磁気浮上系に対する受動性をもとにした電流フィードバックを用いない非線形制御(機械力学,計測,自動制御)

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This paper presents a non-linear control of a magnetic levitation system without current feedback based on passivity of a system. The magnetic levitation system is essentially non-linear. However, most researchers are modeled it as a linear system. If the object is far from the equilibrium point, a linear controller cannot compensate large gap between the magnetic coil and the object levitation. Some applications such as magnetic levitation conveyance system require large levitation gap control. In such cases, the linear controller sometimes makes the system unstable. In this paper, a non-linear controller based on passivity is introduced. The magnetic levitation system is decomposed into two subsystems, electrical subsystem and mechanical subsystem. The non-linear controller is designed for each subsystem. Controller for the electrical subsystem is designed by using kinematic-energy-shaping and PID controller is used for the mechanical subsystem. The asymptotic stability of the closed-loop system is proved by Lyapunov stability theory. The derived controller needs position and velocity feedback but not current feedback. Numerical simulation and experimental results show the validity of the proposed non-linear controller.
社団法人日本機械学会の論文
2002-11-25