Method of and apparatus for controlling magnetic levitation
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United States of America Patent
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Jun 4, 1991
Grant Date -
N/A
app pub date -
May 2, 1990
filing date -
May 9, 1989
priority date (Note) -
Expired
status (Latency Note)
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Abstract
The present invention relates to an improvement in a method and an apparatus for magnetic levitation of a linear slider through a PI control action. When the slider is horizontally moved while levitated vertically by two fixed magnetic forces, the angle of inclination of the slider cannot be settled in a preset position because of a control delay caused by integral action, which results in an angle offset. In order to eliminate the offset, a signal which is the sum of an angle deviation and a delay compensation signal that is proportional to the product of the velocity of the slider and an integral time is used as an error signal to settle the angle of inclination. The vertical position of the slider is controlled so that the sum of the magnetic forces applied to the slider balances the weight of the slider.
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