| 摘要 |
PROBLEM TO BE SOLVED: To provide a magnetic levitation transport device and its controlling method that can control a magnetic bearing by small electric power, and that can suppress to a minimum the rocking of a transport unit against the change of load in the horizontal direction. SOLUTION: This method is for controlling a magnetic levitation transport device that is provided with a track, a transport unit that moves along the track, ferromagnetic levitation rails provided at the track side, magnetic bearings equipped with permanent magnet and provided at the transport unit in such a way as to face the up and down direction of the levitation rails 3 having a permanent magnet in a part of their magnetic poles, and a touchdown-protecting device provided at the transport unit side that holds the transport unit at a prescribed position against the track and for levitating the transport unit against the truck and drives it in the direction of both rails by making the magnetic bearings equipped with permanent magnet attract the levitation rails. At the initial stage of the levitation of the transport unit, a zero-power control is performed of balancing the attracting force of the magnetic bearings equipped with permanent magnet with a load. When the transport unit is driven, the control is changed over to a target value control of treating a prescribed levitation position as a target value.
|
