駆動・制御機構を内蔵した非接触リニアベアリングの研究

本研究旨在实现一种具有电磁铁的复合式推进、导向和提升系统，用于垂直运输而不与轨道接触。长定子推进和短定子推进两种方案都是可行的。前者很容易实现，但成本太高。在此基础上，选择了短定子推进与电磁导轨相结合的方案进行研究，电磁导轨是利用U形磁铁对U形导轨的四边效应实现的。为了减轻运动部件的重量和科普电磁铁的非线性特性，提出了一种在横截面上独立调节二维导向力的控制方案。提出了一种分析直线感应电动机电磁场的数值方法，以优化直线感应电动机的设计。一种新的结构与环形绕组被独立控制，能够增加有效载荷系数高达3。将磁场定向控制技术应用于该系统，使电机在瞬态运动中也能产生稳定的大推力。用变频变压器对其特性进行了测试，并与理论分析进行了比较。通过这些研究验证了垂直推进系统的可行性。制导与推进组合系统的模型在研究期内尚不能完全建立，但本研究确立了制导与推进组合系统的概念和设计原则。

This study aims to realize a combined propulsion, guide and lift system with electromagnets for vertical transportation without contact to the track. Two types of propulsion scheme, the long stator and the short stator propulsion, are feasible. The former is easily realizable but too expensive. Then the combination with the short stator propulsion and the electromagnetic guide is selected for the study.The electromagnetic guide is based on the four edge effect of U shape magnet on U-shape rail. A control scheme to regulate the two-dimensional guide force in the cross section independently is introduced to reduce the weight of the moving part and to cope with the nonlinear characteristic of electromagnets.The vertical propulsion with the linear actuator requires to develop one with the high payload. A numerical scheme to analyze electromagnetic field in the linear induction motor is made to potimize its design. A novel structure with the ring windings to be controlled independently is shown to be able to increase the pay load factor up to 3. Application of the field oriented control scheme to it make the motor generate stable large thrust force even in the transient motion.A model cylindrical linear induction motor is constructed. Its characteristics is measured with the variable frequency variable voltage drive and compaed with the theoretical analysis. The feasibility of the vertical propulsion system is verified thruph these studies. The model of combined guide and propulsion system cannot be completed in the due time of research period, but its concept and design principle are established with this study.