Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design of Levitation and Propulsion Controller for Magnetic Levitated Logistic Transportation System

자기부상 물류이송시스템의 부상 및 추진제어기 설계

  • Choi, Dae-Gyu (Hanwha Systems Co. Ltd.) ;
  • Kim, Yong-Tae (Department of Electrical, Electronic and Control Engineering, Hankyoung National University)
  • Received : 2017.03.21
  • Accepted : 2017.04.12
  • Published : 2017.04.25
Download PDF
⟨ Previous Next ⟩

Abstract

In the paper, we propose a levitation and a propulsion controller for the magnetic levitation logistic transportation system. The levitation controller is designed considering the mutual influence of the electromagnets to minimize roll and pitch movements. In order to solve the structural disadvantages of the magnetic levitation transportation system, we improve the problem of the existing controller by applying the exponential filter to the reference input. DSP-based control hardware is developed and the levitation control method is verified by levitation experiments to the air gap goal. The propulsion controller uses the space vector voltage modulation method. The propulsion controller is designed to follow the position and velocity profile by detecting the absolute position from the bar code information attached to the rail. The position control result shows satisfactory performance through the propulsion control reciprocating motion experiment.

본 논문에서는 자기부상 물류이송시스템의 부상 및 추진제어기 설계 방법을 제안하였다. 부상제어기는 롤과 피치 움직임을 최소화시키기 위해 전자석간의 상호영향을 고려하여 설계하였다. 자기부상이송시스템의 구조적인 단점을 해결하기 위하여 기준입력단에 지수형 필터를 적용하여 기존 제어기의 문제점을 개선하였다. DSP기반의 제어하드웨어를 개발하고, 정격 공극 부상 실험을 통해 부상제어기법이 설계 목표를 만족함을 검증하였다. 추진제어기는 공간벡터 전압변조기법을 사용하고, 레일의 전 구간에 부착된 바코드 정보로부터 절대위치를 감지하여 위치 및 속도 프로파일을 추종하도록 설계하였다. 추진제어 왕복 이동 실험을 통해 위치 제어 결과가 만족할만한 성능임을 확인하였다.

Keywords

References

  1. C. H. Kim, H. S. Han, "Control of an EM-PM Hybrid Maglev LCD Glass Conveyor", Conference on The Korean Society of Mechanical Engineers, Vol. 2010, No. 11, pp. 1522-1527, 2010.
  2. H. J. Ko, Y. K. Kim, "A Study on Chip Transferring System", Conference on The Korean Society of Mechanical Engineers, Vol. 2010, No. 11, pp. 1820-1821, 2010.
  3. W. Wang, I. J. Busch-Vishniac, "An Automated Loading and Unloading System for a Maglev Wafer Transport Path", IEEE Trans. semiconductor manufacturing, Vol. 6, No. 3, pp. 276-279, 1993. https://doi.org/10.1109/66.238179
  4. M. Y. Chen, L. C. FU, "Dual-axis Maglev guiding system modeling and controller design for wafer transportation", Proceedings of the 38 IEEE conference decision and control, pp. 2623-2628, 1999.
  5. Kortum. W, Utzt, A., "Control Law Design and Dynamic Evaluatons for a Maglev Vehicle with a ComBined Lift and Guidance Suspension Systems", Trans. ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 106, pp. 286-292, 1984. https://doi.org/10.1115/1.3140687
  6. D. H. Im, W. S. Kim, "A Study on the Starting Characteristic Analysis of L.I.M. in Auto-Conveyor System", The Transactions of The Korean Institute of Electrical Engineers, Vol. 38, No. 6, pp. 393-400, 1989.
  7. J. H. Cho, Y. T. Kim, "Design of PID Controller for Magnetic Levitation RGV Using Genetic Algorithm Based on Clonal Selection", Journal of Korean Institute of Intelligent Systems, Vol. 22, No. 2, pp. 238-245, 2012.
  8. B. H. Lee, Y. T. Kim, "Modeling of Magnetic Levitation Logistics Transport System Using Extreme Learning Machine", Journal of The Institute of Electronics Engineers of Korea, Vol. 50, No. 1, pp. 269-275, 2013.
  9. D. G. Choi and Y. T. Kim, "A Study on the Design of Logistics Transportation System using Magnetic Levitation", Journal of Korean Institute of Intelligent Systems, Vol. 24, No. 2, pp. 129-135, 2014. https://doi.org/10.5391/JKIIS.2014.24.2.129
  10. D. G. Choi and Y. T. Kim, "Design of Modular Magnetic Levitation Control System", Conference on The Korean Institute of Intelligent Systems, Vol. 24, No. 2, pp. 141-142, 2014. https://doi.org/10.5391/JKIIS.2014.24.2.141
  11. D. G. Choi and Y. T. Kim, "A Study on Design of Levitation Controller for Modular Magnetic Levitated Transportation System", Conference on The Korean Institute of Intelligent Systems, Vol. 25, No. 1, pp. 84-85, 2015.