Three-degrees-of-freedom control of electromagnetic levitation and two-dimensional linear synchronous drive for a flexible transport lines

本文提出了一种三自由度的电磁悬浮控制方案，即一个四极四绕组的电磁铁可以独立稳定。控制器的设计进行了研究和实验测试表明，所提出的控制方案的优良特性。还提出了零功率控制，其中来自永磁体的磁动势支持悬浮磁体的重量，使得磁体绕组中的平均绕组电流可以为零，并且已经详细研究了磁体的动态电气和机械行为。以长定子一维直线同步电动机为研究对象，对电磁铁作为励磁磁铁时，磁悬浮控制与直线驱动的相互影响进行了实验研究。直线同步电动机的电枢磁链和直线驱动过程中的机械振荡可以是连续的，也可以是振荡的磁链和力的传递。 ...更多信息 悬浮控制器。我们提出了半零功率控制，这是一个零功率命令的基本间隙长度控制器的组合，使用来自力干扰观测器的信息，以设计一个强大的悬浮控制器下的常见情况下结合线性同步驱动器。半零功率控制与慢速零功率控制进行了比较：前者的控制方案具有上级优势，因为它可以在间隙长度控制和零功率控制之间任意调整悬浮控制的频率响应。第一次驱动试验是在一个相对较长的一维轨道上进行的，直线同步电机的电枢侧连接在该轨道上。位置和速度反馈控制在一维驱动实验中显示出了精确控制的可行性。作为最后一步，在日本大学与二维线性电机研究专家大平教授和犬井博士合作，进行了与二维线性电机的组合试验。悬浮控制和道岔驱动的基本功能测试进行了这种二维基础上的开环位置控制，因为它是很难建立一个二维的位置传感系统的闭环控制与简单的仪器。由于这个原因，在二维驾驶试验中观察到轻微的摆动，也因为没有有效的方法来抑制偏航偏差。然而，已经通过实验证实，通过对它们的电流指令进行简单计算来给出适当的电枢电流，可以实现平滑的二维控制，其中磁体遵循任意轨迹参考。虽然没有时间再进行实验，但为了进一步发展二维闭环驱动器的精确控制，还从理论上研究了实施视觉伺服控制的可能性。少

I have proposed a three degree-of-freedom control of electromagnetic levitation, in which a single electromagnet with four poles and four windings can be stabilized by itself independently. The design of the controller is investigated and experimental tests have shown excellent features of the proposed control scheme. Also the zero-power control, in which the magneto-motive force from permanent magnets supports the weight of the levitation magnet so that the average winding currents in the magnets' windings may be zero, has been proposed and the dynamic electrical and mechanical behaviors of the magnet has been studied in detail. The interaction between magnetic levitation control and linear drive has been experimentally studied when the electromagnet is used as a field magnet as a long-stator one-dimensional linear synchronous motor. The armature flux of the linear synchronous motor and mechanical oscillation during the linear drive may be continuous and oscillatory flux- and force-di … More sturbances to the levitation controller. We proposed semi-zero-power control, which is a combination of the zero-power command with the fundamental gap-length controller using information from a force-disturbance observer in order to design a robust levitation controller under the common situation combined with a linear synchronous drive. The semi-zero power -control has been compared with a slow zero-power : The former control scheme has been superior since it makes possible to adjust the frequency response of the levitation control arbitrarily between ones of the gap-length control and zero-power control.The first drive test was executed with a relatively long one-dimensional track on which armature sides of linear synchronous motors are attached. The position and speed feedback controls have shown feasibility of precise controls in the one-dimensional drive experiments.As the final step, a trial of the combination with a two-dimensional linear motor has been carried out at Nihon University in cooperation with Prof. Ohira and Dr. Inui, who are experts of the research on two-dimensional linear motors. Fundamental functional tests of levitation control and turnout drive were carried out with this two-dimensional base on an open-loop position control, since it was difficult to build a two-dimensional position sensing system for a closed-loop control with simple instruments. There was slight saying motion observed in the two-dimensional drive tests for this reason, as well as since there was no active way for suppressing yawing deviation. However, it has been experimentally verified that a smooth two-dimensional control, in which the magnet follows arbitrary trajectory references, is possible by giving appropriate armature currents by following simple calculations for their current commands. Possibility of implementing visual servo control was also theoretically investigated for a further development of a precise control of the two-dimensional closed-loop drives although there was no time to try it experimentally anymore. Less