磁気浮上薄鋼板の非接触位置決め制御における水平方向安定化に関する検討

概要

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As a noncontact transfering system of thin steel plates which are used in various industrial products such as automobile, we have proposed a magnetic levitation control system and have confirmed the feasibility by using the digital control experiment. However, we also found the risk that side slipping and dropping of the plate may occur due to inertial force, since the levitation control does not provide restraining force for the direction of travel. Therefore we have proposed to equip some electromagnetic actuators in order to control the horizontal motion of the levitated steel plate. In addition, we have reported that it is possible to suppress elastic vibration of a steel plate in the vertical direction by aligning several permanent magnets parallel to the electromagnets for the horizontal positioning. The attractive force applied to the steel plate by the permanent magnets changes according to the distance between the permanent magnet and the edge of the steel plate. Such uncertainties for the modeling deteriorate the performance of steel plate positioning using the electromagnet. In this paper, we propose to design a horizontal positioning control system for magnetic levitation of a steel plate using μ-synthesis that is robust for the model uncertainty.
東海大学の論文