Robust force control for a magnetically levitated manipulator using flux density measurement

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This paper demonstrates, theoretically and experimentally, the idea of magnetic force control in magnetically levitated systems using flux density measurements. The force is determined by measuring the flux density in the airgap from a Hall-effect sensor. A simple magnetic levitation system which consists of a U-shaped electromagnet and a manipulator is developed for demonstration. A state feedback controller and H-infinity controller are used together to increase robustness and speed performance of the force controlled system, and they are implemented in real time using a digital signal processor with 16-bit A/D and D/A converters. Simulation and experimental results for robust stability, disturbance/noise rejection and asymptotic tracking are presented.
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Issue Date
1996-07
Language
English
Article Type
Article
Citation

CONTROL ENGINEERING PRACTICE, v.4, no.7, pp.957 - 965

ISSN
0967-0661
URI
http://hdl.handle.net/10203/2663
Appears in Collection
ME-Journal Papers(저널논문)
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