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磁気浮上系に対する受動性をもとにした電流フィードバックを用いない非線形制御
http://hdl.handle.net/10191/5867
http://hdl.handle.net/10191/58679654784d-0ebd-4680-adfa-71fb02106af9
名前 / ファイル | ライセンス | アクション |
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9_0165.pdf (451.8 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-04-08 | |||||
タイトル | ||||||
タイトル | 磁気浮上系に対する受動性をもとにした電流フィードバックを用いない非線形制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | 磁気浮上系に対する受動性をもとにした電流フィードバックを用いない非線形制御 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Magnetic Levitation System | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Passivity | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Non-Linear Control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Current Feedback | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | A Non-Linear Control of a Magnetic Levitation System without Current Feedback Based on Passivity | |||||
著者 |
清水, 年美
× 清水, 年美× 佐々木, 実 |
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著者別名 | ||||||
識別子 | 45390 | |||||
識別子Scheme | WEKO | |||||
姓名 | Shimizu, Toshimi | |||||
著者別名 | ||||||
識別子 | 45391 | |||||
識別子Scheme | WEKO | |||||
姓名 | Sasaki, Minoru | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper presents a non-linear control of a magnetic levitation system without current feedback based on passivity of a system. The magnetic levitation system is essentially non-linear. However, most researchers are modeled it as a linear system. If the object is far from the equilibrium point, a linear controller cannot compensate large gap between the magnetic coil and the object levitation. Some applications such as magnetic levitation conveyance system require large levitation gap control. In such cases, the linear controller sometimes makes the system unstable. In this paper, a non-linear controller based on passivity is introduced. The magnetic levitation system is decomposed into two subsystems, electrical subsystem and mechanical subsystem. The non-linear controller is designed for each subsystem. Controller for the electrical subsystem is designed by using kinematic-energy-shaping and PID controller is used for the mechanical subsystem. The asymptotic stability of the closed-loop system is proved by Lyapunov stability theory. The derived controller needs position and velocity feedback but not current feedback. Numerical simulation and experimental results show the validity of the proposed non-linear controller. | |||||
書誌情報 |
日本機械学会論文集. C編 en : 日本機械学会論文集. C編 巻 68, 号 675, p. 3292-3297, 発行日 2002-11 |
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出版者 | ||||||
出版者 | 日本機械学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 03875024 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 日本機械学会 / 本文データは学会の許諾に基づくCiNiiからの複製である | |||||
著者版フラグ | ||||||
値 | publisher | |||||
異版である | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/110002378755 |