The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2A1-G08
Conference information
2A1-G08 An Active Electromagnetic Levitation Conveyance System by using Two-Degree-of-Freedom Optimal Servosystems(Dynamics & Design of Robot System)
Yoshimitsu KOBAYASHI, Shota KAMEYAMA, Minoru SASAKI
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Keywords: Electromagnetic Levitation, Conveyance Control, Two-Degree-of-Freedom Control System, Hall Element, Observer, Two Dimensionnal Position Estimation
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Abstract
In this paper, we propose to apply two-degree-of-freedom optimal servo system to active electromagnetic levitation conveyance system. This experimental system is constructed by moving active electromagnetic levitation system by attached to mobile stage. Horizontal position of levitated object is estimated by an observer by measuring two hall voltages and current. Anti-sway and conveyance control is realized by the optimal servo system and integral compensation. The validity of the proposed method is confirmed by experiment and simulation.
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© 2012 The Japan Society of Mechanical Engineers
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