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

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

290

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225110

Filename

1225110