Project

DEADLINE 17 NOV 2014

MagLev Control
Simulink model

TASK: compare
1) PID
2) IMC
3) MPC
Report + Progs to:
Robain.DeKeyser@UGent.be

198 .1

Inp

s2 +10 s+1962

From
Workspace

Transfer Fcn 1

DisInp

DisOut

From
Workspace1

From
Workspace2

B (q 1 ) 0.0003933q 1 + 0.0003907 q 2
=
A(q 1 )
1 1.9724q 1 + 0.9802q 2
IMC speed parameter: a = 0.85

Out
To Workspace

sampling period: 2 ms

B( q 1 ) has bad zero !

N1 1,=
N 2 20,=
Nu 1
MPC parameters: =
MPC process model: use parallel model (EPSAC text p.8-9)
MPC disturbance model: C ( q 1 )= 1

D( q 1 )= (1 q 1 ) * A( q 1 )

Robin DE KEYSER Ghent University EeSA Department of Electrical energy, Systems & Automation

z
Z (s)
I (s)

2 gk
*
z=
m
2
s2 + * g
z

0.1981
s 2 + 1962

MAGnetic LEVitation
2 gk
floating train, 500 km/hr
Z (s) z* m
= =
air gap z=1cm
2
I (s)
s2 * g
2
2
levitation FL = k i z
z

i (t ) 2
force equilibrium (for left design): mz(t ) = FL (t ) mg = k
mg
2
z (t )
(m 10000
=
kg k 0.001 Nm 2 /A 2 )

nonlinear system; linearize around

=
z * 0.01
=
m; I * 99 A

0.1981
s 2 1962

Include small air-damping

and put z in mm:
Z (s)
198.1
= 2
I ( s ) s + 10 s + 1962

Robin DE KEYSER Ghent University EeSA Department of Electrical energy, Systems & Automation

% test of controllers - Robin De Keyser October 2014

State=[0 0]; Out=0; data=[];
Ns=401; Ts=0.002; %2ms sampling period
% for PID controller: remove % in following line
Ini_Pid; % WRITE A FILE Ini_Pid.m !!! [to initialize the PID controller]
% for IMC controller: remove % in following line
%Ini_Imc; % WRITE A FILE Ini_Imc.m !!! [to initialize the IMC controller]
% for MPC controller: remove % in following line
%Ini_Mpc; % WRITE A FILE Ini_Mpc.m !!! [to initialize the MPC controller]
for Tm=1:Ns,
Yt=Out(size(Out,1)); Wt=1;
% use Wt and Yt and produce Ut in your control program:
% for PID controller: remove % in following line
Con_Pid; %WRITE A FILE Con_Pid.m !!! [the PID controller]
% for IMC controller: remove % in following line
%
Con_Imc; %WRITE A FILE Con_Imc.m !!! [the IMC controller]
% for MPC controller: remove % in following line
%
Con_Mpc; %WRITE A FILE Con_Mpc.m !!! [the MPC controller]
% process simulation; don't change this !!!
if Tm<101, DtOut=0; else if Tm<201, DtOut=DtOut+0.01; end; end;
if Tm<301, DtInp=0; else DtInp=10; end;
Inp=[0 Ut]; DisInp=[0 DtInp]; DisOut=[0 DtOut];
[T,State]=sim('MagLev',Ts,simset('InitialState',State(size(State,1),:)));
data=[data; [Wt Yt Ut DtInp DtOut]];
end;
% plot results; don't change this !!!
figure(1); plot([data(:,1) data(:,2)]); axis([0 400 0 1.5]);
figure(2); plot([data(:,3) data(:,4) 20*data(:,5)]); axis([0 400 -25 25]);

Robin DE KEYSER Ghent University EeSA Department of Electrical energy, Systems & Automation

(partial results RdK in random order)

1) IMC for step at output - 2) PID - 3) IMC for step at input - 4) MPC for step at output - 5) IMC for ramp at output - 6) MPC for step at input
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Robin DE KEYSER Ghent University EeSA Department of Electrical energy, Systems & Automation