251 Direct Force Control of a Magnetic Levitation System

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  • 251 磁気浮上系における電磁力の直接制御

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This paper presents a method for direct magnetic force control of a magnetic levitation system. In this method, a magnetic levitation system is decomposed into a mechanical subsystem and an electrical subsystem based on passivity theory. For the electrical subsystem exact linearization feedback and two degree of freedom controller is applied to control magnetic force so that it is not affected dynamics of the mechanical subsystem. Numerical simulations are carried out to illustrate validity and robustness of a closed-loop system.

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