제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

High-Precision Control of Magnetic Levitation System

  • Jeon, Jeong-Woo (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Caraiani, Mitica (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Lee, Ki-Chang (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Hwang, Don-Ha (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Lee, Joo-Hoon (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Kim, Yong-Joo (Machine control and application group, Korea Electrotechnology Research Institute) ;
  • Nam, Taek-Kun (Division of Marine Engineering, Mokpo National Maritime University) ;
  • Kim, Sung-Shin (Department of Electrical Engineering, Pusan National University)
  • 발행 : 2005.06.02
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초록

In this paper, we address two position control scheme; the lead-lag control and the sliding mode control for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived simply. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

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