2自由度積分型最適サーボ系を用いた磁気浮上搬送制御の実現

概要

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This paper describes an active electromagnetic levitation conveyance system incorporating a two-degree-of-freedom optimal servo controller. The system uses a mobile stage with an active electromagnet. A state observer estimates the horizontal and vertical position of the levitated object from two Hall voltages and the current and input voltage to the electromagnet. The magnetic levitation uses a state-feedback control based on the estimated vertical position. A conveyance controller must give desired movement while damping undesired sway using the estimated horizontal position. In order to realize it, a two-degree-of-freedom controller combining an optimal servo control with an integral compensator for disturbances is applied to the magnetic levitation conveyance system. In addition it is possible to design the optimal servo gain and the integral compensator gain independently. Sway is minimized by a designed velocity input based on the acceleration and deceleration time of the integral multiple of the natural period. The validity of the proposed method is confirmed by simulation and experiment results.