Title :
Novel design of a 6-DOF planar maglev positioning system
Author :
Chen, Mei-Yung ; Lin, Tzuo-Bo ; Shiu, Ming-Chiuan ; Fu, Li-Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
A novel 6-DOF magnetic levitation (maglev) system is proposed in this paper. In this system, both new and adaptive control algorithm are developed. Three objectives we attempt to achieve simultaneously include large moving range, accurate positioning, and fast response. Structurally, totally there are six permanent magnet (PMs) attached on the carrier, while six coils mounted on a fixed part. By analyzing the magnetic force characteristics between permanent magnets and coils, the general model of this system with full DOFs is therefore derived and analyzed. Then, due to the naturally unstable behavior and uncertainties of the maglev systems, an adaptive controller is proposed to guarantee the stabilities of all DOFs both in regulation and tracking. From the experimental results, satisfactory good performances including stiffness and precision have been demonstrated.
Keywords :
MIMO systems; adaptive control; control system synthesis; magnetic forces; magnetic levitation; permanent magnets; position control; stability; 6-DOF magnetic levitation system; adaptive control algorithm; adaptive controller; coils; magnetic force characteristics; permanent magnet; planar maglev positioning system; precision positioning; Adaptive control; Adaptive systems; Coils; Control systems; Magnetic analysis; Magnetic forces; Magnetic levitation; Permanent magnets; Programmable control; Uncertainty;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225110
