Abstract:

In this study, a magnetic based transport vehicle, obtained by the combination of 3 linear engines and mixed electromagnetics, was proposed to create a new generation modular transport system. Three-dimensional analysis of the magnetic assembly forces was made with the final elements method.  The recommended system has non-linear dynamics and features a system that is unstable in terms of control. Linear system models that respond to the 3-axis movement dynamics have been developed to implement the control designs that will make the system stable. The controller that provides stability using linear models developed for each axis team and also follows the given reference is designed taking into account the I-PD controller topology. In the control designs, the use of the diagram method with the canonical polinom approach, which allows the design and adaptation to be easier than the measurements, is recommended. 3 freedom degree magnetic vessel control is experimentally performed, the effectiveness and success of the recommended control approach is experimentally demonstrated.

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