• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.367-372
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• 2012

This paper presents a development of an analog type magnetic positioning system and its positioning accuracy improvement using fuzzy inference system. As the magnetic positioning system used on a magnet-gyro guidance system for AGV(automatic guided vehicle), it measures a position of magnet embedded in floor of the work place. The existing product of the magnetic positioning system is very expensive in Korea because it is being sold in a foreign country exclusively. Moreover, the positioning accuracy of the product is low because it uses digital type unipolar hall sensors. Hence, we developed the magnetic positioning system by ourselves and improved the positioning accuracy of the developed magnetic positioning system using fuzzy inference system. For experiment, we used the analog type magnetic positioning system which we have developed, and compared the performance of the proposed method with the performance of the existing positioning method for the magnetic positioning system. In experimental results, we verified that the proposed method improved the positioning accuracy of the magnetic positioning system.

• Progress in Superconductivity and Cryogenics
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• v.17 no.3
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• pp.28-32
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• 2015

Nowadays the magnetic field mapping is widely used in the design and analysis of the NMR/MRI magnet system, and the accuracy of mapping result has become more and more important. There are several factors affecting the accuracy of the mapping such as the mapping method, the precision of the sensor, the position of the measurement points, the calculation accuracy, and so on. In this paper the error due to the misalignment of the measurement points was discussed. The magnetic field in the central volume was mapped using an indirect method in an MRI magnet system and the magnetic field was fitted to a polynomial. Considering the misalignment between the original measurement points and the practical measurement points, there must be some errors in the mapping calculation and we called it positioning error. Several comparisons of the positioning error have been presented through the theoretical estimates and the exact magnetic field values. Finally, the allowable positioning errors were suggested to guarantee the accuracy of the magnetic field mapping within a certain degree for an example case.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.164-169
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• 2001

The active magnetic bearing has many advantages - an active positioning, no contact and lubrication free motion - and is widely used in high precision motion stages. But, the conventional magnetic bearings composed of electromagnets only are power consuming due to their bias current and have the excessive heat generation, which can make the repeatability of the positioning system worse. To overcome this drawback, we developed a novel permanent magnet (PM) biased linear magnetic bearing for a high precision magnetically levitated stage. The permanent magnets provide a bias flux and generate a bias force, and the electromagnet increases or reduces a flux of the permanent magnets and gives a levitation force. This paper presents a theoretical magnetic circuit analysis, FEM analysis and experimental data from the 1-DOF tests, and compares the theoretical power consumption of the electromagnetic bearings and the PM biased linear magnetic bearings. The PM biased linear magnetic bearing presented in this paper gives better load capacity but lower power consumption than a conventional electromagnetic bearing and will be adopted in our 6-DOF high precision linear positioning maglev stage.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1941-1948
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• 2003

This paper is about feasibility study of positioning device using magnetic suspension system which uses only vertical magnetic forces. The proposed system has inherited advantages from contact-free system, simple structure, and high expansibility in operating range different from conventional positioning devices. In this paper, the structure and operating principle are described and the linearized magnetic force and dynamic model are obtained. With the linear control theory, the experiments are executed. finally, the experimental results are shown.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.2116-2124
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• 2018

Magnetic levitation system with the advantages of non-contact, no friction and no wear can satisfy the requirement of high precision and high speed positioning. In this paper, magnetic levitation positioning stage which mainly consists of planar coil and HALBACH permanent magnet array and its control and driving system are designed. Magnetic levitation system is a highly nonlinear and strongly coupled complex system and its control performance can be influenced by the uncertainty and external disturbance. So exact feedback linearization method is used to realize exact linearization and decoupling, and a strategy of sliding mode control based on disturbance observer is proposed to compensate the uncertainty and external disturbance. Detailed proofs of observer's convergence property and system stability are derived. Both the simulation and experiment results verify the effectiveness of sliding mode control algorithm based on disturbance observer.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.91-98
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• 2003

In the field of precision manufacturing demanding high positioning performance, the mechanical friction in positioning device deteriorates the quality of the product and increases the cost of production for positioning devices. Therefore, we propose a contract-free linear actuator using active magnetic bearing. The structure and operating principle of the proposed system are explained, and the magnetic forces are analyzed by magnetic circuit theory to design magnetic bearings and linear actuator. With the derived equation of motion, the stability is identified. Experimental results are presented to show the feasibility.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.199-207
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• 1998

This paper presents the design and the control of three degree-of-freedom(DOF) fine positioning device based on an electro-magnetic force. The device is designed by use of a magnetic circuit theory and it is capable of fine motion due to the electro-magnetic force. The device consists of permanent magnets, yokes and coils. The magnetic fluxes generated from the permanent magnets constitute magnetic paths through steel, whereas the coils are arranged into the gap between two surfaces of the yokes. Therefore, by supplying current to the coils, the coils are capable of some motions due to Lorentz forces. For the optimal design of the actuating system, the system parameters are defined and investigated under the given constraints. From the system modeling in small displacement, three decoupled equations of motion are obtained. To get better performance of the system, a PID controller is implemented. Experimental results are presented in terms of time response and accuracy.

• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.221-229
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• 2010

In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.181-187
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• 1996

A frictionless positioning device using cone-shaped active magnetic bearings(AMBs) is developed, which is driven by a brushless DC motor equipped with resolver. The cone-shaped AMB feature that the structure is simple and yet the five d.o.f. rotor motion is controlled by four magnet pairs. A linearized dynamic model, which accounts for the relationship between input voltage and output current in the cone-shaped magnet, is developed and the azimuth motion of the frictionless positioning device is modeled as the second order system. The feedback controller is designed by using linear quadratic regulator with integral action optimal control law so that the cone-shaped AMB system is stabilized and the frictionless positioning device gets the zero steady state. It is observed that the linearized dynamic model is adequate and the frictionless positioning device can achieve the tracking accuracy within the sensor resolution.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.3
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• pp.155-163
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• 2018

This study examined methods to enhance navigation performance and reduce the divergence of navigation solutions that may occur in the event of global positioning system (GPS) failure by integrating the GPS/inertial navigation system (INS) with the three-dimensional (3D) magnetic vector measurements of a magnetometer. A magnetic heading aiding method that employs a magnetometer has been widely used to enhance the heading performance in low-cost GPS/INS navigation systems with insufficient observability. However, in the case of GPS failure, wrong heading information may further accelerate the divergence of the navigation solution. In this study, a method of integrating the 3D magnetic vector measurements of a magnetometer is proposed as a countermeasure for the case where the GPS fails. As the proposed method does not require attitude information for integration unlike the existing magnetic heading aiding method, it is applicable even in case of GPS failure. In addition, the existing magnetic heading aiding method utilizes only one-dimensional information in the heading direction, whereas the proposed method uses the two-dimensional attitude information of the magnetic vector, thus improving the observability of the system. To confirm the effect of the proposed method, simulation was performed for the normal operation and failure situation of GPS. The result confirmed that the proposed method improved the accuracy of the navigation solution and reduced the divergence speed of the navigation solution in the case of GPS failure, as compared with that of the existing method.