A Novel Moving Magnetic Levitation Device for 3D Manipulation of Small Objects

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Molavian Jazi, Mehdi | 2010

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 40496 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vossoughi, Gholamreza
Abstract:
Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems is confined to a relatively small cube, which severely limits the application of this technology. In addition, most of the previously given mechanisms require the design and application of a subsystem in order to unify their magnetic field. In this paper, a moving magnet is proposed which results in a horizontally extendable workspace; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system derived by finite element analysis of the magnetic field are highly nonlinear and non-affine with respect to the control input. Decoupled controllers are utilized for manipulation of the ball in vertical and horizontal directions. Two kind of fuzzy logic based and switching mode controllers are designed which provide the system with the precise trajectory tracking capability and robust stability. Simulation’s results confirm the performance and robustness of the proposed control strategy
Keywords:
Finite Element Method ; Fuzzy Control ; Feedback Linearization ; Magnetic Levitation

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