2013 Fiscal Year Final Research Report
Three-Dimensional Position Estimation and Levitation and Conveyance Control for An Active Electromagnetic Levitation Conveyance System
| Project/Area Number |
23760396
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering
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| Research Institution | Gifu National College of Technology |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
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| 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 |
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| 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.
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