| Budget Amount *help |
¥3,710,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥210,000)
Fiscal Year 2007: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2006: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2005: ¥1,800,000 (Direct Cost: ¥1,800,000)
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| Research Abstract |
In the first year, three degree-of freedom maglev control was intensively studied and nonlinear maglev control based on Fuzzy logic was successfully tested.
However, installation of linear motors to the magnetically levitated body was difficult. Therefore, the target test machine for the state estimation of linear drives was changed to a one dimensional linear synchronous motor in one-dimensional motion supported rat magnetically but mechanically. There is no substantial difference for verifying the proposed state estimation in linear dives between initial and modified test benches.
The test bench consists of a one-dimensional linear synchronous motor and a home video-camera for the mover position detection. In the second year, the investigators implemented and tried experiments of fundamental feedback drive controls based on good measured signals of position. In these trials, mechanical impedance controls have been successfully demonstrated.
The generic home video camera has low sample r
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ate and relatively heavy signal processing results in a considerable dead time in the position feedback path. It negatively affects the stability of position feedback control. In order solve these problems, the investigators have proposed two observer configurations as extension of a dual sampling rate digital observer. Type I: the observer has internal buffers for state variables on sampling periods during the system dead time, and Type II: the observer has two different estimated values of state vectors; one is for direct observer-output, and another is estimated state variables for sustainable observation internally corrected by the newest error information between its observed and real outputs.
By applying proposed algorithms to a test bench consisting of a linear synchronous motor and a home video camera, the functionality of the proposed observers has been experimentally verified.
The observer has successfully managed the problems of coarse sampling and the deadtime. However the experimental results was not complete, since there was unexpected another sampling time in the experimental set at the A/D-interface, and this effect was considerable disturbance, i.e., fluctuation of dead time. In order to solve this problem theoretically, a natural theoretical extension to the triple rate sampling system shall be investigated based on the proposed dual rate sampling theory in future. Less
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