円盤磁石を用いた可変磁路制御機構による磁気浮上（二つの鉄球同時浮上実験）

概要

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This paper proposes a simultaneous suspension of two iron balls using a variable flux path control mechanism. This mechanism consists of a disk-type permanent magnet, a rotary actuator, and two iron cores. In this mechanism, the two iron balls are suspended in parallel. The suspension forces for two iron balls are generated on the ends of two iron cores, and controlled by varying the angle of the disk magnet that is driven by a rotary actuator. In this paper, first, the control principle of suspension force is explained, and the experimental prototype and the controller are introduced. Second, basing on experimental data, a numerical model is setup, and the controllability is proved. Finally, the feedback gains are calculated by LQR (Linear Quadratic Regulator), and the simultaneous suspension experiment of two iron balls is succeeded with the linear rails. All results indicate that the two iron balls can be suspended simultaneously.