Title :
Robust controller design for Maglev transport vehicles with a guide-effective electromagnetic suspension system
Author :
Morishita, Mimpei
Author_Institution :
Res. & Dev. Center, Toshiba Corp., Kawasaki, Japan
Abstract :
The author proposes a robust controller design using a pole location method. This design succeeds in giving some robustness to the guide-effective electromagnetic suspension (EMS) systems whose dynamics change widely according to the load weight. The guide-effective EMS system is made by combining a levitating mode with a guiding mode. The controller stabilizes not only the levitating mode but also the guiding mode using only levitation magnets and detectors. This controller design algorithm is suitable to apply PID or I-PD control to plants with some unstable poles, even if there is an order reduction as occurs in the EMS system
Keywords :
H∞ control; automatic guided vehicles; control system synthesis; magnetic levitation; materials handling; observers; pole assignment; robust control; three-term control; I-PD control; Maglev transport vehicles; PID control; guide-effective electromagnetic suspension system; guiding mode; levitating mode; order reduction; pole location method; robust controller design; unstable poles; Algorithm design and analysis; Control systems; Design methodology; Detectors; Magnetic levitation; Magnets; Medical services; Robust control; Robustness; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572665
