesh NOIDA

Abstract: In this work, a comparative analysis is provided for technological indicators of

various methods of technical levitation. Later, mathematical model was formed for particular
cases of the gap of electromagnetic levitation and many composite non-contact mechanisms.
This analysis mechanics creates effective contactless mechanisms which help us many aspect of
energy and material saving.

Key words: Technical levitation; Mathematical Model; Electromagnetic levitation; Integral

contactless mechanism, Air cushion, Standing wave.

Introduction: The number "Zero" was the first introduced by an Indian scientist, not a narrow
"zero" about it 200 years later German scientist introduced in circulation. In the 8th century, our
ancestor Al-Khwarizmi introduced the combination of Circulation 0 and 1. This action is now
called after our scientist "Al-Khwarizmi" - "Al-Gorithm". This algorithm "01" invented by Al-
Khwarizmi is considered the basis of this chip. Which uses these chips of mobile phones,
computers, and television and precious equipment [1]. The operating system of these digital
technologies is only understood to be "01" and its combinations. Al-Khwarizmi also wrote the
book "Al-Jabr", which is now called "Algebra" in mathematics. Our encyclopedist Abu
RayhonBeruni, a great scientist of the 11th century and principle of the Academy of Sciences
"Ma'mun 2", lived and worked in India. He wrote his scientific work "India" when he was on
Indian soil.
Drawing on this common scientific history between the India and Kazakhstan, we have
been continuing our scientific collaboration and discussions at this International Conference.
Non-contact mechanisms in technology play a very important role. This mechanism neglects
contact friction, improves power transmission in power drives, etc. If we mechanics create
effective contactless mechanisms, there will be a big turn in the world economy [1-2].
The theory and technique of levitation of contactless suspension of solids in electric and
magnetic fields using different types of non-contact hangers, existing and under development at
present, are discussed. The condition in which a solid body "floats" in the power field of the
suspension without any mechanical contact with surrounding bodies is called levitation [1].
The word "levitate" comes from the English word "levitate" - soaring, rising in the air.
That is, levitation is the overcoming of the object of gravity when it soars and does not touch the
support, not repelling from the air, not using jet propulsion. From a physics point of view,
levitation is the stable position of the object in the gravitational field, when the force of gravity is
compensated and there is a return force that provides the object with stability in space.
Magnetic suspension devices are extremely expensive at this time. One of the ways to
increase their efficiency is the use of superconductors, which, when cooled to temperatures close
to absolute zero, completely lose electrical resistance [3]. Despite the wonderful possibilities of
superconductors, it is very difficult to apply them. Keeping large magnets in tanks with
extremely cold liquids is very expensive. To keep liquids cold, huge cold factories will be
required that will raise the cost of superconducting magnets to sky-high heights and make their
use disadvantageous. Powerful magnetic fields that can keep cars and trains on weight will
become so cheap that even “planning cars” may prove to be economically viable.

Methodology: In the work, methods of analysis of the levitation process are used and its various
methods are studied. The method of comparative analysis shows the technological indicators of
various methods of technical levitation. Mathematical modeling has investigated particular cases
of the gap of electromagnetic levitation of a multi-component non-contact mechanism.
Discussion of various ways of technical levitation is shown in Figure 1 [5].

Figure 1 - Technical levitation principles [5]: a) magnetic b) electric c) optical d) Bernoulli

principle e) air cushion f) standing wave g) near field

Magnetic levitation can be realized in three ways: by using a permanent magnet, an

electromagnet and a superconductor magnet. The easiest way is to use an intermediary (magnetic
intermediary). Aerodynamic levitation, as opposed to optical levitation, is "firmly on its feet" in
the field of macro- and microtechnology. In one of the varieties of this method the word "air
cushion" is again present. It's very easy to get an air cushion. It is sufficient to drill many holes in
the carrier substrate and blow compressed air through them (Fig.1d). The lifting force of the air
balances the weight of the product and it starts to "soar" in the air. The disadvantage of this
method is that it has no centering effect.
In a standing wave (Figure 1e), small objects may "hang" at the pressure points between
the transmitter and the reflector. In the near field the reflector is replaced by the levitating object
(Fig.1e). Forces arising in an acoustic standing wave are able to keep objects weighing several
grams suspended in the gas atmosphere and in other earth conditions.

.
Figure 2 - The principle of combined non-contact transport
Isobe et al. [2] proposed a new non-contact transport system that combines two levitation
principles: aerodynamic and acoustic. As mentioned earlier, the aerodynamic air cushion has a
fundamental disadvantage: instability in the horizontal direction due to the lack of a centering
effect. In a combined transport system, this disadvantage has become a virtue. The silicon wafer
"soars" in the air due to the aerodynamic forces and is transported by an acoustic viscous flow
induced by a standing wave when deformed by the discastator (Fig. 2).

Table 1. Comparison of different methods of technical levitation

Levitation Shape and size Micro movement Maximum lifting
method of the object ability capacity Stability

Electro- No restrictions. Moving non- Not limited Unstable without

magnetic conductive parts automatic regulation and
when metal devices control system
are connected to them
(mechanicalcontact)
Electrodyn Not applicable Low transport Not limited Stable
amic to capacity; difficult
microelectronic access to parts
components
Electrostati Not limited Unstable with automatic
c – – control system
and controls. The
destabilizing effects are
induced by
triboelectricities.
Optical Small Very large 0.1-1 nN oscillations fade better
spherical- restrictions on in liquids; instability due
shaped particles particles and their to thermal effects in the
with a diameter environment. surrounding space.
upto 50 mkm
Bernoulli's Objectscontaini Weak lateral stability Transverse stability
principle ng – disorder - wiggle
minimumonefla (plate does not remain
tsurface parallel to the nozzle
surface)
Air Flat objects No transverse 0,1–10 Н Horizontal instability
Cushion stability. due to lack of centering
effect
Different shape; Gripping, orientation Axial stability; natural
size smaller positioning and centering effect,
Standing than one eighth release of parts with 10 mN like Bernoulli in
Wave of the radial centering force principle; orientation is
wavelength controlled by field
asymmetry;
the acoustic flow is a
cause of destabilizing
force.
Near Field Flat objects; Grabbing and Not limited. The centering effect is
preferably thin transporting parts in a achieved by adjusting
plates tidal wave the type of oscillation
Comparative characteristics of different methods of technical levitation are given in Tables 1.
Magnetic and electrostatic methods of levitation are likely to yield somewhat in the near future,
as they are difficult to apply to all kinds of materials. In addition, they usually require automatic
control and regulation systems.
Optical levitation is limited to very small and relatively transparent particles in a
transparent environment. It is clear that the restrictions on the nature of the particles and the
environment so far have made it unacceptable to use in relation to modern micro assemblies.
This method generates forces of 1nN, which are too small to manipulate components larger than
100 mkm. Although, everything flows, everything changes. Nanotechnology is developing at an
unpredictably high rate. In relation to MEMS, these conclusions are already becoming false.
The choice remains between aerodynamic and ultrasonic acoustic levitation. This
conclusion is reached by the authors of the article /1/. But aerodynamic levitation, unfortunately,
"gives" us bad transverse stability and requires complex execution, because it needs an external
source of compressed air. Ultrasonic acoustic levitation is not yet as widely used as the method
based on Bernoulli's equation. Standing wave levitation is more preferable for gripping,
orientation, positioning and releasing small pieces of different shapes. Near-field levitation is
more suitable for traffic control and transport of flat workpieces.
Urazaev V. emphasizes in his work / 5 / “As a result, another conclusion suggests itself -
there is no perfection in the world. Although you can still get a little closer to perfection. On the
part of industrial scientists, the mainstream in the field of technical levitation is most likely
hidden behind the word “combinatorics”. As a result of the successful combination of two or
more alternative systems, as a rule, new technical solutions appear that combine the advantages
and eliminate the disadvantages of their components”

Mathematical modeling of the action of a multi-component non-contact electromechanical

mechanism: Neyman L.A., Neyman V.Yu. [3] argued that “A promising area of research in the
field of electromagnetic levitation is the improvement of machines and mechanisms with
increased energy based on an electromagnetic drive of vibrational motion operating in near-
resonance and resonant modes with a frequency of up to 100 Hz. "Increasing the efficiency of
such electric drives is possible only if a rational choice of the interconnected parameters of the
electric, magnetic and mechanical subsystems is necessary, for the analysis of whose work, even
at the design stage, there is a need for dynamic calculation." Carry out a dynamic calculation
allows you to find the necessary parameters of electromagnetic levitation.
Given that the dependence of the stabilizing force on transverse misalignment within zero
to half the pole width of a linear line, the target function and limit can be represented as follows
P
S= y +m−1 φ , (1)
m
∂ P z 0,4 P y 0
≥ , (2)
∂z a
where S is the target function, P y - lifting force, P y 0- rated lifting force, m- suspension
electromagnet mass,m−1 φ - ferromagnetic rail running mass,
P z- stabilizing force, a - suspension
electromagnet pole width.
The mathematical model of the first level suspension electromagnet is obtained based on
the following assumptions: the thickness of the magnetic core is constant, the magnetic
resistance of the magnetic core sections is negligible, the scattering and bubbling fluxes are
insignificant. Within the framework of these assumptions, the expression of the suspension
electromagnet mass in the form of induction function in the working gap is obtained

( ) ( )
2 2 1/ 2 1/2
−3 ( 2 α+1 ) P y 0 ρ m 2 δ k φ μ0
3 1 /2
4 lδ ρob 2δ α 1 /2 ρ m μ 0 P y 0 x φ −1 /2
m= B+ 25 ρob 3 3 B + B + B
μ0 J g μ0 J g k3 B g l B g J k
g 3 α
, (3)
 As a special case, we consider the gap of electromagnetic levitation of a many composite
non-contact mechanisms. The design scheme for the formation of the levitation clearance of the
action of a many composite electromechanical mechanism (Fig. 3). We mathematically simulate
the actions of a lot of composite non-contact electromechanical mechanism [4].

Figure 3 - Calculation scheme of action of many composite electromechanical mechanism

{
d ψ (i , x )
u ( t ) =ir+
dt

dt (
m1
dt
dx21
dx dx
−
dt
2 ) −…−b (
+b1
2 dx dx
dt
−
1
dt ) n−1
n n−1
+ ¿ k ( x −x ) −…−k ( x −x )=−f sig 1 1 0 n n−1 n tr 1

+b (
dt ) ( dt − dt )+¿ k ( x −x )−…−k ( x −x )=−f
2
dx dx dx 2 dx dx
3 2 n n−1
m −2 −…−b 2 n 1 1 0 n n−1 n tr
dt dt 2

+b ( )−…−b (
dt )
2
dx dx dx n dx dxn n−1 n n −1
−−−−−−−−−−−−−−−−−−−−−¿ m − n n − +¿ k ( x −x ) −… n 1 1 0
dt dt dt 2
dt

+b (
dt )
2
dx dx dx 0 dx 1 0 0
M − 2
−b 0 −k ( x −x ) + k x =0 0 1 1 0 0 0
dt dt dt
(4)

Using the equation systems of our action 3-component electromechanical mechanism

{
d ψ (i , x )
u ( t )=ir+
dt

( ddtx − ddtx )−b ( ddtx − ddtx )+¿ k ( x −x )−k ( x −x )=−f sign ddtx + f
2
dx 1 1 0 2 1 1
m1 2
+b 1 2 1 1 0 2 2 1 tr1 em1 ( i, x )
dt

+b (
dt )
2
dx 2 dx dx 3 2 dx 2
m 2 − 2 + k ( x −x ) =−f sign 2 2 1 tr 2
dt 2
dt dt

+b (
dt )
2
dx 0 dx dx 1 dx 0 0
M 0− −b −k ( x −x ) + k x =0
0 1 1 0 0 0
dt 2
dt dt
(5)

u ( t )- voltage on the coil winding,r -active resistance of the coil,d ψ ( i , x ) - values of threading
clutch, f emj ( i, x )- force forcing electromagnetic force, f tr 1 …т–force of dry friction 1…n nodes,
x 1 … x n–generalized coordinates of linear motion of the center of masses 1…n nodes, m1 … mn -
connected masses 1…n nodes, M - , k 0 … k n- coefficients of elastic bonds stiffness 0…n nodes,
b 0 … b n– coefficients of viscous friction of elastic bonds 0…n nodes. Solve the last three compiled
equations
 d (i, x)
u ( t )  ir 
dt
 2
m d x1  b  dx1  dx3   b  dx2  dx1  
 1 dt 2 1  2 
 dt dt   dt dt 

 dx1
 k
 1 1 ( x  x 3 )  k 2 ( x2  x1 )   f1 sign  f (i, x )
 dt
 d 2 x2  dx2 dx1  dx2
m2  b 2   k
 2 2 ( x  x1 )   f 2 sign
 dt 2  dt dt  dt
 d 2x  dx1 dx3  dx3
M 2
3
 b 1     b 3 
 dt  dt dt  dt
 k ( x  x )  k x  0
 1 1 3 3 3 (6)
Let's consider private cases. x3  0 so the equations take the form
 d (i, x)
u (t )  ir  dt
 2
m d x1  b dx1  b  dx2  dx1  
 1 dt 2 1 2 
dt  dt dt 

 dx1
 k1 x1  k2 ( x2  x1 )   f1sign  f (i , x )
 dt
 d 2 x2  dx dx  dx
m2 2
 b2  2  1   k 2 ( x2  x1 )   f 2 sign 2
 dt  dt dt  dt
 dx1
b1  k1 x1  0
 dt (7)
  k1 t
b1
If from the expression we find it 1
x  C e 1 and put it on the following system of equations
and get
k t
d 2 x2 dx2 dx2  k1  b11
m2 2  b2  k2 x2  f 2 sign  C1  k2  b2  e
dt dt dt  b1 
(8)
 k1 t
dx k2 bk b1
b2 2  k2 x2  C1 (m1 12  k1  2 1  k1  k2 )  e  f1  f (i , x )
dt b1 b1 (9)
Take away both equations of each other and get
k t
d 2 x2 dx2  k12  b11
m2 2  f 2 sign  C1  2k1  m1 2  e  f1  f (i , x )
dt dt  b1 
(10)
dx2
sign
These expressions are the same values dt we integrate.
 dx2 
0, sign dt  0 
k t   2
1  b12  k12  b11 t2   dx2  t
x2  C1 2  2k1  m1 2  e   f1  f (i, x)     1, sign  0    C2t  C3
m2  k1  b1  2   dt  2
 dx2 
 1, sign dt  0 
 

(11)
Here the general solution will be in the following form
 k1 t
 b
 x1  C1e 1

  dx 
 0, sign 2  0 
 dt
   k1t 2  
1 b1 
2
k1  b1
2
t  dx2  t2
 x2  C1  2k1  m1 2  e   f1  f (i, x )     1, sign  0    C2t  C3
 m2  k12  b1  2   dt  2
  dx2 
  1, sign dt  0 
  
 x3  0
 .

(12)
where C1 , C2 , C3 - constant coefficients.

We accept that the values k 0, b 0means magnetic bonds or magnetic gaps. There are no contact
frictions at the pole of the magnetic gap. Means this model describes electromagnetic non-
contact mechanisms.
Conclusions: From the analysis of technological indicators of various methods of technical
levitation, we can say that each method has its advantages and disadvantages. From the point of
view of technological requirements, you can choose and use the appropriate method of levitation.
The best and most promising technical levitation combined and combined technical levitation. In
cases where several types of technical levitation are used, a highly effective form of levitation is
created. Mathematical modeling of the action of the gap of electromagnetic levitation of a multi-
component non-contact mechanism allows you to find the necessary dynamic and geometric
parameters. Using a mathematical model, you can find the gaps of electromagnetic quantities, a
contactless mechanism. This model will help car designers to calculate this type of mechanism.

References
1. Vandalaele V., Lambert P., Delchambre A. Non- contact handling in microassembly:
Acoustical levitation // Precision Engineering. Volume 29, Issue 4, October 2005, pp.
491–505.
2. Isobe H., Fushimi M., Oosuka M., Kyusojn A. Non-contact Transportation of Flat Panel
Substrate by Combined Ultrasonic Acoustic Viscous and Aerostatic Forces //
International Journal of Precision Engineering and Manu-facturing. Volume 8, No 2,
April 2007, pp. 44–48.
3. Neyman L.A., Neyman V.YU Matematicheskaya model' elektromekhanicheskoy sistemy
kolebatel'nogo dvizheniya s uprugimi svyazyami. «Vestnik IGEU», Vypusk 6 , 2015.
4. Matmurodov F.M., Matmurodov F.F. Beskontaktnyye i dempfiruyushchiye
mekhanizmy //Monografiya. –T.: «Fan va texnologiya, 2018, -184C.
5. Urazayev V. Tekhnicheskaya levitatsii – metody obzorov. Tekhnologii v elektronnoy
promyshlennosti, №6, 2007.