JP2941344B2 - Suction type magnetic levitation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a magnetic levitation apparatus that supports and guides a levitation body by using a magnetic attraction force, and in particular, supports a levitation body. Also, the present invention relates to an attraction type magnetic levitation device capable of reducing the number of electromagnets required for guidance, reducing the size and weight of the device, and improving the safety and reliability of the device.

(Related Art) In recent years, as part of office automation, slips, documents, cash, materials, and the like have been moved between a plurality of points in a building using a transport device.

A transport device used for such an application is required to have a function of moving a transport object quickly and quietly. For this reason, some transport devices of this type
There has also been proposed a configuration in which a carrier is supported in a non-contact manner with respect to a guide rail and travels in this state. Above all, those using a suction type magnetic levitation device that uses a carrier as a floating body and magnetically supports it in a non-contact manner are excellent in followability to a guide rail, noise and dust prevention effects.

By the way, when the levitation body is supported by using a suction type magnetic levitation device, when the levitation body passes through a curved portion of a guide rail, for example, a lateral external force, that is, a guide orthogonal to the levitation direction. When an external force in the direction is received, it is important how to suppress the lateral swing and yawing of the levitation body and stably maintain the magnetic levitation state.

For this reason, in the conventional suction type magnetic levitation device, a guide electromagnet is provided separately from the levitation electromagnet provided opposite to the guide rail, and necessary control is performed by controlling the guide electromagnet. Get guidance or 1
Two electromagnets are provided for each support point, and these electromagnets are arranged so as to be shifted left and right with respect to the guide rail, and each electromagnet is controlled for each pair to obtain a supporting force and a guiding force.

However, the conventional suction type magnetic levitation apparatus configured as described above has the following problems. That is, since the control of the floating direction and the control of the guiding direction of the floating body are performed independently, a large number of electromagnets are required. Therefore, the size of the magnetic support unit including the electromagnet as a constituent element and the size of the floating body itself increase, and at the same time, their weight also increases. As a result, the strength of a structure such as a guide rail for supporting the levitation body from the ground side must be increased in accordance with the increase in the weight of the support, and as a result, there has been a problem that the entire apparatus becomes large. Further, the conventional control means for the guide direction has a problem in that if the control means fails, the guide of the floating body cannot be provided.

(Problems to be solved by the invention) As described above, in the conventional suction type magnetic levitation device,
In order to control the attraction force in the supporting and guiding directions, there has been a problem that the size of the magnetic supporting unit and the levitation body itself and the weight thereof are increased, so that the device becomes large.

In addition, if the device that controls the suction force in the guide direction fails, the floating body cannot be guided, and there is a problem that the reliability and safety of the entire device are low.

Therefore, the present invention can guide the floating body satisfactorily without controlling the suction force in the guiding direction, and can guide the floating body regardless of whether the suction force control in the guiding direction is performed. It is an object of the present invention to provide a suction type magnetic levitation device which can be reduced in size, weight, reliability and safety.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, in a suction type magnetic levitation apparatus according to a preferred embodiment of the present invention, a magnetic device including an electromagnet attached to a levitation body is provided. The support unit is disposed to face the ferromagnetic guide so as to simultaneously generate a support force and a guide force. The center of gravity of the levitation body is arranged at a position where the rolling of the levitation body caused by the horizontal swing of the levitation body converges.

That is, in the suction type magnetic levitation device according to the above-described embodiment, the guide formed of a ferromagnetic material, the floating body disposed in the vicinity of the guide, and facing the guide with a gap formed therebetween. A magnetic support unit including an electromagnet arranged in a relationship, a sensor unit for detecting a state of the electromagnet, an electric guide and a magnetic circuit passing through the gap, and controlling an electromagnetic current of the electromagnet based on an output of the sensor unit A control system for stabilizing the magnetic circuit and magnetically levitating the levitation body, and a supporting force and a supporting direction for supporting the levitation body when the levitation body is magnetically levitated stably. A magnetic levitation device in which the magnetic support unit is arranged to face the guide so as to simultaneously generate a guide force for guiding the levitation body in a guide direction substantially perpendicular to the guide. In the control system, when the levitation pair swings in the guide direction and laterally displaces with respect to the guide, the support around the center of gravity of the levitation pair at the time of the peak of the lateral displacement at which the swinging speed becomes zero. The magnetic support unit in which the torque component due to the fluctuation of the force moves in the outward direction of the levitation body does not reduce the gap length thereof and moves in the inward direction of the levitation body with respect to the guide rail. The unit is provided with control means that acts so as not to increase the gap length, and the torque component around the center of levitation weight caused by the variation of the supporting force due to the lateral displacement and the guide force caused by the lateral displacement. For the magnetic support unit in which the combined torque with the torque component around the center of gravity of the levitation moves in the outward direction, the gap length is reduced and the magnetic support unit moves in the inward direction. So that there is a center of gravity of the floating body in a position to act to increase the said gap length for serial magnetic support units.

According to another preferred embodiment of the present invention, there is provided a suction-type magnetic levitation device, in which, in addition to the guide force, auxiliary guide means for electromagnetically guiding the levitation body, and auxiliary guide means when the auxiliary guide means fails. Auxiliary guide stopping means for stopping the operation of the means, and having a position of the center of gravity such that even if the operation is stopped by the auxiliary guide stopping means in the event of a failure of the auxiliary guide means, the horizontal swing of the floating body converges with its rolling. It has a configuration.

(Operation) The magnetic attraction force acting between the magnetic support unit including the electromagnet attached to the levitating body and the ferromagnetic guide is decomposed into an upward force (support force) and a horizontal force (guide force). When possible, the movement of the levitating body depends on the horizontal displacement (lateral displacement) with respect to the ferromagnetic guide, the vertical distance between the ferromagnetic guide (gap length), and the electromagnet as a function of the excitation power. It is governed by the suction force and the external force applied to the floating body. On the other hand, the electromagnetic current of the electromagnetic force is a function of the time change rate of the distance, the time change rate of the excitation current, and the electromagnet excitation voltage.

In one example of the suction-type magnetic levitation device according to the present invention, when the levitation body that is magnetically levitating by levitation control that does not feed back the lateral displacement to the excitation current swings in the guide direction with respect to the ferromagnetic guide, At the time when the swinging speed becomes zero, the magnetic support unit in which the torque component caused by the fluctuation of the supporting force around the center of gravity of the levitation has moved in the outward direction of the levitation body does not reduce the levitation gap length. For the magnetic support unit moved inward, the levitation control is performed so as not to increase the levitation gap length, and the torque around the center of gravity of the levitation weight caused by the fluctuation of the support force due to the lateral displacement and the guiding force due to the lateral displacement The combined torque with the torque around the center of gravity of the levitation caused by the fluctuation of the levitation reduces the levitation gap length of the magnetic support unit that moves in the outward direction of the levitation body, and moves in the inward direction of the levitation body. It is set the center of gravity position of the floating member in a position to act to increase the levitation gap length of the magnetic support units.

Further, in another example, the floating body having the above-described configuration has auxiliary guide means including an electromagnet for electromagnetically guiding the same, and auxiliary guide stop means for stopping the operation when the auxiliary guide means fails. .

Therefore, even when the auxiliary guide means is not provided and its operation is stopped, the resultant torque around the center of the buoyant body weight due to the lateral displacement acts to suppress the rolling of the levitation body caused by the levitation control of the support force. Therefore, even if the levitation control that does not feed back the lateral displacement to the excitation current is used, the rolling of the levitation body can be rapidly attenuated. When the rolling of the floating body is attenuated, the fluctuation of the guiding force caused by the rolling is reduced, and the swing of the floating body in the guiding direction is converged. As a result, it is possible to support and guide the floating body without the need for an electromagnet for controlling the guiding force or a sensor for detecting the lateral displacement, and it is possible to reduce the size and weight of the entire device. Become. Also,
In the case of the floating body having the auxiliary guide means, the stability of the movement of the floating body in the guiding direction can be ensured even in the event of a failure, and the safety and reliability of the device can be improved.

(Example) Hereinafter, an example is described, referring to drawings. FIG. 1 to FIG. 4 show a schematic configuration of a magnetic attraction type magnetic levitation apparatus 10a according to an embodiment of the present invention.

In these figures, reference numeral 11 denotes a track frame formed in an inverted U-shape in section and laid in an office space so as to avoid obstacles, for example. Two guide rails 12a and 12b are laid in parallel on the lower surface of the upper wall of the track frame 11. The guide rails 12a and 12b are formed of a ferromagnetic material in a flat plate shape, and have a divided structure to facilitate installation work in an office. Then, a predetermined joining process is performed on the joint portion A of each divided member 21.

On the inner surface of the side wall of the track frame 11, emergency guides 13a and 13b each having a U-shaped cross section are arranged with their open sides facing each other. Under the guide rails 12a and 12b, a floating body 15 is arranged so as to be able to run along the guide rails 12a and 12b. While located between the guide rails 12a and 12b on the lower surface of the upper wall of the track frame 11, as shown in FIGS. 2 and 3, the linear induction motor is separated by a predetermined distance along the guide rails 12a and 12b. , A stator 16 is arranged.

The floating body 15 is configured as follows. That is, the flat base 25 is arranged so as to face the lower surfaces of the guide rails 12a and 12b. The base 25 includes a coupling mechanism 27 including two divided plates 26a and 26b arranged in the traveling direction, a rotary shaft and a bearing for rotatably coupling the two divided plates 26a and 26b in a plane orthogonal to the traveling direction. It is composed of

At the four corners of the upper surface of the base 25, the magnetic support units 31a to 31a
1d is installed respectively. These magnetic support units
31a to 31d are, as shown in FIG.
It is attached to the upper surface of the base 25 using 33. In the vicinity of these magnetic support units 31a to 31d, the units 31a to 31d
Optical gap sensors 34a to 34d for detecting a gap length between 1d and the lower surfaces of the guide rails 12a and 12b are attached. Further, on the lower surface of each of the split plates 26a, 26b, connecting members 35a, 3
Containers 37, 38 for accommodating conveyed goods via 5b, 36a, 36b
Are respectively attached. On the upper surfaces of the containers 37 and 38, a control unit 41 for controlling the above-described four magnetic support units 31a to 31d, a constant voltage generator 42,
The small-capacity power supply 43 that supplies power to these is divided,
A total of four sets are mounted, two sets each.

The magnetic support units 31a to 3a are located at the four corners of the lower surface of the base 25.
Four vertical wheels 45 are mounted to contact the inner surfaces of the upper and lower walls of the emergency guides 13a and 13b to support the floating body 15 in the vertical direction when the magnetic force of 1d is lost. Also, at the four corner positions on the lower surface of the base 25, there are four lateral supports for contacting the inner surfaces of the side walls of the emergency guides 13a and 13b to support the floating body 15 in the left-right direction when an excessive external force is applied to the floating body 15. Wheels 47 are mounted. The base 25 also serves as the secondary conductor of the above-described linear induction motor, and when the apparatus is operating, the stator 25 is used.
It is arranged at a height facing 16 with a slight gap.

Each of the magnetic support units 31a to 31d takes out only the magnetic support unit 31a in FIG. 4 and, as representatively shown, faces the lower end surface of the guide rail 12a (12b) with its upper end shifted outward. And two electromagnets 51 and 52 arranged in a direction orthogonal to the traveling direction of the levitating body
1, 52 and a permanent magnet 53 interposed between the lower side surfaces, and is formed in a U-shape as a whole. Each electromagnet
51 and 52 are a yoke 55 formed of a ferromagnetic material and the yoke 55
And a coil 56 wound therearound. The yoke 55 outer dimension L ₂ between the electromagnets 51 and 52, the guide rail 1
Than the width L ₁ of 2a (12b) is set to a predetermined larger by the relationship. Each coil 56 is connected in series such that magnetic fluxes formed by the electromagnets 51 and 52 are added to each other. As can be seen from the above configuration, in this embodiment, the guide force generated between the magnetic support units 31a to 31d and the guide rails 12a and 12b acts toward the inside of the floating body 15.

The control unit 41 is divided into four as shown in FIG. 1, but actually forms one control device 41a as a whole as shown in FIG. The control device 41a operates on the outputs of the power supply 43 and the constant voltage generator 44. The constant voltage generator 44 is provided between the power supply 43 and the controller 41a, and includes a gap sensor 34a to 34d and an arithmetic circuit 62 described later.
A constant voltage is always applied to a. The low-voltage generator 44 removes the influence of the output voltage fluctuation of the power supply 43 due to the load fluctuation on the control device 41a, and includes a reference voltage generator 57 and an output signal of the reference voltage generator 57. The required current at a constant voltage based on the control device
The current amplifier 58 supplies the current to the current amplifier 41a.

The control device 41a is configured as follows. In addition,
In FIG. 5, arrow lines indicate signal paths, and bar lines indicate power paths around the coil 56. This control device
41a is attached to the levitation body 15 and has a magnetic support unit 31a to
A sensor unit 61a for detecting a magnetomotive force or a magnetic resistance in the magnetic circuit formed by 31d or a change in the movement of the levitation body 15, and each coil based on a signal from the sensor unit 61a.
It comprises an arithmetic circuit 62a for calculating the power to be supplied to 56, and power amplifiers 63a to 63d for supplying power to each coil 56 based on a signal from the arithmetic circuit 62a. The units 31a to 31d are controlled respectively.

The sensor unit 61a includes the gap sensors 34a to 34d described above.
And current detectors 65a to 65d for detecting the current value of each coil 56
It is composed of

The arithmetic circuit 62a controls the magnetic levitation of the levitation body 15 for each movement coordinate shown in FIG. Here, z of the floating body 15
The magnetic levitation control system related to the coordinates affects the movement in the z mode and the y direction (guide direction). The magnetic levitation control system related to the roll (θ direction) of the levitation body 15 affects the movement in the θ _y mode and the Ψ direction (the yaw direction). roll (theta direction) magnetic levitation control system of the theta _[psi modes for the floating body 15 will be described a magnetic levitation control system with respect to the pitch (xi] direction) of the floating body 15 as xi] mode.

That is, the arithmetic circuit 62a includes the gap sensors 34a to 34d
Subtracters 80a to 80d for calculating gap length deviation signals Δz _{a to} Δz _d obtained by subtracting the respective gap length design values z _{ao to} z _do from the gap length signals z _{a to} z _d obtained in From the long deviation signals Δz _{a to} Δz _d, the movement amount Δz of the center of gravity of the floating body 15 in the z direction (supporting direction) and the θ direction (roll direction) of the split plates 26a and 26b accompanying the movement of the center of gravity in the y direction (guide direction) ), The sum of the rotation angles Δθ _y , the Ψ direction (yaw direction) of the floating body 15
Split plates 26a due to the rotation, the floating gap length deviation coordinate transformation circuit 81 for calculating a rotation angle Δξ difference [Delta] [theta] _[psi and the floating body 15 xi] direction of the rotation angle (the pitch direction) of 26b in the θ direction (roll opposite) subtractor 82 for calculating a current deviation signal Δi _a ~Δi _d obtained by subtracting the respective current design values i _ao through i _do from the exciting current detection signal i _a through i _d obtained by the current detector 65a~65d
and A～82d, current deviation signals Δi _a ~Δi _d current deviation related to the z direction of movement of the center of gravity of the floating body 15 from .DELTA.i _z, split plates 26a caused by the movement in the y direction in the center of gravity, a current related to 26b rolling Deviation Δi _θy , division plate 26 accompanying rotation of levitation body 15 in the Ψ direction
a, a current deviation coordinate transformation circuit 83 calculates a current deviation .DELTA.i _xi] about pitching current deviation .DELTA.i _Shitapusai and levitated object 15 involved in 26b rolling, the output of levitation gap length deviation coordinate transformation circuit 81 and the current deviation coordinate transformation circuit 83 Δz, Δθ _y ,
_{Δθ Ψ, Δξ, Δi z,} Δi θy, Δi θΨ, Δi introduced _{ξ, z, θ y, θ} Ψ, each mode electromagnet control voltage stably magnetically levitate the levitated object 15 in each mode of xi] e _z, e _θy , e
_Shitapusai, e and the control voltage calculating circuit 84 for calculating the _xi], the output e _z of the control voltage calculation circuit _{84, e θy, e θΨ,} e it of its magnetic support units 31a~31d based on _xi] electromagnet exciting voltage e _a ~
and a control voltage coordinate conversion circuit 85 that calculates e _d . The calculation result of the control voltage coordinate inverse transformation circuit 85, that is above e _a to e _d is applied to the power amplifier 63 a to 63 d.

Control voltage operation circuit 84, Delta] z, vertical movement mode control voltage calculating circuit for calculating an electromagnet control voltage e _z of the z mode from .DELTA.i _z
86, Δθ _y , Δi _θy to θ _y mode electromagnet control voltage
Roll / left / right motion mode control voltage calculation circuit 87 that calculates e _y
If, [Delta] [theta] _[psi, roll-yaw mode control voltage operation circuit for calculating an electromagnet control voltage e _Shitapusai of theta _[psi mode from the .DELTA.i _Shitapusai
88 and Δξ, Δi _ξ to ξ mode electromagnet control voltage e _ξ
And a pitch mode control voltage calculation circuit 89 for calculating the same.

The above quantities are summarized in the following equation. That is, the floating body
15, the mass of M, the moment of inertia around the roll axis (x-axis) of the front part of the floating body 15 attached to the dividing plate 26a and the rear part of the floating body 15 attached to the dividing plate 26b are both _Iθ , and the floating body 15 the yaw axis (z axis) of the moment of inertia I _[psi, floating body 15
_Assuming that the moment of inertia about the pitch axis (y-axis) is I, the floating gap length deviation coordinate conversion circuit 81 and the current deviation coordinate conversion circuit 83 Conversion is performed based on At this time, the linear approximate motion equation of the levitation body 15 and the voltage equation relating to the coil 56 are, for each mode, Are grouped into four sets. Here, _{theta, xi]} is a parallel spaced parallel intervals and x axis y axis of each magnet units 31 a to 31 d, F _z is the suction force of the z-axis direction of the magnet units 31 a to 31 d, phi is floating gap Main flux at, Is the partial operator of the function with respect to the variable h, and (∂ /
∂h) represents the deviation value of the function at the floating target value of the floating body 15. Also, L, the value of the electrical resistance of the self-inductance and coil 56 does not depend on the levitation gap of each R is the coil 56, U _z is an external force parallel to the _z-axis, T θy, T θΨ, T
_ξ indicates the sum of the torque disturbances around the x-axis of the split plates 26a and 26b, the difference between the torque disturbances, and the torque disturbance around the y-axis, and the symbol “•” indicates the first-order time derivative.

Equations (3) to (6) can be summarized in the following state equation. That is, the state vector To (Where, T is representing transposition) When, for x _3, Can be obtained.

here, Is A matrix, e ₃ is _{e 3 = e z, e θy} , e θΨ or e _xi], Or _Tξ . The control voltage coordinate inverse conversion circuit 85
Is Conversion is performed based on

The vertical movement mode control operation circuit 86 is configured as shown in FIG. In other words, can be considered a magnetic levitation control system of the z mode is independent of the movement in the y direction and Ψ direction of the floating body 15, Delta] z, time rate of change of Delta] z from .DELTA.i _z Estimate of (Hereinafter, the symbol “∧” indicates an estimated value.) And an estimated value of the external force u _{z in} the z mode A vertical motion mode state observer 90 for calculating Δz, A gain compensator 91 multiplying the appropriate feedback gain .delta.i _z, the current deviation target generator 92, a subtracter 95 for subtracting from the target value of the current deviation target generator 92 .delta.i _z, the subtracter 93
An integration compensator 94 that integrates the output value of the gain and multiplies it by an appropriate feedback gain, an adder 95 that calculates the sum of the output values of the gain compensators 91, and an integration compensator that calculates the output value of the adder 95.
It is composed of a subtractor 96 which outputs an electromagnet exciting voltage e _z of the z mode is subtracted from the output value of 94.

The pitch mode control voltage calculation circuit 89 is configured as shown in FIG. ξ mode magnetic levitation control system is also a levitation body
The pitch mode control voltage calculation circuit 89 is configured in the same manner as the vertical movement mode control voltage calculation circuit 86 because it can be regarded as having nothing to do with the movements in the y and 運動 directions.
That is, the vertical movement mode state observer 90 in vertical movement mode control voltage operation circuit 86, .DELTA..xi, from .DELTA.i _xi] And ξ mode disturbance torque estimates Is replaced with a pitch mode state observer 97 for calculating the same, and has the same configuration as the other vertical motion mode control voltage calculation circuit 86. Therefore, in FIG. 9, corresponding elements are indicated by the same numbers, and the numbers are indicated by adding a suffix a.

The roll / lateral motion mode control voltage calculation circuit 87 is configured as shown in FIG. The magnetic levitation system in the θ _y mode is related to the y direction of the levitation body 15, but for simplicity of the circuit, the movement in the y direction is ignored here, and like the vertical motion mode control voltage calculation circuit 86, It is configured. That is, from Δθ _y and Δi _θy And estimated disturbance torque in θ _y mode Roll / lateral motion mode state observer 99 that calculates
_y , A gain compensator 91b for multiplying Δi _θy by an appropriate feedback gain, a subtractor 93b for subtracting Δi _θy from a target value set by a current deviation target value generator 92b, and a subtractor 93b
An integration compensator 94b that integrates the output value of the above and multiplies it by an appropriate feedback gain, an adder 95b that calculates the sum of the output values of the gain compensator 91b, and an output value of the adder 95b that is output from the integration compensator 94b. And a subtractor 96b that outputs the electromagnetic force control voltage e _θy in the θ _y mode by subtracting from the value.

The roll / yaw mode control voltage calculation circuit 88
It is configured as shown in the figure. As can be seen from this figure, the roll / yaw mode control voltage calculation circuit 88 is configured similarly to the roll / left / right movement mode control voltage calculation circuit 87 shown in FIG. Similarly to the θ _y mode, the θ _Ψ mode is configured to ignore the movement in the Ψ direction. That is, Δ
_θ Ψ, from _Δi θΨ And θ _Ψ mode estimated disturbance torque And the roll / yaw mode state observer 100 that calculates
_Ψ , A gain compensator 91c for multiplying Δi _θΨ by an appropriate feedback gain, a subtractor _93c for subtracting Δi _θΨ from a target value set by a current deviation target value generator 92c, and a subtractor 93c
An integral compensator 94c that integrates the output value of the gain and multiplies it by an appropriate feedback gain, an adder 95c that calculates the sum of the output values of the gain compensator 91c, and an output value of the adder 95c is output from the integration compensator 94c. It is composed of a subtractor 96c which is subtracted from the value and outputs the theta _[psi mode electromagnet control voltage _e eΨ.

Here, the configuration of the state observer in each mode will be described. As described above, the z mode and the ξ mode are independent of the movement of the levitating body 15 in the y and Ψ directions. In the θ _y mode and θ _Ψ mode, the y direction and Ψ
Directional movement is ignored. Therefore, each mode can be expressed by the same type of state equation (7). For this reason, this state observer is, for example,
The structure is the same as that in the -146033.

Further, the respective gains of the gain compensators 91 and 91a and the integral compensators 94 and 94a are set such that the movement of the floating body 15 in the z-mode and the ξ-mode is quickly stabilized. The gains of the gain compensators 91b and 91c and the integral compensators 94b and 94c are controlled by the control time constants in the θ _y mode and θ _Ψ mode more than a quarter of the swinging and yawing of the floating body 15 in the guiding direction. Is set to be longer.

Further, in this example, since the loading platforms 37, 38 supported by the connecting members 35a, 35b, 35c, 35d are below the base 25 together with the relatively heavy power supply 43, the center of gravity of the floating body 15 is shown in FIGS. In Figure 3 , That is, below the magnetic support units 31a to 31d.

Next, the operation of the suction type magnetic levitation device configured as described above will be described.

When the device is at a standstill, the emergency guides 13a, 13
Vertical wheels 45 of the levitation body 15 on either one of the inner surfaces of the upper and lower walls of b
Are in contact. When the device is started in this state, the control device 41a generates a magnetic flux in the same or opposite direction as the magnetic flux generated by the permanent magnet provided in each of the magnetic support units 31a to 31d by the electromagnets of the magnetic support units 31a to 31d. And the magnetic support units 31a to 31d and the guide rails 12a and 12d.
The current flowing through each magnetic coil 56 is controlled to maintain a predetermined gap length between the magnetic coils 56 and b. Thereby, as shown in FIG. 4, in the vicinity of each magnetic support unit, the permanent magnet 53, the yoke 55, the gap P, the guide rail 12a (12b),
A magnetic circuit consisting of a path from the cap P to the yoke 55 to the permanent magnet 53 is formed. In this case, the current design values i _{ao to} i _do and the current deviation target generators 92, 92a, 92b, 9 for the z to ξ mode
If the output of 2c is set to zero, the gap length will be
15, the magnetic support units 31a to 31d and the guide rails 12a, 12b by the weight of the supported body and the magnetomotive force of each permanent magnet 53.
And the magnetic attraction between the two settles down to a value that just balances. At this time, each magnetic support unit 31
The gap length between a-31d and guide rails 12a, 12b is
They are kept at independent values that do not interfere with each other. Control device 41
“a” controls the exciting current of the electromagnets of the magnetic support units 31a to 31d to maintain the magnetic gap length. Thus, so-called zero power control is performed.

When the stator is energized while the levitating body 15 is directly below the stator of the linear induction motor, the base 25 receives propulsive force from the stator. As a result, the levitation body 15 starts running along the guide rails 12a and 12b in a magnetic levitation state. If the stator is disposed again before the floating body 15 completely stops due to the influence of air resistance or the like, the floating body 15 receives the propulsive force again. For this reason, the movement along the guide rails 12a and 12b is maintained. Therefore, the floating body 15 can be moved to a target point in a non-contact state.

By the way, when a force in a direction perpendicular to the traveling direction is applied to the floating body 15, that is, when an external force in the guide direction is applied, such as when the floating body 15 passes through a curved portion of the guide rails 12a and 12b,
For example, the floating body 15 tends to swing in the y direction.

In this embodiment, Δθ _y , Δi _θy , Δ
theta _[psi and .DELTA.i _Shitapusai Roll lateral movement mode state state measuring device from the change in the 99 and roll yaw mode state measuring device 10
Estimated by 0 Is calculated. These estimates are fed back to the gain compensator 91b, the electromagnet control voltage theta _y and theta _[psi Mode theta _y mode via 91c electromagnet control voltage _e θΨ. That, e _{[theta] y} and e _Ipusai is converted by limited voltage coordinate inverse transformation circuit 85 to each of the electromagnets exciting voltage e _a to e _d of the magnetic support units 31 a to 31 d.

Here, for convenience of description, the lateral displacement of the levitating body 15 is assumed to be Δy, and the guiding force of the magnetic support units 31a to 31d is assumed to be Fy.

In this embodiment, as described above, the gain of each of the θ _y and θ _Ψ modes is such that the control time constants of these modes are longer than a quarter period of the movement of the floating body 15 in the guide direction. It is set as follows. Therefore, if the torque by the guide does not act on the center of gravity of the levitation, the levitation control by the controller 41a is not settled even at the peak of the lateral displacement at which the lateral swing speed becomes zero, and as a result, the levitation body 15 becomes θ Try to lean in the direction. In other words, referring to FIG. 2, the magnetic support units 31a (31d) of the magnetic support units 31a to 31d that are away from the center of the guide rails 12a and 12b will have a floating body 15a.
The attraction force decreases due to an increase in magnetic resistance between the magnetic support unit and the guide rail due to the swing of the guide rail, and the guide rails 12a, 12
With respect to the magnetic support unit 31b (31c) approaching the center b, the attraction force increases due to the decrease in magnetic resistance. At this time, the floating control in the θ _y , θ _Ψ mode with respect to the change in the suction force cannot be made in time. Therefore, the torque in the θ direction acts on the center of gravity of the floating body 15, and the floating body 15 tends to tilt by the roll angle Δθ in the θ direction. Once the torque in the θ direction acts, the floating gap of the magnetic support unit 31a (31d) further increases,
Further, the floating gap of the magnetic support unit 31b (31c) is further reduced. That is, the first torque acting on the levitation body 15 in the levitation control by the feedback of the roll angle Δθ is:
Even at the peak of the lateral displacement in the y direction, it acts in the direction of increasing the roll angle of the floating body 15.

During this period, the lateral displacement of the levitation body 15 also increases, but the lateral displacement reduces the area of the magnetic support unit 31a (31d) facing the guide rail 12a, so that the supporting force decreases. Further, in the magnetic support unit 31b (31c), since the area facing the guide rail 12b increases, the supporting force increases. As a result, fluctuations in bearing force due to lateral displacement Is caused by the floating body 15 as in the case of the first torque.
Acts to increase the roll angle of the roller.

On the other hand, in the magnetic support unit 31a (31d), since the distance from the guide rail 12a increases, the copying force on the guide rail 12a increases. Further, in the magnetic support unit 31b (31c), since it approaches the guide rail 12b, the copying force on the guide rail 12b decreases. As a result, a guide force for reducing the lateral displacement acts on the levitation body 15, and if the center of gravity of the levitation is located below the magnetic support unit, the guide force varies due to the lateral displacement. The torque around the center of gravity of the levitation acts to reduce the roll angle.

In this embodiment, the loading platforms 37, 38 are below the base 25 by the connecting members 35a, 35b, 35c, 35d, and the gravitational center of gravity is the torque generated by the fluctuation of the supporting force due to the lateral displacement and the guide force due to the lateral displacement. The magnetic support unit 31 is a combination with the torque caused by the fluctuation, and the second torque moves outward of the levitating body 15.
The position is set to have a function of reducing the floating gap of a (31d) and increasing the floating gap of the magnetic support unit 31b (31c) moving inward of the floating body 15. Therefore, the second torque acts to reduce the roll angle of the floating body 15. That is, the second torque suppresses the first torque at the peak of the lateral displacement, and reduces the rolling of the levitating body 15 (in the reverse principle of swinging).
If the rolling of the levitation body 15 is attenuated, the fluctuation of the guide force of the magnetic support unit due to the rolling is also attenuated, and as a result, the swing generated in the levitation body 15 is attenuated, and the stable magnetic levitation state is restored again .

Even when the floating body 15 yaws in the Ψ direction around its center of gravity, the dividing plate 26a,
The same phenomenon as described above occurs in the rolling of the roller 26b in the opposite direction, and the levitation body 15 recovers the stable magnetic levitation state again.

1 to 14 show a magnetic levitation apparatus 10b according to another embodiment of the present invention. The suction-type magnetic levitation device 10b controls the supporting force and the guiding force independently, and particularly when the gap sensor for detecting the displacement in the guiding direction fails, the present invention is applied to achieve a stable magnetic force. Ascent is realized.

In these figures, the same parts as those shown in FIGS. 1 to 9 are denoted by the same reference numerals, and the corresponding elements are denoted by the same numerals and capital letters. is there.

The levitation body 15A includes a base 25A, and carts 125A to 1A attached to the four corners of the upper surface of the base 25A via suspensions 100.
25D and a loading platform 37A attached to the lower surface of the base 25A via connecting members 35A and 36A.

Also in this example, the floating body 15A magnetically floats on the ferromagnetic guide rails 12a and 12b provided on the track frame 11, and the linear motor stator 16 An electromagnetic force generated between the base plate 25A and the secondary conductor plate 190 mounted on the upper surface of the base 25A via the column 301 at a predetermined height causes the vehicle to travel along the guide rails 12a and 12b.

As shown in FIGS. 11 to 13, the carts 125A to 125D
Magnetic support units 31A to 31D, 31A 'so that they generate a supporting force and a guiding force for the guide rails 12a, 12b, respectively.
31D ′ are alternately fixed to the outside and inside.

The magnetic support units 31A to 31D and 31A 'to 31D' replace the permanent magnet 53 and the yoke 55 of the magnetic support units 31a to 31d in the above-described embodiment with a continuous yoke 55A, and a coil 56
, And a U-shaped electromagnet formed by winding. Cart
125A to 125D have magnetic support units 31A and 31A ', 31B and 31
B ′, 31C and 31C ′, 31D and 31D ′ are each one set, and each set is an eddy current type gap sensor 34 for measuring the floating gap length between the guide rails 12a and 12b facing each other.
It is fixed at a predetermined position together with A to 34D. In addition, on the upper surface of the loading platform 37A immediately below each truck, each set of guide rails 12a, 12b
In order to check the lateral displacement of the carriage 11 in a non-contact manner, gap sensors 34A 'to 34D' of the eddy current type for measuring the distance between the left and right inner surfaces of the track frame 11 and each bogie are mounted together with the vertical wheels 45.

The suspension 100 includes a ring-shaped linear guide 102 fixed to a carrier 37A and a shaft 1 fixed to carts 125A to 125D.
It consists of 04, a spring 106, and a stopper 108, and each carriage is provided with a total of eight, two each. Due to the presence of these suspensions 100, each of the carts 125A to 125D
It can move up and down independently for 5A. And also in this example, since a heavy object such as the power supply 43 is located below the base 25A, the center of gravity of the floating body 15A is located below each magnetic support unit. In the position indicated by.

Here, as described above, the magnetic support units 31A to 31D, 31
The reason for arranging A 'to 31D' will be described with reference to the magnetic supporting units 31A and 31A 'shown in FIG.

Now, it is assumed that when the levitation body 15A is magnetically levitated stably, the bogie 125A is displaced in the y direction (lateral displacement) together with the levitation body 15A by receiving a lateral external force. In this case, in the magnetic support unit 31A ', the support force increases because the area facing the guide rail 12a increases, and in the magnetic support unit 31A, the support area decreases because the area facing the guide rail 12a decreases. . Therefore, the magnetic support units 31A, 31
When the coil 56 of A 'is excited with the same magnitude of current, these fluctuations in the supporting force cancel each other out, and the supporting force of the carriage 125A as a whole against lateral displacement does not change.

On the other hand, the magnetic support unit 31 excited with the same current
A, 31A 'causes the exciting current of the magnetic supporting unit 31A' to decrease, and the exciting current of the magnetic supporting unit 31A is increased by the same amount. Together, the magnetic support unit 31A
Both the supporting force and the guiding force (−y direction) increase.
As a result, the supporting force of the entire carriage 125A does not change. However, since the guiding force of the magnetic support unit 31A is superior to the guiding force, the guiding force to the entire carriage 125A is eventually generated in the −y direction.

Thus, the support force of the carriage 125A is independent of the movement in the guide direction, and the movement in the guide direction can be controlled by the difference between the exciting currents of the magnetic support units 31A and 31A '. Further, the supporting force of the carriage 125A can be controlled by the sum of the exciting currents of the magnetic supporting units 31A and 31A '. The same applies to the pedestals 125B to 125D, and the supporting force and the guiding force of these pedestals are independently controlled to achieve stable magnetic levitation of the levitation body 15A.

FIG. 14 shows a control device 41b that is incorporated in the suction type magnetic levitation device 10b and is based on the above-described control method.

The control device 41b includes a support direction sensor 200 including gap sensors 34A to 34D, and gap sensors 34A 'to 34A.
D ′, a guide direction sensor 201, a support direction control circuit 202, a guide direction control circuit 204, and a coordinate inverse transformation circuit 206.
Power amplifiers 63A to 63D for supplying an exciting current to the coils 56 of the magnetic support units 31A to 31D, and the magnetic support unit 31
A power amplifiers 63A 'to 63D' for supplying an excitation current to the coils 56 of A 'to 31D', a reference voltage generator 210, and a comparison between the output of the reference voltage generator 210 and the output of the guide direction sensor 201 are performed. A comparator 212 which outputs an output when any one of the sensors 34A 'to 34D' has failed, and switches from the A terminal side to the B terminal side when the output is transmitted from the comparator 212. Six relays 214 and a coordinate reverse conversion circuit 2
It comprises four adders 216 provided between the power amplifier 06 and the power amplifiers 63A 'to 63D', and a constant voltage generator 218.

The supporting direction control circuit 202 controls the sum of the exciting currents of the two magnetic supporting units of each bogie based on the signal of the supporting direction sensor 200, and determines the z, of the floating body 15A among the coordinates shown in FIG.
Achieve stabilization of movement in the θ and ξ directions. The guide direction control circuit 204 is configured to control the signals of each truck based on the signal of the guide direction sensor 201.
By controlling the difference between the exciting currents of the two magnetic support units,
Among the coordinates shown in the figure, stabilization of the movement in the y and Ψ directions is achieved. The output of the guide direction control circuit 204 passes through the A terminal side of two of the relays 214 and the coordinate inversion circuit 206
Given to. The B terminal side of the two relays is grounded. The coordinate reverse conversion circuit 206 calculates the value of the excitation voltage to be applied to each of the magnetic support units 31A to 31D and 31A 'to 31D' based on the output signals of the support direction control circuit 202 and the guide direction control circuit 204. The power amplifiers 63A to 63D and 63A 'to 63D' are provided with coils 56 of the magnetic support units 31A to 31D and 31A 'to 31D' to which the same alphabet symbols are assigned based on the excitation voltage output signal of the coordinate inversion circuit 206. To excite. One input terminal of the four adders 216 is grounded via the A terminals of the remaining four relays of the relay 214. The B terminals of the four relays are connected to the output terminal of the above-described constant voltage generator 218 that generates a voltage for reducing the input signals to the power amplifiers 63A 'to 63D' by a predetermined value.

 The control device 41b operates as follows.

That is, when the guide direction sensor 201 is normal, the A terminal is selected in the relay 214. Then, for the movement in the guiding direction, an operation of controlling the difference between the exciting currents of the magnetic supporting units forming a pair is performed, and for the supporting force, the sum of the exciting currents of the magnetic supporting units forming a pair is controlled. The operation is performed.

On the other hand, when the guidance direction sensor 201 fails and an abnormal voltage is generated, the comparator 212 determines that the failure has occurred based on the voltage of the reference voltage generator 210. The relay 214 is energized by this determination signal, and the B terminal is selected. Due to the selection of the B terminal, the output of the guide direction control circuit 204 does not reach the coordinate reverse conversion circuit 206. Therefore, the guide force control of each of the magnetic support units 31A to 31D and 31A 'to 31D' based on the output of the guide direction sensor 201 stops.

At this time, the output of the support direction control circuit 202 reaches the power amplifiers 63A to 63D and 63A 'to 63D' via the coordinate inverse conversion circuit 202, but the power amplifiers 63A 'to 63D are added in the adder 216.
The input signal to D 'is summed with the negative output signal of constant voltage generator 218 arriving via terminal B of relay 214.
As a result, the input signals to the power amplifiers 63A 'to 63D'
It is smaller than that to the power amplifiers 63A to 63D, so that the supporting force and guiding force generated by the magnetic support units 31A 'to 31D' are smaller than those to the magnetic support units 31A to 31D. Therefore, even if a lateral displacement occurs in each of the carts 125A to 125D in the y direction, the support force between the magnetic support units forming the set of the carts does not cancel, and the movement of the floating body 15A in the y direction or the Ψ direction occurs. In contrast, the supporting force and the guiding force of each truck interfere with each other.

When the above-described interference occurs between the supporting force and the guiding force, the same operation as in the previous embodiment occurs to stabilize the movement of the floating body 15A in the guiding direction.

That is, as shown in FIG. 11, when the lateral displacement is performed in the y direction as an example, the support / guiding force of the magnetic support units 31A (31D) and 31B (31C) is operated by the control device 41b. Will be supportive. When the y-direction lateral displacement occurs in the floating body 15A in this manner, the area of the magnetic support unit 31A (31D) facing the guide rail 12a decreases. For this reason, trolley 1
The supporting force of 25A (125D) decreases, and the guiding force (-y direction) increases. On the other hand, the bearing capacity of the bogie 125B (125C) increases,
The guiding force (y direction) decreases.

In this embodiment, each magnetic support unit is composed of only an electromagnet, and does not apply zero power control.
Therefore, when the roll occurs, if the torque due to the guide force does not act on the center of gravity of the levitation, the change in the supporting force is inversely proportional to the change in the gap length, and as shown in FIG.
A tends to tilt in the θ direction when the lateral displacement peaks in the y direction and in the −θ direction when the lateral displacement peaks in the −y direction. On the other hand, in this embodiment, the center of gravity of the levitating body 15 is Of support force due to lateral displacement in y direction without feedback of levitation control about x axis Is the fluctuation of the guide force due to the lateral displacement around the x-axis in the same direction in the y-direction at the mark ○ The combined torque acts in the -θ direction depending on the set position of the center of gravity. As a result, the floating body 15 is actuated by the same operation as in the previous embodiment.
Rolling and rolling of A are stabilized.

In the case where the levitating body swings in the Ψ direction around its center of gravity (when yawing occurs),
Magnetic support units 31A-31D mounted on 125A-125D
The yaw is converged by the height of the geometrical rotation axis of the straight line connecting the supporting force action points. It goes without saying that this height depends on the spring constant of the spring 106 of the suspension 100.

Hereinafter, the reason will be described. FIG. 15 shows the states of the carriages 125A and 125B of the floating body 15A having a yoke angle in the Ψ direction by solid lines, and the states of the carriages 125C and 125D by broken lines.
Let Af, Bf, Cf, Df be the supporting action points at the upper ends of the magnetic support units in the carts 125A to 125D, respectively, and let the vertical bisector of the line connecting Af, Bf and the vertical 2 of the line connecting Cf, Df. Intersection Q with the bisector Is the line segment Af-Bf (C
f-Df). In this embodiment, the spring 106 is set to have a spring constant such that the torque caused by the change in the guide force due to the yaw angle around the x-axis passing through the point Q becomes larger than the torque caused by the change in the support force due to the yaw angle. I have. Therefore, even if a yaw angle is generated in the levitation body 15A and the line segment Af-Bf (Cf-Df) rotates in the θ direction (−θ direction) by the levitation control, these combined torques are converted into the line segment Af-Bf ( Cf-Df)-
Acts to rotate in the θ direction (θ direction). Therefore, yawing of the floating body 15A converges in the same manner as in the previous embodiment.

As described above, in this embodiment, even if a problem occurs in the control of the guide direction, the floating traveling of the floating body 15A can be ensured, and the reliability and safety of the device can be improved.

The magnetic support unit 31A 'as an auxiliary guide means
Bogie 125A ~ 1 so that ~ 31D 'generates supporting force and guiding force
Although it is attached to 25D, as shown in FIG. 16, there is no problem even if it is arranged to generate only a guiding force.

In the example shown in FIG. 16, the magnetic support units 31A 'to 3A
1D is fixed to the carts 125A to 125D so as to generate a guide force facing the ferromagnetic guide rails 112a and 112b attached to the upper surfaces of the emergency guides 13a and 13b.

FIG. 17 shows the magnetic support unit 31 as shown in FIG.
The control device 41b 'when A' to 31D 'are arranged is shown. In this figure, the same parts as those in FIG. 14 are denoted by the same reference numerals. Therefore, a detailed description of the overlapping part will be omitted.

The coordinate inverse variable circuit 206 in the control device 41b ′ includes a z, θ, ξ mode coordinate inverse conversion circuit 206a for individually controlling the magnetic support units 31A to 31D and the magnetic support units 31A ′ to 31D ′,
y, Ψ mode coordinate conversion circuit 206b. That is, when the guiding direction sensor 201 fails, the two relays 2
14, the output of the guide direction control circuit 204 is released, and y, Ψ
The input of the mode coordinate inverse transform circuit 206b is grounded via the terminal B of the relay 214. For this reason, power amplifiers 63A 'to 6
The input signal of 3D ′ becomes zero, and the magnetic support units 31A ′ to 3A
1D 'is not excited. Therefore, no guiding force is generated. At this time, since the magnetic support units 31A to 31D and the guide rails 12a and 12b are arranged in the same manner as in the case of FIG. 13, their support force and guide force interfere with each other, and the same operation as in the above-described embodiment is performed. Obtainable.

The present invention is not limited to the embodiments described above. In the embodiment shown in FIGS. 1 to 9, the base 25 is
It is composed of two divided plates 26a and 26b rotatable around a rotation axis parallel to the traveling direction.
The number and position are not specified at all. Various changes can be made as shown in FIGS. 18 to 21 depending on the shape and arrangement of the transferred object, the power supply, the control device, the magnetic support unit, the guide rail, and the like. FIG. 18 shows an example in which the connecting mechanism 27 is rotatably connected to the dividing plates 26a and 26b around an axis perpendicular to the traveling direction of the floating body 15, and FIG. 19 shows the traveling direction of the floating body 15. This is an example in which a connecting mechanism 27 is provided around an axis slightly inclined with respect to. FIG. 20 shows six magnetic supporting units 31, and FIG. 21 shows eight magnetic supporting units.
In this example, each of the divided plates 26a, 26b is divided into two or three in the traveling direction, and the divided plates 26a, 26b are rotatably connected in a horizontal plane. It is divided, and the divided body is rotatably connected in a vertical plane.

Further, in the embodiment, the control device and its operation are represented by analog control. However, this does not limit the form of the control method at all, and uses a digital control and does not impose any problem.

Further, in the embodiment, the movement of the levitation body is represented by a plurality of coordinate systems, and a mode-specific control method for performing levitation control for each coordinate system is employed. This is an individual control method for controlling each magnetic support unit. It may be. In short, by using the same levitation control in the supporting direction, the magnetic support unit whose levitation gap length is outside the levitation body when the oscillating speed becomes zero when the levitation body oscillates in the guide direction is reduced. Any control method can be used without any increase unless the increase is applied to the inward direction.

Further, in the above embodiment, the magnetic support unit is opposed to the guide rail in a state shifted to the outside, and the width of the guide rail is configured to be narrow due to the outside dimension between the yoke of the unit. This does not limit the arrangement of the magnetic support unit with respect to the guide rail and the width of the guide rail at all. When the magnetic support unit is in a stable floating state, the supporting force and the guide force are set between the guide rail and the unit. Any arrangement may be used as long as they work simultaneously. For example, as shown in FIG. 22, the width of the guide rails 12a (12b) is wider, and there is no problem.

Further, in the above embodiment, the magnetic circuit in the magnetic support unit is perpendicular to the traveling direction of the levitating body, but this does not limit the direction of the magnetic circuit at all, and as shown in FIG. It may be a direction.

Further, in the above embodiment, the number of guide rails is two, but the number of guide rails is not limited at all,
As shown in FIG. 24, there are no problem with three or more of 12a, 12b, and 12c.

In the above embodiment, the center of gravity of the levitation and the rotation axis of the levitation body during yawing are both below the magnetic support unit. For example, like the suction type magnetic levitation device 10c shown in FIGS. 25 to 27, FIG. It may be above the magnetic support unit.

Hereinafter, this embodiment will be described. In FIGS. 25 to 27, parts corresponding to the elements shown in FIGS. 1 and 10 are given the same reference numerals and are given uppercase alphabets. Therefore, the description of the overlapping part will be omitted.

Floating body 15B of the suction type magnetic levitation device 10c according to this embodiment
Are ferromagnetic guide rails 12A, 12A attached to the lower surface of the overhand part on the left and right of the upper and lower sides of the track 11A having a man-shaped cross section.
It magnetically levitates with respect to B, and travels by receiving force from linear motor fixing pieces 16 attached to required locations on the upper surface of the lower right and left overhangs of the track 11A.

The floating body 15B has trunks 302A and 302B and a base 25B having a concave portion for loading a load, springs 306 arranged at four corners of the base 25B, and a coupling mechanism 227 including a shaft and a bearing.
A, 227B and carts 225A, 225B.

The carts 225A and 225B are connected to the base 25B by the coupling mechanisms 227A and 227B.
Is rotatably connected to And each trolley 225A, 225
A total of four magnetic support units 31a to 31d and gap sensors 34A to 34D are attached to the upper surface of the lower end of B at one end. In addition, the stator 16
A secondary conductor plate 230 of a linear motor that receives electromagnetic force from the motor is mounted. The magnetic support units 31a to 31d move when the floating body 15B stably floats, as shown in FIG. 28.
As shown in the drawing, only the guide rail 12A (12B) faces the guide rail 12A while being shifted inward from the floating body 15B.

In the trunks 302A and 302B, a control device, a power supply, and a constant voltage generator (not shown) each having the same configuration as that shown in FIG. Therefore, description will be made here as the control device 41c. Further, the spring 306 has a spring constant that can secure an effective stroke with respect to the weight of the load superimposed on the load or the load loaded on the base 25B.

Although the control unit 41c has the same configuration as the control unit 41a shown in FIG. 5-FIG. 9, the gain compensator 91b in the theta _y mode, the gain of the integral compensator 94b, the guide direction of the floating body 15B The control time constant in this mode is set to be shorter than the quarter period of the swing of the control. The gain compensator 91c in theta _[psi mode, the gain of the integral compensator 94c, rather than a quarter period of the yawing of the floating body 15B, is set as towards the control time constant in this mode is increased . And the floating body 15B
The center of gravity is higher than the magnetic support units 31a to 31d even when heavy objects such as power supplies are stored in the trunks 302A and 302B. It is set to be in the position of. In the suction type magnetic levitation apparatus 10c configured as described above, the guide rail 12
A levitation body 1 such as when passing the curved part of A, 12B
When an external force in the guide direction is applied to 5B, for example, the floating body 15B tends to swing in the y direction.

In this embodiment, as mentioned earlier, the gain of the theta _y mode in the control unit 41c, the control time constant of the mode is shorter than a quarter period of oscillation of the guiding direction of the floating body 15B It is set as follows. Therefore, at the time of the peak of the lateral displacement at which the rocking speed in the lateral direction becomes zero, the control device 41
The levitation control by c is settled, and the levitation body 15B is inclined in the θ direction. That is, referring to FIG. 26,
Guide rails 12A and 12B among magnetic support units 31a to 31d
The magnetic support unit 31b (31c) moving away from the center of the magnetic support unit 31b (31c) increases the magnetic resistance between the magnetic support unit and the guide rail due to the swing of the levitation body 15B, so that the attraction force decreases and the magnetic support unit approaches the center of the guide rails 12A and 12B. 31a (31d)
For, the attraction force increases due to the decrease in magnetic resistance. Then, a torque in the -θ direction acts around the center of gravity of the levitating body 15B, and the levitating body 15B inclines in the -θ direction. However, the behavior of the flying body 15B is detected by the gap sensors 34A to 34D and fed back to the control device 41c. In this case, theta floating control in _y mode short settling time, in the control device 41c which is applied a zero power control, which controls the excitation current of each magnetic support unit so as to cancel the variation of the suction force . For this reason, the flying gap length of the magnetic support unit in which the attraction force increases tends to increase, and the flying gap length of the magnetic support unit in which the attraction force decreases tends to decrease. In other words, the floating control is settled by the peak of the lateral displacement in the y direction, and at this peak, the torque in the θ direction acts on the center of gravity of the floating body 15B by the floating control, so that the floating body 15B has a roll angle θ in the θ direction. You will lean.

During this time, the lateral displacement of the floating body 15B also increases, but this lateral displacement is not fed back to the control device 41c. Therefore, due to the lateral displacement, the area of the magnetic support unit 31b (31c) facing the guide rail 12B decreases, so that the support force decreases. Also, the magnetic support unit 31
In a (31d), the support area increases because the area facing the guide rail 12A increases. As a result, the torque resulting from the change in the supporting force due to the lateral displacement is equal to the roll angle θ of the floating body 15B.
Acts to reduce Meanwhile, the magnetic support unit
At 31b (31c), it goes away from the guide rail 12B,
The tracing force on the guide rail increases. Further, in the magnetic support unit 31a (31d), since it approaches the guide rail 12A, the copying force on the guide rail decreases. As a result, a guide force for reducing the lateral displacement acts on the levitation body 15B, and the torque around the center of gravity of the levitation caused by the fluctuation of the guide force due to the lateral displacement acts to increase the roll angle θ.

In this embodiment, the levitation center of gravity is located above the magnetic support unit, but the combined torque of the torque caused by the change in the supporting force due to the lateral displacement and the torque caused by the change in the guiding force due to the lateral displacement rises. The magnetic support unit 31a (31d), which moves in the outer direction of the body 15B, reduces the floating gap of the magnetic support unit 31a,
It is set at a position that has the effect of increasing the flying gap of 1b (31c). For this reason, the combined torque acts to reduce the roll angle of the floating body 15B. That is, this combined torque suppresses the torque in the θ direction due to the levitation control, and attenuates the rolling of the levitation body 15B. If the rolling of the floating body 15B is attenuated, the fluctuation of the guide force of the magnetic support unit accompanying the rolling is also attenuated, and as a result, the swing generated in the floating body 15B is attenuated, and the stable magnetic levitation state is restored again.

In this case, if a heavy object such as a copper plate is used for the secondary conductor plate 230 and the position of the center of gravity of the floating body is set below the upper end of the magnetic support unit, the torque due to the fluctuation of the guiding force due to the lateral displacement is reduced in the -θ direction. As a result, even better swing damping can be achieved.

Next, a description will be given of a case where yawing occurs in the ヨ ー direction around the center of gravity of the floating body 15B.

If the gains of the theta mode of the control unit 41c is, theta like the _y mode, several scheduled is set to be shorter than a quarter of the yawing of the period of the floating body 15B in this mode, floating The combined torque of the torque caused by the fluctuation of the supporting force due to yawing in the Ψ direction and the torque caused by the fluctuation of the guiding force caused by yawing in the same direction, which is not fed back to the control, causes rolling in the −θ direction (θ direction). If the rotation axis of the connecting mechanism 227A (227B) is located at the position, the bogies 225A,
A phenomenon similar to the above-described action occurs for the rolling of the 225B in the opposite direction, and the levitation body 15B recovers a stable magnetic levitation state again.

However, each gain of θ _Ψ in this embodiment is set so that the levitation control time constant in this mode is longer than a quarter of the yaw cycle of the levitation body 15B. Here, for convenience of explanation, the yaw angle of the floating body 15B is set to Δ を
And In this case, as described in the embodiment shown in FIG. 1, in the magnetic embodiment unit in which the area of opposition to the guide rails 12A and 12B increases due to yawing, the attraction force increases, and the magnetic support unit in which the area of opposition decreases. For, the suction force decreases. That is, the bogie 225A rolls in the -θ direction and the bogie 225B rolls in the θ direction by yawing in the Ψ direction. At this time, the floating control in the θ mode with respect to the suction force fluctuation cannot be made in time, so the connecting mechanism 227A of the bogie 225A
The torque in the -θ direction (θ direction) acts around the rotation axis of the (coupling mechanism 227B of the bogie 225B), and the bogie 225A (225B)
It will tilt in the θ direction (θ direction). Once the torque in the -θ direction (θ direction) acts, the magnetic support unit 31
The flying gap of a (31c) further decreases, and the flying gap of the magnetic support unit 31b (31d) further increases. That is, the first combined torque acting on the levitation body 15B in the levitation control by the feedback of the roll angle −Δθ (Δθ) is:
Even at the peak of the yaw angle in the yaw direction, the roll 225A (225B) acts to increase the roll angle in the -θ direction (θ direction).

During this time, the size of the yaw angle of the bogie 225A (225B) also increases, or this yawing causes the magnetic support unit
In the case of 31a (31c), the support area increases because the area facing the guide rail 12A (12B) increases. Further, in the magnetic support unit 31b (31d), the supporting area decreases because the area facing the guide rail 12B (12A) decreases. As a result, fluctuations in bearing capacity due to yawing Is the same as the first torque.
(225B) acts to increase the roll angle in the -θ direction (θ direction). On the other hand, in the magnetic support unit 31a (31c), since it approaches the guide rail 12A (12B), the copying force on the guide rail decreases. Further, in the magnetic support unit 31b (31d), since the magnetic support unit 31b (31d) moves away from the guide rail B (12A), the copying force on the guide rail increases. As a result, the bogie 225A (225B) receives a guide force that reduces yaw, and the guide force fluctuates due to yaw. The torque around the rotation axis of the coupling mechanism 227A (227B) due to the above acts to reduce the roll angle in the -θ direction (θ direction). In this embodiment, the connection configurations 227A and 227B are
a, 225b, and a second torque, which is a combination of the torque resulting from the fluctuation in the supporting force due to yawing and the torque resulting from the fluctuation in the guiding force due to yawing, is a floating body 15B.
The coupling mechanism 227A is located at a position having the effect of increasing the levitation gap of the magnetic support unit 31a (31c) moving in the outward direction and decreasing the levitation gap of the magnetic support unit 31b (31d) moving inward of the levitation body 15B. , 227B are located. For this reason, the second torque is generated by the bogie 225A (22
5B) acts to reduce the roll angle in the -θ direction (θ direction). That is, the second torque suppresses the first torque at the peak of the yaw angle and attenuates the rolling of the bogies 225A and 225B. If the rolling of the bogies 225A and 225B is attenuated, the fluctuation of the guide force of the magnetic support unit due to the rolling is also attenuated, and as a result, the yawing generated on the levitation body 15B is attenuated, and the stable magnetic levitation state is restored again. Will be.

In other words, a guide formed of a ferromagnetic material, a floating body arranged near the guide, and a magnetic support unit including an electromagnet arranged in a relationship facing the guide via a gap in the floating body, A sensor unit for detecting a state of a magnetic circuit passing through the electromagnet, the guide, and the air gap; and controlling the exciting current of the electromagnet based on an output of the sensor unit to stabilize the magnetic circuit so that the floating body Control means for magnetically levitating, and when the levitating body is stably magnetically levitated, guides the levitating in a guide force substantially perpendicular to the supporting force for supporting the levitating body and the supporting direction. In the suction type magnetic levitation device in which the magnetic support unit is arranged to face the guide so as to simultaneously generate a guiding force for performing the guide force, the floating body swings in the guiding direction, and When the lateral displacement of the levitation center of gravity occurs with respect to the guide rail, the magnetic support unit moves in the outward direction of the levitation body with respect to the guide rail at a peak time of the lateral displacement at which the swing speed becomes zero. Has a first control means that does not decrease the gap length and does not increase the gap length for the magnetic support unit that moves inward of the levitation body with respect to the guide rail; The magnetic support unit in which a combined torque of a torque component around the center of buoyant weight caused by the change in the supporting force and a torque component around the center of buoyant weight caused by the change in the guide force due to the lateral displacement moves in the outward direction. For the magnetic support unit moving inward, the gap length is reduced to a position that acts to increase the gap length. There is a center of gravity of the levitating body, and the levitating body has an air gap independent variable mechanism capable of changing the air gap length of the magnetic support unit independently of each other, and is defined by a supporting force action point of the pair of magnetic support units. When the straight line rotates substantially on a vertical plane due to the yaw angle of yawing generated around the center of gravity of the levitation when the levitation body floats, the geometric rotation axis of the straight line does not receive torque from the guiding force. At the peak of the yaw angle at which the yawing speed around the center of gravity of the levitation generated when an external force is applied to the levitation body becomes zero with respect to the guide rail. The air gap length of the magnetic support unit is not increased, and the air gap length of the magnetic support unit moving inward of the floating body with respect to the guide rail is reduced. And a torque component around the geometrical rotation axis caused by the variation of the support force due to the yaw angle and the geometric component caused by the variation of the guiding force due to the yaw angle. As for the magnetic support unit moving in the outward direction, the combined torque with the torque component around the rotation axis increases the gap length, and the magnetic support unit moving in the inward direction decreases the gap length. It suffices if the geometric rotation axis is located at the position where it acts.

As shown in FIG. 27, when the luggage 500 or the like is mounted on the levitating body 15B, the center of gravity of the levitating body or the geometric rotation axis moves to a position related to the levitating body after mounting as shown by a double circle in the figure. Needless to say.

In each of the above-described examples, the magnetic support units are mounted horizontally, and these are attached to the lower surface of the flat plate-shaped guide rail that is narrower than the outer dimension between the yoke of the magnetic support units, in an outer or inner side. They are arranged facing each other. However, the present invention is not limited to the above arrangement and shape. That is, when the levitation body is in a stable magnetic levitation state, it is sufficient that the support force and the guide force are simultaneously generated between the guide or the guide rail and the magnetic support unit. The rails can be of any arrangement and shape. For example, various modifications are possible as shown in FIGS. 29 and 30. That is, in the example shown in FIG. 29, the widths of the magnetic support units 31a to 31d (however, the units 31c, 31d
(Not shown) flat card rails 203a, 203b having the same outer diameter as the yoke 55 between the yoke 55 are mounted on the track frame 205 at an angle, and the gap sensors 34a to 34b are provided so as to detect the floating gap length in the supporting direction. 34d (however, sensors 34c and 34d are not shown)
Are arranged on the upper surface of the base 25f. In this case, the attraction force generated between the magnetic support units 31a to 31d and the guide rails 203a and 203b is a support force (z direction) and a guide force (y direction).
And a strong guiding force can be obtained.
In the example shown in FIG. 30, the section is a magnetic support unit 31a.
U-shaped guide rails 207a and 207b opposed to the two yoke 55 of ~ 31d (however, the units 31c and 31d are not shown) are vertically mounted on the track frame 209 and have an H-shaped cross section. Magnetic support units 31a to 31d are provided at four corners of a side surface of a base 25g formed by connecting two split plates by a connecting mechanism 27.
(However, units 31c and 31d are not shown) are arranged, and gap sensors 34a to 34d (however, sensors 34c and 34d are not shown) so that the floating gap length in the supporting direction can be detected.
Is mounted downward at the lower ends of the four corners of the base 25g. Also,
Above the two split plates constituting the base 25g, a control device 41a, a constant voltage generator 42, and a loading platform 211, each of which is divided into two, are disposed below, and a heavy power supply 43 is disposed below.
Thus, a floating body 15g is configured. In this example, when the yoke 55 is displaced in the z direction, the guide rails 207a, 2
Since the total weight of the floating body 15g is supported by the upward suction force acting on 07b, most of the suction force between the yoke 55 and the guide rails 207a and 207b can be used for the guide force. .

[Effects of the Invention] As described above, according to the present invention, a magnetic support unit is arranged on a floating body so that the magnetic support unit simultaneously generates a supporting force and a guiding force with respect to a guide rail facing the magnetic supporting unit. The roll of the guide force of the body is determined by the distance between the height of the center of gravity of the levitation body and the support force action point at the upper end of the magnetic support unit, and the linear rotation axis defined by the two support force action points and the support force action point. Since the stabilization is performed by using the distance, a sensor or an electromagnet for performing levitation control in the guide direction is not required, and the size and weight of the magnetic support unit can be reduced. Therefore, the strength of a structure such as a guide rail that supports the floating body from the ground side can be reduced, and the entire apparatus can be downsized.

Also, when other magnetic guide means are used, even if this means fails, the roll in the guide direction of the floating body can be stabilized, so that the reliability and safety of the device are improved. Can be.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an attraction type magnetic levitation device according to one embodiment of the present invention, which is partially taken away and partially cut away, and FIG. 2 is a view of the device along a line II in FIG. FIG. 3 is a side view showing the device cut away and partially cut away,
FIG. 4 is a cross-sectional view of a magnetic support unit in the device, FIG. 5 is a block diagram of a control device in the device, and FIGS. 6 to 9 are blocks showing a configuration of a control voltage calculation circuit in the control device. FIG. 10 is a perspective view showing a suction type magnetic levitation device according to another embodiment of the present invention, which is locally removed and partially cut away, and FIG.
FIG. 12 is a view cut along the II line and viewed in the direction of the arrow, FIG. 12 is a side view showing the device with a part cut away, and FIG. 13 is a view for explaining the relationship between a guide rail and a floating body in the device. Fig. 14,
Fig. 15 is a block diagram of a control device in the device, Fig. 15 is a diagram for explaining the operation of the device, Figs.
FIG. 18 is a view for explaining a modified example, FIGS. 18 to 24 are views for explaining different modified examples, and FIG. 25 is a drawing showing a suction type magnetic levitation device according to still another embodiment of the present invention. FIG. 26 is a perspective view showing the device taken along line III-III in FIG. 25 and viewed in the direction of the arrow in FIG. 25, and FIG. 28 is a side view cut along the line C-C and partially cut away, FIG. 28 is a cross-sectional view of a magnetic support unit in the device, FIG. 29 and FIG.
FIG. 30 is a diagram for explaining still another modified example. 10a, 10b, 10c …… Suction-type floating type transfer device, 11,11A, 205,20
9 …… Track frame, 12a, 12b, 12c, 12A, 12B, 203a, 203b, 207a, 20
7b …… Guide rail, 15,15A, 15B …… Floating body, 25,25A, 2
5B: Base, 26a, 26b: Dividing plate, 27, 227A, 227B: Connection mechanism, 31a to 31d, 31A to 31D, 31A 'to 31D': Magnetic support unit, 34a to 34d, 34A to 34D, 34A 'to 34D': gap sensors, 37, 37A, 38 ... containers, 41a, 41b, 41b ', 41c ...
Control device 43 Power supply 51, 52 Electromagnet 56 Coil 61a Sensor unit 62a Operation circuit 63a to 63d 63A
... 63D, 63A '-63D' ... power amplifier, 65a-65d ... current detector, 81 ... floating gap length deviation coordinate conversion circuit, 83
…… Current deviation coordinate conversion circuit 84 …… Control voltage calculation circuit
85,206 ... Control voltage coordinate reverse conversion circuit, 86 ... Vertical movement mode control voltage calculation circuit, 87 ... Roll / left / right movement mode control voltage calculation circuit, 88 ... Roll / yaw mode control voltage calculation circuit, 89 ... Pitch mode Control voltage calculation circuit, 125A, 125
B ... Truck, 302A, 302B ... Trunk.

Claims (14)

(57) [Claims] A magnetic support including a guide formed of a ferromagnetic material, a floating body disposed in the vicinity of the guide, and an electromagnet disposed in the floating body so as to face the guide via an air gap. A unit and a sensor unit that detects a state of a magnetic circuit passing through the electromagnet, the guide, and the gap;
A control system that stabilizes the magnetic circuit by controlling the exciting current of the electromagnet based on the output of the sensor unit to magnetically levitate the floating body, and that the floating body stably magnetically levitates. The magnetic support unit is configured to simultaneously generate a supporting force for supporting the levitating body and a guiding force for guiding the levitating body in a guiding direction substantially orthogonal to the supporting direction when the magnetic head unit is in use. In the suction type magnetic levitation device disposed opposite to the control unit, the control system may be configured such that when the levitation body swings in the guide direction and laterally displaces with respect to the guide, the lateral displacement becomes zero. At the peak point of time, the magnetic support unit in which the torque component caused by the fluctuation of the supporting force around the center of gravity of the levitation moves in the outward direction of the levitation body does not reduce the gap length, and the guide does not decrease. The magnetic support unit, which moves inward of the levitation body with respect to the rail, includes control means for acting so as not to increase the air gap length, and the levitation weight center caused by the fluctuation of the support force due to the lateral displacement. For the magnetic support unit in which the combined torque of the surrounding torque component and the torque component around the center of buoyant weight caused by the fluctuation of the guiding force due to the lateral displacement moves the magnetic support unit in the outward direction, the gap length is reduced, The magnetic levitation apparatus according to claim 1, wherein the magnetic support unit moving in the direction has a center of gravity of the levitation body at a position acting to increase the gap length. 2. The apparatus according to claim 1, further comprising a magnetic support unit arranged so that the guide force acts on the inside of the floating body, wherein a center of gravity of the floating body is located below an upper end of the magnetic support unit. The suction type magnetic levitation device according to claim 1, wherein: 3. The levitation body has a gap independent variable mechanism capable of changing the gap length of the magnetic support unit independently of each other, and the control means controls the levitation weight generated when an external force is applied to the levitation body. At the time of the peak of the yaw angle at which the yawing speed around the center becomes zero, a straight line defined by the supporting force action point of the pair of magnetic support units is generated at the time of floating of the floating body, and the yaw angle of the yawing generated around the center of the weight of the floating body. The magnetic support unit in which the torque component caused by the fluctuation of the support force around the geometrical rotation axis of the straight line when rotating on a substantially vertical plane due to the movement in the outward direction of the levitation body, The magnetic support unit that moves inward of the levitation body with respect to the guide rail without reducing the gap length is provided with control means that acts so as not to increase the gap length. And a combination of a torque component around the geometric rotation axis due to the fluctuation of the support force due to the yaw angle and a torque component around the geometric rotation axis due to the fluctuation of the guide force due to the yaw angle. The geometric rotation is in a position where torque acts to reduce the gap length for the magnetic support unit moving in the outward direction and increase the gap length for the magnetic support unit moving in the inward direction. 2. The magnetic levitation device according to claim 1, further comprising a shaft. 4. The apparatus according to claim 1, further comprising the magnetic support unit arranged so that the guide force acts on an inside of the floating body.
The suction type magnetic levitation apparatus according to claim 3, wherein the geometric rotation axis is located below an upper end of the magnetic support unit. 5. The air gap independent variable mechanism includes a plurality of base plates to which the magnetic support units are fixed, and coupling means for rotatably connecting these base plates to each other in a substantially vertical plane. The suction type magnetic levitation device according to claim 3, wherein 6. A magnetic levitation apparatus according to claim 5, wherein said coupling means is located below an upper end of said magnetic support unit. 7. The floating body has an air gap independent variable mechanism capable of changing the air gap length of the magnetic support unit independently of each other, and a straight line defined by a support force action point of the pair of magnetic support units is provided. The geometric rotation axis of the straight line when rotating on a substantially vertical surface due to the yaw angle of the yaw generated around the center of gravity of the levitation body when the levitation body floats is located at a position where it does not receive torque from the guide force. The control means is arranged so that the yaw speed around the center of gravity of the levitation generated when the external force of the levitation body is applied becomes zero at the peak of the yaw angle with respect to the guide rail at the time of the outward direction of the levitation body. The magnetic support unit moving in the vertical direction does not increase the gap length, and the magnetic support unit moving in the inward direction of the floating body with respect to the guide rail does not increase the gap length. A control unit that does not reduce a gap length, and a torque component around the geometrical rotation axis caused by a change in the support force due to the yaw angle and a geometric component caused by a change in the guide force due to the yaw angle. As for the magnetic support unit moving in the outward direction, the combined torque with the torque component around the rotation axis increases the gap length, and the magnetic support unit moving in the inward direction decreases the gap length. The magnetic attraction device of claim 1, wherein the geometric rotation axis is located at an operating position. 8. The magnetic support unit, wherein the magnetic support unit is arranged so that the guide force acts on the outside of the floating body.
The suction type magnetic levitation apparatus according to claim 7, wherein the geometric rotation axis is located below an upper end of the magnetic support unit. 9. The air gap independent variable mechanism includes a plurality of base plates to which the magnetic support units are fixed, and coupling means for rotatably connecting these base plates to each other in a substantially vertical plane. The suction type magnetic levitation device according to claim 7, wherein 10. The suction type magnetic levitation apparatus according to claim 9, wherein said coupling means is located above an upper end of said magnetic support unit. 11. The guide is a guide rail laid along a transport path passing between a plurality of points, and a propulsion means for moving the floating body along the guide rail is provided on the transport path or the guide path. The magnetic levitation device according to claim 1, wherein the magnetic levitation device is provided on a levitation body. 12. An auxiliary guide means for electromagnetically guiding the levitation body separately from the guide force, and an auxiliary guide stop means for stopping the operation of the auxiliary guide means when the auxiliary guide means fails. The suction type magnetic levitation device according to claim 1, wherein: 13. The suction type magnetic levitation apparatus according to claim 12, wherein said auxiliary guide stop means includes means for exciting a predetermined electromagnet with a constant current. 14. The floating body according to claim 1, wherein the floating center of gravity or the geometrical rotation axis is related to a floating body on which an accessory such as luggage is mounted. Any one of
Item 6. A suction type magnetic levitation device according to the above item.