F-0938 実用的磁気浮上系制御の研究(G10-7 制御・ダンパ)(G10 機械力学・計測制御部門一般講演)

概要

論文の詳細を見る
Much effort on modeling, identification of the model parameters and tuning of control parameters are required to stabilize magnetic levitation systems because of their negative stiffness and nonlinearity. The purpose of this study is to propose practical controls which achieve the stability and compensate the nonlinearity without trial and error. In this paper, first, a controller consisting of a balanced current compensator and PD elements is introduced. Then two methods for determining the parameters of the PD elements are proposed. One method is based on the saturation of a current amplifier. The other method is based on the minimum rise time of the levitated object. Finally effectiveness of the proposed methods is examined in an experimental one-degree-of-freedom (1-DOF) system.
社団法人日本機械学会の論文
2001-08-22