Using Two-Dimensional Electro-Magnetic Suspension for a New Electro-Actuator Design

利用二維磁浮技術之新型電磁驅動器裝置設計

陳美勇(Mei-Yung Chen) ； 蔡嘉峰(Chia-Feng Tsai) ； 傅立成(Li-Chen Fu)

《中華技術學院學報》 30期 (2004/06) Pp. 145-158

https://doi.org/10.7095/JCIT.200406.0145

摘要

在本論文中，我們設計了一個新型的電磁推力式定位系統，其構造是由三個主動式的線圈與一個端點鑲有永久磁鐵之被動式移動平台所組成，其架構示於圖一。其驅動原理是利用電磁線圈與永久磁鐵間所産生之相互作用力，藉由調整輸入電磁線圈之電流，而改變移動平台之位置與姿態。整個新型系統的設計概念及數學動態行爲模型在本文中會有詳細的介紹與推導。再者，依據系統參數特性而設計的適應性滑動模式控制器，並將此控制器應用於本系統進行模擬，從模擬的結果中，可以發現此系統在導引與追蹤效果上具有精確定位與快速反應的特性。

關鍵字

磁浮 ； 電磁驅動器 ； 適應性滑動模式控制器 ； 精確定位

並列摘要

This paper presents a special framework for positioning control of electro-magnetic suspension actuator (EMSA) system in multiple degrees of freedom (DOFs). It is a repulsive magnetic system consisting of a carrier, and three active coils. The developed structure as shown in Fig.1, the purpose of this research is not only suspend the carrier without any mechanical contact but also using thrust coil to apply lateral force to implement the positioning in horizontal direction. First, the dynamic model is derived and analyzed. Next, due to most magnetic suspension systems are nonlinear, an adaptive sliding mode controller was used to eliminate the system uncertainties and improve the framework performance. From the simulation results, good performance of regulation for guiding-axis and of tracking for positioning-axis is achieved. This validates the design of system hardware and demonstrates feasibility of the developed controller.

並列關鍵字

Electro-magnetic suspension ； Electro-magnetic suspension actuator ； Active coil ； Permanent magnet ； Adaptive sliding mode control ； Precision positioning