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

我提出了一种电磁悬浮的三自由度控制，其中一个具有四极和四绕组的电磁铁可以独立稳定。对控制器的设计进行了研究，实验结果表明所提出的控制方案具有良好的性能。提出了用永磁体的磁动势支撑悬浮磁体的重量，使悬浮磁体各绕组的平均绕组电流为零的零功率控制方法，并对悬浮磁体的动态电学和力学行为进行了详细的研究。实验研究了该电磁铁作为长定子一维直线同步电机的磁场磁体时，磁悬浮控制与直线驱动之间的相互作用。直线同步电机的电枢磁链和直线驱动过程中的机械振荡可能是连续振荡的磁链和力链，给悬浮控制器带来较大的扰动。为了设计一种常见情况下与线性同步驱动相结合的鲁棒悬浮控制器，提出了利用力扰动观测器信息将零功率指令与基本间隙长度控制器相结合的半零功率控制方法。将半零功率控制与慢速零功率控制进行了比较，前者控制方案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，因此具有优越性。第一次驱动试验是在一个相对较长的一维轨道上进行的，线性同步电机的电枢侧面附着在轨道上。在一维驱动实验中，位置和速度反馈控制表明了精确控制的可行性。作为最后一步，在日本大学与研究二维直线电机的专家Ohira教授和Inui博士合作，进行了与二维直线电机结合的试验。由于用简单的仪器难以建立闭环控制的二维位置传感系统，因此在开环位置控制的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，在二维驱动测试中观察到轻微的运动，以及因为没有主动的方法来抑制偏航偏差。然而，已经通过实验验证了一个平滑的二维控制，其中磁体遵循任意轨迹参考，是可能的，通过给出适当的电枢电流，遵循简单的计算他们的电流命令。实现视觉伺服控制的可能性也在理论上进行了研究，以进一步发展二维闭环驱动器的精确控制，尽管没有时间进行实验了。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