スライディングモード制御を用いた磁気浮上装置の基礎的考察

（外乱状況下における湾曲浮上制御）

抄録

When an thin and flexible steel plate is to be levitated, levitation control becomes difficult because the thin steel plate undergoes increased flexure. We propose a levitation of an thin steel plate that is bent to the extent that the plate does not induce plastic deformation. It has been confirmed that vibrations are suppressed, and levitation performance is improved by bending levitation. In this study, we applied sliding mode control theory to the bending levitation system using 1DOF model and carried out levitation experiments. We conducted experiments on levitation performance when the electromagnet was oscillated by vibrator in the bending levitation system. We conducted experiments on levitation performance when the electromagnet was displaced by frame vibration in the bending levitation system. As a result, it is possible to realize stable levitation in the face of an input external disturbance when levitating at the optimum bending angle.