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

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1242

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572665

Filename

572665