Three-Dimensional Position Estimation and Levitation and Conveyance Control for An Active Electromagnetic Levitation Conveyance System

• Project/Area Number: 23760396
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering
• Research Institution: Gifu National College of Technology
• Principal Investigator: KOBAYASHI Yoshimitsu 岐阜工業高等専門学校, その他部局等, 准教授 (40509270)
• Project Period (FY): 2011 – 2013
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2013: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
• Keywords: 制御システム / 磁気浮上 / ３次元位置推定 / オブザーバ / ホール素子 / 搬送 / 非接触 / 磁気浮上搬送 / 三次元位置推定

Research Abstract

Generally, a magnetic levitation conveyance system is useful when we convey products without qualitative degradation due to contact. However it is necessary to control the three-dimensional motion of the levitated object and it is difficult to measure the position. Therefore we propose how to estimate three-dimensional position without a position sensor. Four Hall elements are installed on the bottom of the electromagnet instead of the position sensor. A state observer estimates the three-dimensional position of the levitated object from the four Hall voltages and the current and the input voltage to the electromagnet. The magnetic levitation uses a state-feedback control based on the estimated vertical position. A two-degree-of-freedom controller combining an optimal servo control with an integral compensator for disturbances is applied to the magnetic levitation conveyance system. The validity of the proposed method is confirmed by simulation and experiment results.

Research Products

• [Journal Article] An Active Electromagnetic Levitation Conveyance System by Using Two-Degree-of-Freedom Optimal Servosystems (2013)
  • Author(s): 小林義光,亀山頌太,佐々木実
  • Journal Title: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C Volume: 79 Issue: 804 Pages: 2673-2683
  • DOI: 10.1299/kikaic.79.2673
  • NAID: 130003375137
  • ISSN: 0387-5024, 1884-8354
  • Peer Reviewed
• [Presentation] Vibration Control of Active Electromagnetic Levitation System with Three-Dimensional Position Estimation by Current and Magnetic Flux (2013)
  • Author(s): Yoshimitsu Kobayashi, Yoko Terai and Minoru Sasaki
  • Organizer: 13th International Conference on Control, Automation and Systems (ICCAS2013)
  • Place of Presentation: Kimdaejung Convention Center, Gwangju, Korea
• [Presentation] Vibration Control of Active Electromagnetic Levitation System with Three-Dimensional Position Estimation by Current and Magnetic Flux (2013)
  • Author(s): Yoshimitsu Kobayashi, Yoko Terai and Minoru Sasaki
  • Organizer: 13th International Conference on Control, Automation and Systems(ICCAS2013)
  • Place of Presentation: Kimdaejung Convention Center, Gwangju, Korea
• [Presentation] 磁気浮上系の3次元位置推定を用いた水平制振制御の実現 (2012)
  • Author(s): 小林義光,寺井陽子,佐々木実
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会講演
  • Place of Presentation: 福岡国際会議場(福岡市博多区石城町2-1)
• [Presentation] 2自由度積分型最適サーボ系を用いた磁気浮上搬送制御の実現 (2012)
  • Author(s): 小林義光,亀山頌太,佐々木実
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012講演
  • Place of Presentation: アクトシティ浜松(静岡県浜松市中区中央3-12-1)
• [Presentation] オブザーバを用いた磁気浮上系の3次元位置推定の実現 (2012)
  • Author(s): 小林義光,寺井陽子,佐々木実
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012講演
  • Place of Presentation: アクトシティ浜松(静岡県浜松市中区中央3-12-1)
• [Presentation] ２自由度積分型最適サーボ系を用いた磁気浮上搬送制御の実現 (2012)
  • Author(s): 小林義光，亀山頌太，佐々木実
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: アクトシティ浜松（静岡県浜松市）
• [Presentation] オブザーバを用いた磁気浮上系の3次元位置推定の実現 (2012)
  • Author(s): 小林義光，寺井陽子，佐々木実
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: アクトシティ浜松（静岡県浜松市）
• [Presentation] 磁気浮上系の３次元位置推定を用いた水平制振制御の実現 (2012)
  • Author(s): 小林義光，寺井陽子，佐々木実
  • Organizer: 第13回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 福岡国際会議場（福岡県福岡市）
• [Presentation] 磁気浮上ハンドリングのための３次元位置推定の実現 (2012)
  • Author(s): 寺井陽子，小林義光，佐々木実
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: アクトシティ浜松（静岡県浜松市）