Optimal Pitching Motion Control for Underwater Linear Motor Vehicle ME02

カテゴリ: 全国大会

論文No: 5-065

グループ名: 【全国大会】平成18年電気学会全国大会論文集

発行日: 2006/03/15

タイトル(英語): Optimal Pitching Motion Control for Underwater Linear Motor Vehicle ME02

著者名: 吉田 欣二郎(九州大学),ネメルモハマド (九州大学),山下 裕貴(九州大学)

著者名(英語): Kinjiro Yoshida(Kyushu University),Mohamed Nemr(Kyushu University),Yuki Yamashita(Kyushu University)

キーワード: `ピッチングコントロール|リニアドライブ

要約(日本語): The underwater experimental Maglev model vehicle ME02 in our laboratory is propelled and levitated by the long-stator per-manent magnet linear synchronous motor (PM LSM). Having the two motions freedom establishes the possibility for the undesired rotational pitching motion in the plan of these two motions. Due to the different forces affecting the vehicle a resultant torque is produced around its center of gravity (CG). Two air cored elec-tromagnets (AEM) are used to damp the pitching motion. The AEM are fed with controlled current to develop the required damping torque. In this paper, the current controller gains are tuned using the genetic algorithms (GA). A simulated study has been carried for the ME02 while traveling underwater with dif-ferent loading conditions.

原稿種別: 日本語

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