2023 年 7 巻 2 号 p. 112-117
Thin flexible steel plates are used in the manufacturing of household appliances and other products. Since the plates are conveyed by rollers during the manufacturing process, deterioration on the surface of the plates such as abrasions has become a problem. To solve this, non-contact gripping and conveyance of flexible steel plates using magnetic levitation technology have been proposed. A suitable method for levitating thin flexible plates, is a magnetic levitation system using electromagnets placed only at the edges of the plates. The previous control model considers only the horizontal direction. Levitation is possible with this model; however, under some conditions, it is not possible to suppress vertical vibration, and there is the possibility of plates falling off. Therefore, in this paper, a two-degree-of-freedom vibration control system that consider both horizontal and vertical directions is proposed for stable levitation. Moreover, the control performance was investigated by applying the optimal control theory to the proposed system.
