三次元磁気浮上移動装置の定式化と動作試験

This paper describes a new formulation to the three-dimensional movable magnetic levitation system using I-shaped electromagnets and a lower dimensional technique at a suitable selected operating point. In the formulation, an attractive force per unit was first derived to assume that an I-shaped electromagnet and a floating object were present as a magnetic charge model. Then, the resulting force vector was determined on the geometric configuration of I-shaped electromagnets. Model-following servo controllers designed for each state equation in the x^-, y^-, and z^- directions, which were derived from the proposed formulation and lower-dimensional technique, successfully stabilized the maglev system.