Improvement of the non-contact conveyance performance to the vertical direction by using the electromagnet

Abstract

Non-contact conveyance control system essentially should be ensured that the levitation object remains stable at a specific location below the electromagnet. In that case, it is important to keep the levitation object at a target position and suppress vibration caused by the conveyance motion. The lavitation control system is designed to equalize the closed-loop system to a second-order lag element to stabilize and ensure the appropriate response. However, the design criterion of the natural angular frequency of the closed-loop system, which is one of the design parameters, has not been clarified, therefore it was determined as an empirical value so far. In this study, investigations of the criterion of the design parameter were conducted through experiments. They show that the stability margin, which can be obtained by the self-identification experiment, can be applied directly to the design of the control feedback system. Consequently, it is expected that the performance of the non-contact conveyance improved for any kind of levitation object.