Magnetic Servo Levitation With Large Air Gaps

本研究的重点是了解磁伺服悬浮的动力学和控制特性，并通过理论和实验研究将开发的思想应用于机器人机构。以前在这一领域的研究往往只在线性控制理论的框架内发展磁伺服悬浮。这项工作与早期工作的不同之处在于：1）它显式地处理控制系统中的非线性和离散时间元素，以利用具有大气隙的磁悬浮，2）它考虑了通常假设为静止的定子的动态运动，3）它包括一个实验研究组件，以评估物理系统的控制方案。该项目分两个阶段实施，第一阶段为大间隙主动磁悬浮开发伺服控制系统，第二阶段为实际机器人应用演示伺服悬浮。

This research focuses on understanding the dynamics and control features of magnetic servo levitation, and on applying the ideas developed to robot mechanisms through theoretical and experimental studies. Previous research in this area has tended to develop magnetic servo levitation only within the framework of linear control theory. This work differs from the earlier work in that: 1) it treats explicitly the nonlinear and discrete time elements in the control system to exploit magnetic levitation with large air gaps, 2) it takes into consideration the dynamic motion of the stator which is normally assumed to be stationary, and 3) it includes an experimental research component to evaluate the control schemes for physical systems. The project is implemented in two stages, the first of which develops a servo control system for active magnetic levitation with large gaps, and the second of which demonstates servo levitation for practical robotic applications.