Proposal for Estimation of the Vertical Center of Gravity and the Decoupling Control with 2-DoF for a Maglev Linear Conveyor

Due to the advantages of non-friction, low noise, and smooth operation, magnetic levitation (Maglev) traction motors are promising in the transportation industry. Our research group has designed a Transverse Flux Permanent Magnet Linear Synchronous Motor (PMLSM) with attractive electromagnetic suspension(EMS) technology. However, the deviations in the center of gravity always lead to a coupling effect among the degrees of freedom (DoF). This paper proposes a method that estimates the vertical center of gravity. With the increase of the thrust, it could bring very harsh effects on the pitch direction. Meanwhile, we conducted the decoupling control to suppress the coupling effect between thrust and pitch DoF. Eventually, this paper verifies the estimation and the decoupling performance through simulation validations.