711 変位外乱を受ける磁気浮上系のスライディングモード制御

概要

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In the problem in which the magnetic levitation system is stabilized using the linear approximation model, it is necessary to run the fixed coil current in order to keep an equilibrium state. Therefore, parameter variation of the system is generated by the change of coil resistance, which originates from exothermic reaction of the coil. As the result, in usual LQR control, long-time stabilization becomes difficult. Then, the sliding mode that is one of the variable structure control theories is applied. For the magnetic levitation system, the augment system that constitutes I-type servo system on the displacement is considered, and the sliding mode servo control rule is designed. By the experiment, it is verified that the robust control is possible for this system for not only fluctuation of the system parameter but also external displacement disturbances.
一般社団法人日本機械学会の論文
2002-09-13