実用的磁気浮上系制御の提案 : 1 自由度系への適用

概要

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Much effort on modeling, identification 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 a practical control which achieves the stability and compensates the nonlinearity without trial and error. In this paper, first, a controller consisting of a balanced current compensator and PD elements is introduced. The balanced current compensator produces a current to counterbalance the gravity of a controlled object. Then a method for determining a function of the balanced current and parameters of the PD elements by simple preliminary experiments are proposed. The control parameters are automatically designed to achieve the maximum speed of the system. Finally the stable levitation and fast positioning of the object are realized in an experimental one degree of freedom system.
社団法人日本機械学会の論文
2001-10-25