Development of hybrid non-contact guide technique under high-speed transportation for continuous flexible body

近年来，随着高端产品的出现，用户对通过连续钢板工艺生产的高质量、高附加值的钢板的需求越来越大。在工厂里，经过钢铁加工的连续薄钢板在轧制等过程中由一系列轧辊支撑。在电镀过程中，钢板沿垂直方向输送20-50米以供烘干，在此期间不需要辊子或其他机构来支撑。因此，由于振动和其他因素产生的电镀不均匀阻碍了生产率的提高。为解决这一问题，我们开发了一种在钢板边缘施加电磁力的高速行进钢板非接触导轨系统，考察了用永磁体取代电磁铁的控制性能，从而消除了运行成本，并通过实验验证了该系统的有效性。然而，到目前为止，还没有研究过永磁体的负弹簧力造成的负面影响。因此，研究了永磁体的磁通密度与钢板与永磁体表面间隙之间的最佳关系；另一方面，需要开发一种控制系统来考虑实际连续薄板过程中由于电磁铁的热量引起的各种参数误差，如电阻变化的不均匀。在这项研究中，我们证实了滑模控制理论对阻力变化表现出的稳健性的抑制效果。此外，在控制板的位置时，确定控制目标的质量是极其困难的。在这项研究中，我们证实了一种对质量变化具有鲁棒性的滑模控制理论的抑制效果。

Recently, along with high-end products, users have come to demand steel plates with high quality and high added value manufactured by a continuous steel plate process. In the factory, a continuous thin steel plate subjected to iron and steel processes is supported by a series of rollers during processes such as rolling. In the plating process, the steel plate is conveyed 20-50 m in the vertical direction for drying, during which time it is not supported by rollers or other mechanisms. Therefore, plating non-uniformity due to the generation of vibration and other factors prevents an increase in productivity. To solve this problem, we developed a non-contact guide system for high-speed traveling steel plates in which electromagnetic forces are applied at the edges of the steel plates.The control performance in replacing the electromagnet with a permanent magnet, moreover thus eliminating the running cost, was examined, and the efficacy of the proposed system was verified by experiments. However, the negative effect caused by the negative spring force of the permanent magnet has, to date, not been examined. So, the optimal relationship between the magnetic flux density of a permanent magnet and the gap between the steel plate and the surface of the permanent magnet was examined.On the other hand, it will be necessary to develop a control system that takes into consideration various parameter errors, such as non-uniformity of resistance change for an actual continuous thin-steel-plate process caused by the heat of the electromagnet used. In this study, we confirmed the suppressive effect of a sliding-mode control theory that exhibits robustness to resistance variation. In addition, when the position of the plate is controlled, it is extremely difficult to determine the mass of the control target. In this study, we confirmed the suppressive effect of a sliding mode control theory that has robustness in mass variation.