한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권6호
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  • Pages.553-562
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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과구동 자기부상 무전원 트레이의 부상제어 전략 및 자세제어 알고리즘

Control Strategy and Algorithm for Levitation of Over-actuated Passive Maglev Tray System

  • 안창선 (부산대학교 기계공학부)
  • Ahn, Changsun (School of Mechanical Engineering, Pusan National University)
  • 투고 : 2015.01.05
  • 심사 : 2015.05.12
  • 발행 : 2015.06.01
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초록

This paper presents a strategy and an algorithm for levitation control of an over-actuated passive maglev tray system. The passive maglev tray system has more actuators than its degrees of freedom. The actuators of the system are switching when the tray travels longitudinally. Furthermore, the levitation forces of the actuators are non-homogeneous because the actuation devices are not in the moving platform. These characteristics make a limit in using conventional control approaches for levitation. For smooth actuator switching, the actuator force generation should be dependent on longitudinal positions of the tray. To enable constant pose tracking, this research introduces a control strategy and a control algorithm based on integral controllers on virtual variables. The states of the tray are estimated using a Kalman filter and fed to the proposed controller. The performances of the proposed control strategy and the algorithm are validated through tests.

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참고문헌

  1. Park, J., Kim, J., and Lee, J., "Robust Control of Maglev Vehicles with Multimagnets using Separate Control Techniques," Journal of Mechanical Science and Technology, Vol. 15, No. 9, pp. 1240-1247, 2001.
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  4. Kaloust, J., Ham, C., Siehling, J., Jongekryg, E., and Han, Q., "Nonlinear Robust Control Design for Levitation and Propulsion of a Maglev System," IEEE Proceedings-Control Theory and Applications, Vol. 151, No. 4, pp. 460-464, 2004. https://doi.org/10.1049/ip-cta:20040547
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  6. Sinha, P. K. and Pechev, A. N., "Model Reference Adaptive Control of a Maglev System with Stable Maximum Descent Criterion," Automatica, Vol. 35, No. 8, pp. 1457-1465, 1999. https://doi.org/10.1016/S0005-1098(99)00040-0
  7. Park, J.-W., Kim, C.-H., Park, D. Y., and Ahn, C., "Controller Design with High Fidelity Model for a Passive Maglev Tray System," Int. J. Precis. Eng. Manuf., Vol. 15, No. 8, pp. 1521-1528, 2014. https://doi.org/10.1007/s12541-014-0500-0
  8. Sinha, P. K., "Electromagnetic Suspension: Dynamics and Control," Peter Peregrinus Ltd., London, 1987.
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피인용 문헌

  1. Passive Maglev Carrier Control with Consideration of Pitch Motion vol.40, pp.2, 2016, https://doi.org/10.3795/KSME-A.2016.40.2.213