3 degrees of freedom control of semi-zero-power magnetic levitation suitable for two-dimensional linear motor

ICEMS'2001. Proceedings of the Fifth International Conference on Electrical Machines and Systems (IEEE Cat. No.01EX501) Pub Date : 2001-08-18 DOI:10.1109/ICEMS.2001.971842

Jiangheng Liu, T. Koseki

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引用次数: 12

Abstract

Electromagnetic suspension (EMS) has been widely used in many industrial fields because of various advantages in practical use. The U-type magnets are often used to generate the levitation force in the EMS system. This conventional electromagnet, however, can only control one degree-of-freedom. It cannot construct a levitation system solely by itself. A four-pole type yoke hybrid electromagnet is proposed instead of the usual U-type magnet and its magnetic levitation control is studied in this paper. The basic structure and characteristics of the proposed magnet are described first. Next the control system is designed. Luenberger observer, only using gap sensors, is applied to realize zero-power control. The semi-zero-power control with a disturbance observer is proposed to improve the performance, as well as the robustness, of the control system. The ideas of coordination with linear motor are discussed. Finally, the simulation results and corresponding experiments have been presented.

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适用于二维直线电机的半零功率磁悬浮三自由度控制

电磁悬架由于在实际应用中具有各种优点，在许多工业领域得到了广泛的应用。在电磁系统中，u型磁体常用于产生悬浮力。然而，这种传统的电磁铁只能控制一个自由度。它不能单独建造一个悬浮系统。提出了一种四极式轭式混合电磁铁来代替常用的u型电磁铁，并对其磁悬浮控制进行了研究。首先介绍了该磁体的基本结构和特性。然后对控制系统进行了设计。采用仅使用间隙传感器的Luenberger观测器实现零功率控制。为了提高控制系统的性能和鲁棒性，提出了带扰动观测器的半零功率控制。讨论了与直线电机配合的思想。最后给出了仿真结果和相应的实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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ICEMS'2001. Proceedings of the Fifth International Conference on Electrical Machines and Systems (IEEE Cat. No.01EX501)

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