Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 05, 2021 - September 08, 2021
The vertical direction conveyance control of the magnetic levitation system was investigated in this study. The deviation of the levitation object from the target position, which is caused by the vertical direction conveyance motion, was suppressed effectively by applying the feedforward control. The feedforward controller was designed by the filtered-ε LMS (Least Mean Square) algorithm, which is constructed by the following three-step. The first step is the estimation of the FIR (Finite Impulse Response) model from the target levitation position to the sensor signal which detects the position of the levitation object. The second step is the inverse modeling of the FIR model which is estimated in the first step. And the last step is the derivation of the feedforward controller using the inverse model constructed in the second step. All of the three-step are conducted off-line. Both models of the first and second steps, and the feedforward controller are all derived by the method of the steepest descent iteration process. The goal of this study is to convey an assembly part or an industrial product in a three-dimensional space by using electro-magnet. The levitation control system is controlled by PID, and control of the horizontal direction conveyance was already achieved successfully by the robust PID control system. In this study, the effectiveness of the vertical direction conveyance control system is shown through the experimental results.
