Abstract

The magnetically levitated conveyance system to convey products without degradation of quality due to contact is investigated. Especially, we consider the magnetically levitated conveyance only with the vertical direction control to decrease the complexity and the cost of control system. The magnetic force of this system is obtained by assuming magnetic paths and calculating total permeance of them, and approximated by power series nonlinear magnetic force model. Then, we stabilize the dynamic unstability of the levitated system with the feedback of horizontal state variables. Finally, we consider the magnetic levitated system without the sensor for horizontal direction, and also stabilize this system using state observer for the horizontal state variables.