scholarly journals Variable Structure Control Design for a Magnetic Levitation System

2018 ◽  
Vol 24 (12) ◽  
pp. 84-103
Author(s):  
Shibly Ahmed Al-Samarraie
Keyword(s):  
Steady State ◽  
Magnetic Levitation ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Continuous Variable ◽  
Open Loop ◽  
Structure Control ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
State Error

In this paper the variable structure control theory is utilized to derive a discontinuous controller to the magnetic levitation system. The magnetic levitation system model is considered uncertain, which subjected to the uncertainty in system parameters, also it is open-loop unstable and strongly nonlinear. The proposed variable structure control to magnetic levitation system is proved, and the area of attraction is determined. Additionally, the chattering, which induced due to the discontinuity in control law, is attenuated by using a non-smooth approximate. With this approximation the resulted controller is a continuous variable structure controller with a determined steady state error according to the selected control parameters. Finally the ability and the effectiveness of the proposed continuous variable structure controller to the magnetic levitation system are verified via numerical simulations. When state initiated inside the area of attraction, the results show that the ball position can be directed to follow various desired positions, with steady state error not exceeding .    

scholarly journals LQR state feedback controller with precompensator for magnetic levitation system

2021 ◽  
Vol 2111 (1) ◽  
pp. 012004
Author(s):  
A Winursito ◽  
G N P Pratama
Keyword(s):  
Steady State ◽  
High Speed ◽  
State Feedback ◽  
Magnetic Levitation ◽  
Feedback Controller ◽  
Steel Ball ◽  
State Feedback Controller ◽  
Wide Range ◽  
Levitation System ◽  
Magnetic Levitation System

Abstract Magnetic levitation system (MLS) is a nonlinear system that attracts the attention of many researchers, especially control engineers. It has wide range of application such as robotics, high-speed transportation, and many more. Unfortunately, it is not a simple task to control it. Here, we utilize state feedback controller with Linear-Quadratic Regulator (LQR) to regulate the position of a steel-ball in MLS. In addition, we also introduce the precompensator to nullify the steady-state errors. The linearized model, controller, and precompensator are simulated using Matlab. The results and simulation verify that the state feedback controller and precompensator succeed to stabilize the position of steel-ball at the equilibrium for 0.1766 seconds and no steady-state errors.

scholarly journals Design of a 2-DOF Control and Disturbance Estimator for a Magnetic Levitation System

2017 ◽  
Vol 7 (1) ◽  
pp. 1369-1376 ◽  
Author(s):  
A. Pati ◽  
V. C. Pal ◽  
R. Negi
Keyword(s):  
Control Strategy ◽  
Magnetic Levitation ◽  
Open Loop ◽  
Loop Control ◽  
Set Point ◽  
Point Tracking ◽  
Load Disturbance ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Disturbance Estimator

This work proposes a systematic two-degree freedom control scheme to improve the reference input tracking and load disturbance rejection for an unstable magnetic levitation system. The proposed control strategy is a two-step design process. Firstly, a proportional derivative controller is introduced purposely to get the desired set-point response of the magnetic levitation system and then, an integral square error (ISE) performance specification is used for designing a set-point tracking controller. Secondly, a disturbance estimator is designed using the desired closed loop complimentary sensitivity function for the rejection of load disturbances. This leads to the decoupling of the nominal set-point response from the load disturbance response similar to an open loop control manner. Thus, it is convenient to optimize both controllers simultaneously as well as separately. The effectiveness of the proposed control strategy is validated through simulation.

scholarly journals Control of a MIMO Magnetic Levitation System using Exponential Control Barrier Function

2020 ◽  
Author(s):  
Caio I. G. Chinelato ◽  
Bruno A. Angélico
Keyword(s):  
Feedback Linearization ◽  
Control Structure ◽  
Magnetic Levitation ◽  
Metal Plate ◽  
Open Loop ◽  
Control Law ◽  
Barrier Functions ◽  
Levitation System ◽  
Safety Constraints ◽  
Magnetic Levitation System

This work presents the control of a magnetic levitation system. The system is constituted by a Y shape metal plate that must be levitated by electromagnetic attractive forces. The system is nonlinear, open loop unstable and Multiple-Input/Multiple-Output (MIMO), whose inputs are represented by attractive forces generated from three electromagnets and outputs are represented by three plate positions. The proposed control structure uses Quadratic Programming (QP) to combine performance/stability objectives, represented by an arbitrary nominal control law, and safety constraints, represented by Control Barrier Functions (CBFs). The arbitrary nominal control law applied is determined by feedback linearization. Multiple safety constraints with relative-degree greater than one were applied. One way to deal with this is to use Exponential Control Barrier Functions (ECBFs). The results of this control structure applied to the magnetic levitation system are obtained through numerical simulations and indicate that performance/stability objectives are reached and safety constraints are respected.

scholarly journals Research on Neural Network PID Quadratic Optimal Controller in Active Magnetic Levitation

2014 ◽  
Vol 8 (1) ◽  
pp. 42-47
Author(s):  
Zhongqiao Zheng ◽  
Xiaojing Wang ◽  
Yanhong Zhang ◽  
Jiangsheng Zhang
Keyword(s):  
Neural Network ◽  
Magnetic Levitation ◽  
Learning Rule ◽  
Open Loop ◽  
Optimal Controller ◽  
Positioning Errors ◽  
Levitation System ◽  
Dynamic Performances ◽  
Magnetic Levitation System ◽  
Neural Network Pid

In response to the uncertainty, nonlinearity and open-loop instability of active magnetic levitation control system, a neural network PID quadratic optimal controller has been designed using optimum control theory. By introducing supervised Hebb learning rule, constraint control for positioning errors and control increment weighting are realized by adjusting weighting coefficients, using weighed sum-squares of the control increment and the deviation between actual position and equilibrium position of the rotor in active magnetic levitation system as objective function. The simulation results show that neural network PID quadratic optimal controller can maintain the stable levitation of rotor by effectively improving static and dynamic performances of the system, so as to maintain the stable levitation of rotor in active magnetic levitation system which has stronger anti-jamming capacity and robustness.

The application of disturbance observer-based sliding mode control for magnetic levitation systems

2009 ◽  
Vol 224 (8) ◽  
pp. 1635-1644 ◽  
Author(s):  
Z G Sun ◽  
N C Cheung ◽  
S W Zhao ◽  
W C Gan
Keyword(s):  
Disturbance Observer ◽  
Magnetic Levitation ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Open Loop ◽  
Robust Controller ◽  
Linear Dynamic ◽  
Levitation System ◽  
Non Linear ◽  
Magnetic Levitation System

A control algorithm for the position tracking of a magnetic levitation system is presented in this article. The magnetic levitation system is well known for its non-linear dynamic characteristics and open-loop instability. The external disturbances will deteriorate the dynamic performance of the magnetic levitation system, and may give rise to system instability. This problem triggers enormous interests in designing various controllers for the non-linear dynamic system. In this article, a magnetic levitation system is first modelled. Then, a sliding mode controller is proposed, with a simple yet effective disturbance observer to perform disturbance rejection. Both the simulation results and the experimental results verify the validity of the robust controller.

scholarly journals A Novel Control-rod Drive Mechanism via Electromagnetic Levitation in MNSR

Nukleonika ◽  
2014 ◽  
Vol 59 (2) ◽  
pp. 73-79
Author(s):  
Mohammad Divandari ◽  
Mehdi Hashemi-Tilehnoee ◽  
Masoud Khaleghi ◽  
Mohammadreza Hosseinkhah
Keyword(s):  
Control System ◽  
State Feedback ◽  
Closed Loop ◽  
Research Reactor ◽  
Magnetic Levitation ◽  
Electromagnetic Levitation ◽  
Open Loop ◽  
Control Rod ◽  
Levitation System ◽  
Magnetic Levitation System

Abstract In this paper, an electromagnetic levitation system was used with a synchronous motor to navigate the control rod of a small-type research reactor. The result from this prototype magnetic levitation system was in agreement with simulation results. The control system was programmed in MATLAB through open-loop system, closed-loop with state feedback and closed-loop with state feedback integral tracking. The final control system showed the highest performance with a low positioning error. Our results showed that the developed control system has the potential to be used as a reliable actuator in nuclear reactors to satisfy higher performance and safety.

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