Novel design of a 6-DOF planar Maglev positioning system

被引：3
|
作者：
Chen, MY [1 ]
Lin, TB [1 ]
Shiu, MC [1 ]
Fu, LC [1 ]
机构：
[1] Natl Taiwan Univ, Dept Elect Engn, Taipei 10764, Taiwan
来源：
PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 | 2003年
关键词：
Maglev; precision positioning; adaptive controller;
D O I：
10.1109/AIM.2003.1225110
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel 6-DOF magnetic levitation (Maglev) system is proposed in this paper. In this system, both new structure 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 magnets (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.
引用
收藏
页码：290 / 295
页数：6
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