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

柔性输送线电磁悬浮三自由度控制及二维直线同步驱动

• 批准号: 12650267
• 负责人: KOSEKI Takafumi
• 金额: $ 2.24万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650267/
• 关键词: magnetic levitation; levitation control; observer; transport line; linear motor; two-dimensional drive; zero-power control; permanent magnet; ゼロパワー; 制御; 輸送システム; フィード・パック

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

我提出了电磁悬浮的三自由度控制，其中具有四个磁极和四个绕组的单个电磁体可以独立稳定。研究了控制器的设计，实验测试显示了所提出的控制方案的优异特性。还提出了零功率控制，其中永磁体的磁动势支撑悬浮磁体的重量，使得磁体绕组中的平均绕组电流可以为零，并且详细研究了磁体的动态电气和机械行为。实验研究了电磁铁作为长定子一维线性同步电机作为场磁体时磁悬浮控制与线性驱动之间的相互作用。线性同步电机的电枢磁通和线性驱动过程中的机械振荡可能会对悬浮控制器产生连续和振荡的磁通和力的干扰。我们提出了半零功率控制，它是使用来自力扰动观测器的信息将零功率命令与基本间隙长度控制器相结合，以便在与线性同步驱动相结合的常见情况下设计鲁棒的悬浮控制器。半零功率控制与慢速零功率控制相比：前者的控制方案更优越，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。第一次驱动测试是在相对较长的一维轨道上进行的，线性同步电机的电枢侧附在该轨道上。位置和速度反馈控制在一维驱动实验中显示了精确控制的可行性。作为最后一步，在日本大学与二维直线电机研究专家Ohira教授和Inui博士合作进行了与二维直线电机组合的试验。由于用简单的仪器很难构建用于闭环控制的二维位置传感系统，因此在开环位置控制的二维基础上进行了悬浮控制和道岔驱动的基本功能测试。由于这个原因，并且没有有效的方法来抑制偏航偏差，因此在二维驾驶测试中观察到了轻微的运动。然而，经实验验证，通过对电流命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。尽管没有时间再进行实验尝试，但为了进一步开发二维闭环驱动器的精确控制，还从理论上研究了实现视觉伺服控制的可能性。较少的

项目成果

iangheng LIU, Takafumi KOSEKI: "3 Degrees of Freedom Semi-Zero-Power Maglev Scheme for Two-Dimensional Linear Motor"The Third International Symposium on Linear Drives for Industry Applications. 17-19 (2001)

刘良恒、小关高文：“二维直线电机三自由度半零功耗磁悬浮方案”第三届工业应用直线驱动国际研讨会。

劉 江桁, 古関 隆章: "4極3自由度浮上磁石の軽量化と二次元駆動応用に関する検討"リニアドライブ研究会, LD-01-98〜105. 12月6日号. 13-17 (2001)

刘颉吉、古关高章：《4极3自由度悬浮磁体减重及二维驱动应用研究》线性驱动研究组，LD-01-98~105 12月6日期。 17 (2001)

劉 江桁, 古関 隆章, 乾 成里, 大平庸一: "4極3自由度浮上磁石の二次元駆動への応用"第14回電磁力関連のダイナミツクスシンポジウム. 389-392 (2002)

Ejita Liu，Takaaki Koseki，Narisato Inui，Yoichi Ohira：“4极3自由度悬浮磁体在二维驱动中的应用”第14届电磁力相关动力学研讨会389-392（2002）。

劉江桁, 古関隆章, 乾成里, 大平庸一: "4極3自由度浮上制御電磁石を界磁とする二次元LSM駆動実験"電気学会リニアドライブ研究会資料. LD-02-83 19-LD-02-83 24 (2002)

Jiang Liu、Takaaki Koseki、Nari Inui、Yoichi Ohira：《使用4极3自由度悬浮控制电磁铁作为场的二维LSM驱动实验》日本电气工程师学会线性驱动研究资料LD-02-83 19-LD-02-83 24 (2002)

Jiangheng LIU, Koji YAKUSHI, Takafumi KOSEKI: "Robust Control of a 4-Pole Electromagnet in Semi-Zero-Power Levitation Scheme with a Disturbance Observer"電気学会産業応用部門論文誌. Vol.122-D, No.1. 7-15 (2001)

Jiangheng LIU、Koji YAKUSHI、Takafumi KOSEKI：“使用干扰观测器对半零功率悬浮方案中的 4 极电磁体进行鲁棒控制”，IEEJ 工业应用分部交易，第 122-D 卷，第 1 期。 (2001)