• 전력전자학회논문지
• /
• 제9권2호
• /
• pp.158-162
• /
• 2004

자기부유기는 전자력을 이용해서 자성재료를 공중에 떠있게 할 수 있는 장치로 고속회전기에 사용되는 자기 베어링과 자기 부상 열차의 부상원리 등에 응용될 수 있다. 하지만 자기 부유기는 근본적으로 비선형이며 불안정한 시스템으로서 제어에는 많은 어려움이 따른다. 본 논문에서는 비선형 시스템인 자기부유기를 국부적으로 선형화해서 모델링하고, 가변 위치 제어를 수행할 수 있도록 비례미분 위치제어기를 설계하였다. 또한 PWM 컨버터와 DSP기반 제어보드를 이용한 자기 부유기를 제작하고, 시뮬레이션과 실험을 통하여 위치제어 응답성능을 검증하였다.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2003년도 춘계학술대회 논문집 기술교육전문연구회
• /
• pp.140-143
• /
• 2003

자기부유기는 전자력을 이용해서 쇠구슬을 공중에 떠있게 할 수 있는 장치이다. 본 논문에서는 자기 부유기의 기본 원리와 모델링에 관해 소개하고, 디지털 신호처리와 PWM전력변환기를 사용한 자기 부유기를 직접 제작하고 실험을 통해 성능을 검증하였다. 자기부유기의 원리는 고속회전기에 사용되는 자기베어링이나 자기부상 열차의 부상 시스템에 응용될 수 있다. 또한 전기공학 분야의 다양한 교과과정에서 습득한 지식을 활용할 수 있는 학부 프로젝트 실험 주제로 적합하다.

• Journal of Advanced Marine Engineering and Technology
• /
• 제27권7호
• /
• pp.862-871
• /
• 2003

In this paper, we addressed a modeling for the magnetic levitation stage. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for propulsion. Therefore. this stage can generate six degrees of freedom motion by the combination of forces. We derived a mechanical dynamics equation using Lagrangian method and electromechanical dynamics equation by using Co-energy method. Based on the derived dynamics, we can analyze the stage motion that is subject to the input currents and forces.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1082-1087
• /
• 2003

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive levitation object called a platen This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using lagrangian method and used coenergy to express an electromagnetic force. We proposed control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation result is provided to verify the effectiveness of the proposed control scheme.

• Journal of Advanced Marine Engineering and Technology
• /
• 제28권6호
• /
• pp.906-915
• /
• 2004

In this paper, we address the development of magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for driving levitation object called a platen. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We derived the mechanical dynamics equation using Lagrangian method and used coenergy to express an electromagnetic force. We proposed a control algorithm for the position and posture control from its initial value to its desired value using sliding mode control. Some simulation results are provided to verify the effectiveness of the proposed control scheme.

• International Journal of Control, Automation, and Systems
• /
• 제1권1호
• /
• pp.1-10
• /
• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.