(5)

By using Newton`s second law oI motion the non-linear

Equation oI Motion (EOM) oI the ball position can be
represented as
(6)
2.3 Lineari:ation of equation of motion of ball position
Applying the Taylor`s series approximation about ( , ) to
equation (6) gives
(7)
The open-loop transIer Iunction oI the Ball position oI
magnetic levitation system is
(8)
The open-loop TransIer Iunction representation oI the
magnetic levitation system is
By substituting the system parameters we can get
The state-space representation oI the maglev system is
(11)
Where and are the ball position and coil current at
equilibrium point. The state variables oI the maglev system are
taken as ball position ( , velocity oI the ball and coil
current ( ).
By substituting the system parameters the state space
matrices are Iound to be
A B
C|1 0 0| D|0| (12)
3. CONTROLLERS DESIGN
3.1 PID Controller Design
3.1.1 Coil-current Controller Design
Eig. 3. PI Current Control Loop
The closed loop transIer Iunction oI the magnetic levitation
electrical system with PI controller is
The desired characteristic equation is
(14)
where is the damping ratio and e
n
is the natural Irequency oI
oscillation. By comparing the denominator oI the equation 11
with desired characteristic equation, the values oI and
can be Iound
3.1.2 Ball Position Controller Design
The open-loop transIer Iunction oI magnetic
levitation Ior ball position with coil current controller is
(15)
(16)
Multiplying Equation (8) with Equation (11), the transIer
Iunction oI magnetic levitation ball position is Iound to be
(17)
By substituting the system parameters in equation (17), the
open-loop transIer Iunction oI the magnetic levitation system
with coil current controller can be written as
18)
The block diagram oI the magnetic levitation ball position
Control with PID controller is shown in Eig. 4
Eig. 4. PI Current Control Loop
The closed-loop transIer Iunction oI the magnetic levitation
ball position Ior PID controller is
(19)
(20)
The desired characteristic equation is
(21)
(5)
By using Newton`s second law oI motion the non-linear
Equation oI Motion (EOM) oI the ball position can be
represented as
(6)
2.3 Lineari:ation of equation of motion of ball position
Applying the Taylor`s series approximation about ( , ) to
equation (6) gives
(7)
The open-loop transIer Iunction oI the Ball position oI
magnetic levitation system is
(8)
The open-loop TransIer Iunction representation oI the
magnetic levitation system is
By substituting the system parameters we can get
The state-space representation oI the maglev system is
(11)
Where and are the ball position and coil current at
equilibrium point. The state variables oI the maglev system are
taken as ball position ( , velocity oI the ball and coil
current ( ).
By substituting the system parameters the state space
matrices are Iound to be
A B
C|1 0 0| D|0| (12)
3. CONTROLLERS DESIGN
3.1 PID Controller Design
3.1.1 Coil-current Controller Design
Eig. 3. PI Current Control Loop
The closed loop transIer Iunction oI the magnetic levitation
electrical system with PI controller is
The desired characteristic equation is
(14)
where is the damping ratio and e
n
is the natural Irequency oI
oscillation. By comparing the denominator oI the equation 11
with desired characteristic equation, the values oI and
can be Iound
3.1.2 Ball Position Controller Design
The open-loop transIer Iunction oI magnetic
levitation Ior ball position with coil current controller is
(15)
(16)
Multiplying Equation (8) with Equation (11), the transIer
Iunction oI magnetic levitation ball position is Iound to be
(17)
By substituting the system parameters in equation (17), the
open-loop transIer Iunction oI the magnetic levitation system
with coil current controller can be written as
18)
The block diagram oI the magnetic levitation ball position
Control with PID controller is shown in Eig. 4
Eig. 4. PI Current Control Loop
The closed-loop transIer Iunction oI the magnetic levitation
ball position Ior PID controller is
(19)
(20)
The desired characteristic equation is
(21)
(5)
By using Newton`s second law oI motion the non-linear
Equation oI Motion (EOM) oI the ball position can be
represented as
(6)
2.3 Lineari:ation of equation of motion of ball position
Applying the Taylor`s series approximation about ( , ) to
equation (6) gives
(7)
The open-loop transIer Iunction oI the Ball position oI
magnetic levitation system is
(8)
The open-loop TransIer Iunction representation oI the
magnetic levitation system is
By substituting the system parameters we can get
The state-space representation oI the maglev system is
(11)
Where and are the ball position and coil current at
equilibrium point. The state variables oI the maglev system are
taken as ball position ( , velocity oI the ball and coil
current ( ).
By substituting the system parameters the state space
matrices are Iound to be
A B
C|1 0 0| D|0| (12)
3. CONTROLLERS DESIGN
3.1 PID Controller Design
3.1.1 Coil-current Controller Design
Eig. 3. PI Current Control Loop
The closed loop transIer Iunction oI the magnetic levitation
electrical system with PI controller is
The desired characteristic equation is
(14)
where is the damping ratio and e
n
is the natural Irequency oI
oscillation. By comparing the denominator oI the equation 11
with desired characteristic equation, the values oI and
can be Iound
3.1.2 Ball Position Controller Design
The open-loop transIer Iunction oI magnetic
levitation Ior ball position with coil current controller is
(15)
(16)
Multiplying Equation (8) with Equation (11), the transIer
Iunction oI magnetic levitation ball position is Iound to be
(17)
By substituting the system parameters in equation (17), the
open-loop transIer Iunction oI the magnetic levitation system
with coil current controller can be written as
18)
The block diagram oI the magnetic levitation ball position
Control with PID controller is shown in Eig. 4
Eig. 4. PI Current Control Loop
The closed-loop transIer Iunction oI the magnetic levitation
ball position Ior PID controller is
(19)
(20)
The desired characteristic equation is
(21)