수동 캐리어형 자기부상 이송시스템의 부상전자석 배치 간격을 고려한 설계 및 해석

이영학(Younghak Lee),하창완(Chang-Wan Ha),임재원(Jaewon Lim),이종민(Jong-Min Lee),김창현(Chang-Hyun Kim) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.7

디스플레이 생산공정에 있어서 이송장비의 위치 정밀도는 생산 제품의 불량으로 이어질 수 있기 때문에 횡방향 및 종방향의 위치 안정성을 확보한 이송시스템의 개발이 필요하다. 특히 수동 캐리어형 자기부상 이송시스템은 비접촉 이송으로 인해 분진 발생이 없어 생산 불량품 감소에 기여할 수 있다. 자기부상 이송시스템의 외부 프레임에 설치되는 부상전자석은 공간적, 경제적 제약으로 인해 간헐적으로 배치되며, 부상전자석 간격은 시스템 설계 및 제어에 영향을 줄 수 있는 중요한 요소이기 때문에 보다 면밀히 검토되어야 한다. 따라서 본 논문에서는 부상전자석 간격을 고려한 수동형 자기부상 이송시스템 설계 및 제어에 그 목적이 있다. 부상전자석을 설계하고 전자기 해석을 통해 발생하는 부상력이 시스템에 미치는 영향에 대해 분석하였다. 또한 부상전자석 배치간격을 설계변수로 하여 제어기를 설계하고 동역학 기반 해석 모델에 대입하였다. 400kg 급 수동 캐리어형 자기부상 이송시스템을 대상으로, 해석을 통해 부상공극, 캐리어 피치각도, 캐리어 중심점 변위를 비교하였다. 그 결과 부상전자석 배치간격을 200mm로 하여 총 14개의 부상전자석으로 지지하는 구조가, 230mm 12개의 부상전자석으로 지지하는 구조보다 부상안정성 측면에서 더 우수함을 확인하였고 이를 실험을 통해 검증하였다. A stable transfer system needs to be developed because instability of transfer system display panel equipment can result in defective products. Maglev transfer systems facilitate non-contact conveyance, thus reducing the frequency of defective products and improving productivity. Levitation electromagnets, which generate attractive forces, are discontinuously arranged due to spatial and economic limitations. The placement interval of the levitation electromagnet warrants closer consideration because it is an important factor that may affect the design and control of the system. The purpose of this investigation is to study the design and control of a maglev transfer system according to the placement interval of levitation electromagnets. The paper details both design of the levitation electromagnet and the electromagnetic analysis of the effect of levitation force on the system. The controller was designed with consideration of the levitation electromagnet interval, and this was applied to the dynamic analysis model. The 400 kg passive carrier type maglev transfer system was analyzed to compare the levitation gap, carrier pitch angle, and carrier center displacement. Experimentally verified results confirm that a configuration of a total of 14 levitation electromagnets with 200 mm spacing is superior to a configuration of 12 levitation electromagnets with 230 mm spacing in terms of levitation stability.

초정밀 자기부상 물류 이송장치를 위한 부상력 제어기

김민(Kim min),김창현(Chang-Hyun Kim),하창완(Chang-Wan Ha),임재원(Jaewon Lim),원문철(Mooncheul Won) 한국철도학회 2016 한국철도학회 학술발표대회논문집 Vol.2016 No.10

초정밀 자기부상 이송장치 시스템은 저진동, 저소음의 특징으로 마찰없이 고청정의 환경에서 디스플레이 공정산업 등에 활용 가능하다. 캐리어의 온도변화에 따른 유리기판 열팽창을 최소화 하기 위해 발열이 될만한 요소(부상/안내/추진시스템)들을 캐리어의 상단에 위치한 레일면에 부착한 것이 특징이다. 이 시스템은 자기부상열차와 달리 특성 전자석이 감당해야하는 부상체의 정적 하중이 부상체의 종방향 위치에 따라 달라지기 때문에 정밀한 제어가 필요하다. 본 논문에서는 부상력 제어기를 적용하여 부상력 생성 및 분배 시 발생하는 트레이의 피치 운동을 줄이고자 한다. 또한, 종방향 이동시 전자석의 켜고 꺼짐에 의해 발생하는 급격한 부상력 변화와 이로 인해 발생하는 요동을 줄이고자 한다. 이를 수행하기 위하여 해석적으로 부상력 제어기 적용에 따른 부상 안정성을 확인한다. Maglev system features a low vibration and low noise. So it is possible to utilize the process industries such as OLED display. The High accuracy magnetic levitation transport system of electromagnets are arranged discretely. And the electromagnets of the system are switching when the tray travels longitudinally. This structure causes a rapid change in the levitation force. In addition, the cause of roll-pitch of motion. This paper presents a strategy and an algorithm for levitation control of an over actuated high accuracy magnetic levitation transport system. The performances of the proposed control strategy and the algorithm are validated through tests.

자기부상 물류이송시스템 설계에 관한 연구

최대규(Dae-Gyu Choi),조재훈(Jae-Hoon Cho),김용태(Yong-Tae Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.2

본 논문에서는 이동할 때 마찰이 없고 소음이나 먼지가 발생하지 않는 자기부상 물류이송시스템의 설계 방법을 제안한다. 제안된 자기부상 이송시스템은 크게 부상시스템과 추진시스템으로 구분된다. 자기부상시스템은 레일로 전자석을 끌어당기는 흡인식 부상시스템으로 구현하였으며, PID 제어기를 사용하여 전자석 공급 전류를 제어하였다. 자기부상 이송시스템의 추진시스템에는 바퀴의 마찰과 모터의 회전이 없고 소음이 최소화 되는 선형 유도전동기를 사용하였다. 추진시스템의 제어방법은 입력되는 직류전압에서 큰 교류전압을 얻을 수 있는 공간벡터 펄스폭 변조방식을 적용하였다. 제안한 자기부상 물류이송시스템은 부상 및 추진 제어 실험을 통하여 성능을 검증하였다. In the paper, we propose a design method for the logistics transportation system using magnetic levitation that has a good characteristics without mechanical friction, noise and dust. The proposed transportation system consists of a levitation control system and a propulsion control system. Magnetic levitation system is an electromagnetic suspension system in which electromagnet generates magnetic attractive force and the attractive force pulls the rail. We design a PID controller for the current control of electromagnets. We use linear induction motors for propulsion of the proposed logistics transportation system and adapt the space vector PWM method for the propulsion control system. The proposed transportation system using magnetic levitation is verified performances through levitation and propulsion experiments.

Development of Redundant Levitation and Guidance Control System of the Urban and Medium to High Speed Magnetic Levitation Train

Cho, Yeon-Hwa,Lee, Sun-Hee,Jang, Kyung-Hyun,Lee, Sang Suk,Lee, Kyoung-Bok,Park, Doh-Young The Korean Society for Railway 2015 International Journal of Railway Vol.8 No.1

This study focuses on the performance enhancement of the levitation and guidance control system in urban and medium-to high-speed magnetic levitation trains. A levitation control system, which is currently being tested in Yeongjongdo, is a single controller that is neither designed nor produced on the basis of redundancy. Hence, vehicular stability and reliability should be improved for the situation in which levitation failure occurs because of a breakdown in a controller during vehicle operation. In addition, the control system should be developed to control electromagnetic levitation considering changes in normal force according to changes in the driving force of the propulsion system.

Study of Levitation Force Improvement Structure of Magnetic Levitation System for Logistics Transport considering Leakage Flux

강준호,김정원,이주,정동훈,김창현 한국철도학회 2022 한국철도학회논문집 Vol.25 No.2

In this paper, we propose a structural modification to improve levitation force of an EMS (Electro-Magnetic Suspension) C-type levitation system operated by an electromagnet. When the size of the transport system is limited, a study has to be conducted on design techniques to allow maximum levitation force within constraints. This study considered the shape of the stator teeth to improve the levitation force without affecting overall size of system. In addition, slot design parameters resulting from changed teeth shapes were summarized. The shape with maximum levitation force was derived by analyzing the magnetic flux contributing to the levitation force and the leakage flux according to the size of the design variable. Finally, the validity of the study was verified by comparing the levitation force results of the basic and improved models through FEA (Finite Element Analysis).

Development of Redundant Levitation and Guidance Control System of the Urban and Medium to High Speed Magnetic Levitation Train

Yeon-Hwa Cho,Sun-Hee Lee,Kyung-Hyun Jang,Sang Suk Lee,Kyoung-Bok Lee,Doh-Young Park 한국철도학회 2015 International Journal of Railway Vol.8 No.1

This study focuses on the performance enhancement of the levitation and guidance control system in urban and mediumto high-speed magnetic levitation trains. A levitation control system, which is currently being tested in Yeongjongdo, is a single controller that is neither designed nor produced on the basis of redundancy. Hence, vehicular stability and reliability should be improved for the situation in which levitation failure occurs because of a breakdown in a controller during vehicle operation. In addition, the control system should be developed to control electromagnetic levitation considering changes in normal force according to changes in the driving force of the propulsion system.

Application of High Gain Adaptive Output Feedback Control to a Magnetic Levitation System

Ryuji Michino,Hiroki Tanaka,Ikuro Mizumoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper shows application results of a high gain adaptive output feedback control to a magnetic levitation system. Usual high gain output feedback control can not be applied to the magnetic levitation system, since it is an unstable system with a relative degree greater than one and uncertain nonlinearities in control input term. In the applied method, a high gain adaptive output feedback controller is designed by introducing two different virtual filters and using backstepping strategy. The application results are shown in the numerical simulations and experiments.

자기부상 물류이송시스템의 부상 및 추진제어기 설계

최대규(Dae-Gyu Choi),김용태(Yong-Tae Kim) 한국지능시스템학회 2017 한국지능시스템학회논문지 Vol.27 No.2

본 논문에서는 자기부상 물류이송시스템의 부상 및 추진제어기 설계 방법을 제안하였다. 부상제어기는 롤과 피치 움직임을 최소화시키기 위해 전자석간의 상호영향을 고려하여 설계하였다. 자기부상이송시스템의 구조적인 단점을 해결하기 위하여 기준입력단에 지수형 필터를 적용하여 기존 제어기의 문제점을 개선하였다. DSP기반의 제어하드웨어를 개발하고, 정격 공극 부상 실험을 통해 부상제어기법이 설계 목표를 만족함을 검증하였다. 추진제어기는 공간벡터 전압변조기법을 사용하고, 레일의 전 구간에 부착된 바코드 정보로부터 절대위치를 감지하여 위치 및 속도 프로파일을 추종하도록 설계하였다. 추진제어 왕복 이동 실험을 통해 위치 제어 결과가 만족할만한 성능임을 확인하였다. In the paper, we propose a levitation and a propulsion controller for the magnetic levitation logistic transportation system. The levitation controller is designed considering the mutual influence of the electromagnets to minimize roll and pitch movements. In order to solve the structural disadvantages of the magnetic levitation transportation system, we improve the problem of the existing controller by applying the exponential filter to the reference input. DSP-based control hardware is developed and the levitation control method is verified by levitation experiments to the air gap goal. The propulsion controller uses the space vector voltage modulation method. The propulsion controller is designed to follow the position and velocity profile by detecting the absolute position from the bar code information attached to the rail. The position control result shows satisfactory performance through the propulsion control reciprocating motion experiment.

Fuzzy adaptive control particle swarm optimization based on T-S fuzzy model of maglev vehicle suspension system

Chen Chen,Junqi Xu,Guobin Lin,Yougang Sun,Dinggang Gao 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.1

At present, with the gradual promotion of Maglev vehicles, the stability of the suspension system has gradually become a hotspot. During the operation of Maglev vehicles, vibration may be caused by external disturbances such as track irregularity, non-directional wind load and load variation. When the vibration amplitude is within the controllable range of the current parameters, the restraint effect can be achieved and the stable convergence can be formed. However, when the vibration amplitude exceeds the current controllable range, the maglev vehicle may break the track or even lose stability. In order to solve the possible adverse effects of external disturbances on the stability of the system, a T-S fuzzy model considering both parameter uncertainties and external disturbances is constructed, and a relatively mature fuzzy adaptive control method is used for suspension control. However, considering the tracking performance of the system control parameters and the response speed of the parameter changes when the external disturbance changes, the particle swarm optimization (PSO) algorithm is used to optimize the system. The effectiveness of the optimized fuzzy adaptive control law in coordinating the closed-loop stability of the suspension system is proved in terms of response speed and convergence performance. Based on linear matrix inequality (LMI), the control response region satisfying the control performance after optimization is defined, and Lyapunov method is adopted to prove the stability of the optimized algorithm in controlling vehicle fluctuation operation. The simulation and experimental results show that the fuzzy adaptive control algorithm optimized by particle swarm optimization can further improve the speed of parameter optimization and the tracking performance of the system in the face of external disturbances and internal system parameter perturbations within a given range of control parameters. Compared with previous control strategies, the controller can greatly improve the response speed and the closed-loop information updating ability of the system in the face of disturbances, so that the system has stronger robustness and faster dynamic response.

Enhanced Proportional Integral Derivative control strategy for Magnetic Ball Levitation System

K.Poomani,S.Sathiyavathi 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.6

This paper emphasises on the control of a magnetic ball levitation system using an enhanced proportional integral derivative (PID) controller. Though PID controllers produce a controlled output for stable and unstable systems, the performance of the system in terms of overshoot, settling time, Integral Square Error (ISE) and Integral Absolute Error (IAE) are poor. To solve this problem, an enhanced PID controller is designed based on the system open loop transfer function. A compensator in cascade with the PID controller is designed based on bode plot response of the system. The efficacy of the proposed controller is demonstrated via simulation study of a magnetic ball levitation system. The results are compared with the classical PID controller. The proposed controller eliminates the overshoot and reduces ISE and IAE, thus provides smoother system responses.