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

基本信息

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

项目摘要

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个自由度控制，其中一个具有四个策略和四个绕组的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出色特征。同样，零功率控制，其中永久磁体的磁磁力支持悬浮磁体的重量，因此已经提出了磁铁绕组中的平均绕组电流，并已提出了磁铁的动态电气和机械行为。当电子磁铁用作磁场磁体作为长定位的一维线性同步电动机时，磁性悬浮控制与线性驱动之间的相互作用已在实验上进行了研究。线性同步电动机和线性驱动过程中的机械振荡的电枢通量可能是连续的，振荡器通量和力 - 磁通量……悬浮控制器的迫使。我们提出了半零功率控制，它是零功率命令与基本间隙长度控制器的组合，使用来自力扰动观察者的信息，以设计在共同情况下与线性同步驱动器一起设计强大的悬浮控制器。半零功率对照与缓慢的零功率进行了比较：以前的控制方案是优越的，因为它有可能在间隙长度控制和零功率控制的悬浮控制之间任意调整悬浮控制的频率响应。第一个驱动器测试执行了相对较长的一维轨道，该轨道是在线性同步运动器的哪个臂侧侧面连接的。位置和速度反馈控件显示了在一维驱动实验中精确控制的可行性。作为最后一步，在NIHON大学与Ohira教授和Inui博士合作进行了与二维线性电动机的结合试验，他们是对二维线性线性研究的专家。悬浮控制和投票驱动驱动器的基本功能测试是在开环位置控制下的二维基础进行的，因为很难为使用简单仪器进行闭环控制构建二维位置传感系统。出于这个原因，在二维驱动测试中观察到的动作略有说明，以及由于没有积极抑制偏航出发的积极方法。但是，经过实验证实的是，通过遵循对当前命令的简单计算，可以通过遵循适当的电枢电流来提供适当的电枢电流，从而可以通过磁体遵循任意轨迹参考的光滑二维控制。理论上还研究了实施视觉伺服器控制的可能性，以进一步开发对二维闭环驱动器的精确控制，尽管没有时间进行实验尝试。