磁気浮上型多自由度位置決め装置の機構と制御

概要

論文の詳細を見る
Mechanism and control design of magnetically suspended multiple degree-of-freedom (D.O.F.) positioners are described. One of the most important problems of the mechanism is optimal location of electromagnets and sensors. The general condition of mechanical decoupling is derived using a general electromagnet location matrix determined by the geometric positions and attitudes of the electromagnets. An electromagnet locating method robust to magnetic parameter change is proposed using singular value decomposition representation. A controller that has an arbitrary bandwidth and damping coefficient with respect to each. D.O.F. and minimal energy loss through the electromagnets is proposed using a generalized inverse of the electromagnet location matrix. As an example, a 5 D.O.F. model with 6 electromagnets was designed and experimental results supporting the design were obtained.
公益社団法人精密工学会の論文
1988-11-05