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Modeling of a Magnetic Levitation Stage and its Control  

Yong-Joo, Kim (Machine control & Application Research Group, Korea Electrotechnology Research Institute)
Jeong-Woo, Jeon (Machine control & Application Research Group, Korea Electrotechnology Research Institute)
Taek-Kun, Nam (Div. of Marine Eng., Mokpo National Maritime University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.28, no.6, 2004 , pp. 906-915 More about this Journal
Abstract
In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.
Keywords
Magnetic Levitation; Lagrangian; Co-energy; Sliding mode Control;
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