446 回転型減揺装置を持つ吸引式磁気浮上系の制御

概要

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The Electro-Magnetic-Suspension (EMS) system with a circle-cross-section rail succeeded the banking of a vehicle while running in curve. In the system, the damping in tilting motion is so small that disturbance will make the vehicle oscillation without friction. So vibration control system made by the rotor with active control was proposed. The feedback control of the rotation of the rotor by sensing tilting angle with gyro sensor realizes equivalently skyhook damper for tilting motion of the vehicle. When the vehicle runs in a curve at high speed, the effects of disturbance cannot be ignored for levitation control and rolling control system. Therefore, the improvement of control ability is considered in this paper. First, minimal-order observer and disturbance observer are used in levitation control system. Next, damping performance of skyhook damper varying the position of the rotor in rolling control system is investigated and optimal structure of rolling control system is proposed. Simulation and experiments are made and the effeteness of the proposed control is verified.
社団法人日本機械学会の論文
2002-09-13