Three-Dimensional Position Estimation and Levitation and Conveyance Control for An Active Electromagnetic Levitation Conveyance System

一般来说，当我们输送产品时，磁悬浮输送系统是有用的，而不会因接触而导致质量下降。然而，需要控制悬浮物体的三维运动，并且难以测量位置。因此，我们提出了如何估计三维位置没有位置传感器。在电磁铁的底部安装了四个霍尔元件代替位置传感器。状态观测器根据四个霍尔电压和电流以及电磁铁的输入电压估计悬浮物体的三维位置。磁悬浮使用基于估计的垂直位置的状态反馈控制。将最优伺服控制与扰动积分补偿器相结合的二自由度控制器应用于磁悬浮运输系统。仿真和实验结果验证了该方法的有效性。

Generally, a magnetic levitation conveyance system is useful when we convey products without qualitative degradation due to contact. However it is necessary to control the three-dimensional motion of the levitated object and it is difficult to measure the position. Therefore we propose how to estimate three-dimensional position without a position sensor. Four Hall elements are installed on the bottom of the electromagnet instead of the position sensor. A state observer estimates the three-dimensional position of the levitated object from the four Hall voltages and the current and the input voltage to the electromagnet. The magnetic levitation uses a state-feedback control based on the estimated vertical position. A two-degree-of-freedom controller combining an optimal servo control with an integral compensator for disturbances is applied to the magnetic levitation conveyance system. The validity of the proposed method is confirmed by simulation and experiment results.