Zero power control of a 3 DOF levitated multiple hybrid electromagnet flexible conveyor system

In this study, a flexible conveyance system driven by linear motors and hybrid magnets for magnetic levitation is proposed. For modelling purposes, nonlinear analytic models are derived and extended to 3 axis of movement and controlled with those nonlinear equations. For energy efficiency, each pole is controlled with voltage driving zero power levitation method. Since the system only has displacement sensors for feedback, to fully control and understand the systems characteristics and disturbances, all axis are observed by disturbance observer and integrated to controller algorithm for better response and robustness, which is achieved multiplying the disturbance observer´s output with system gain and feedforwarded. The proposed system and control algorithms are well confirmed by numerical results.