1

simulaciones, Aplicacin y experimentacin de un lts Resu PD y el espacio de estados

controladores para un sistema de levitacin magntica
Juan E. Martnez, Julin A. Narvez y Carol L. Bedoya
Resumen: En este documento se comparan cuatro controladores para levitar una esf
era de acero en un SISO levitacin magntica de planta. Las comparaciones entre los
controladores diseados con corriente estimador y sensor de corriente estn hechas e
xperimentalmente. Las simulaciones de la dinmica no lineal controlado sistema apa
recen en Matlab y la actual posicin y comportamiento es dirigida. Los dos primero
s controladores estn implementado y diseado utilizando un controlador PD. Los otro
s dos controladores estn diseados en el estado de espacio mediante la colocacin de
polo y el regulador Cuadrtico Lineal. Todos estos controladores, as como el sensor
de posicin y la medicin de la inductancia de la bobina fueron diseadas e implement
adas usando el DS1104 junta. Todo este trabajo se realiza para validar los mtodos
de control estudiados en cursos tales como clsica y control digital ofrece habit
ualmente en los programas de ingeniera elctrica.
1 Introduccin El estudio de control de un sistema unidimensional puede llevar a m
uchos campos de investigacin tales como:
sistemas de control de la educacin [1]-[4], clsico y moderno control nanopositioni
ng [4], [5], [6] la manipulacin celular, el diseo de los actuadores electromagntico
s [7], el control del tren maglev systems [8], el control inteligente [11]. Este
amplio nmero de opciones podran mostrar de pregrado estudiantes de postgrado, as c
omo la importancia de la interdisciplinariedad para desarrollar o disear una plan
ta y sus controladores posibles.
En el documento [1], un control PWM est diseado con un controlador PD analgico. En
el documento [4], un ptimo cuadrtico Controller est diseado. En este papel, las simu
laciones son desarrollados utilizando el modelo de dinmica no lineal para la plan
ta propuesta en [4] y [2] del sistema de suspensin, en contraposicin a los artculos
mencionados [1 - 4] donde la planta lineal se utiliza para desarrollar las simu
laciones. Utilizando la planta modelo no lineal puede dar a los estudiantes una
interpretacin del comportamiento dinmico de estos sistemas de control. Por ejemplo
, el coeficiente de amortiguacin de aire no est incluida en los modelos propuestos
en [1]-[4]. El primer modelo de dinmica no lineal tambin puede ser cuestionada de
sde donde se obtiene mediante series de Taylor la planta modelo lineal y por lo
tanto el diseo de controlador utilizando mtodos lineales.
Las comparaciones entre los sistemas dinmicos no lineales de electromagntico estn d
irigidas a mostrar los efectos de modelos sobre los resultados de la simulacin y
por lo tanto, en lo que se puede esperar experimentalmente.
El control de la EP, as como el control de corriente de lazo de menor importancia
que se propone en [1] es tomado como ejemplo principal de feedback indemnizacin
cuando el ruido puede impedir la cascada ms comunes la indemnizacin. El menor lazo
es un buen ejemplo donde la variable ms rpido, en este caso, la corriente de la b
obina, es necesaria para el control de la variable ms lento, la posicin de la bola
de acero.
En la seccin 2 se examinan los modelos lineales y no lineales utilizados en docum
entos [1] y [4]. En la seccin 3, los resultados de la simulacin en MATLAB-SIMULINK
son analizados. En la seccin 4, los resultados experimentales son comparadas a l
a simulacin. En la seccin 5 se describen el sistema experimental y las mediciones.
Las conclusiones se presentan en la seccin 6.
2 sistema electromagntico lineales y no lineales 2.1 modelos exponencial modelo e
n papel [2], el electroimn inductancia es elegido para ser gobernado de forma exp
onencial segn
Juan E. Martnez con el Departamento de Electrnica Engineeringt, Universidad de Ant
ioquia, Medelln, Antioquia, Colombia.
Julin A. Narvaz fue con el Departamento de Electrnica Engineeringt, Universidad de
Antioquia, Medelln, Antioquia, Colombia, y ahora est con Polco S.A. Medelln, Antioq

uia, Colombia.
Carol L. Bedoya es con el Departamento de Electrnica Engineeringt, Universidad de
Antioquia, Medelln, Antioquia, Colombia.
E-mail: Juanmartpa@udea.edu.co).

2
La distancia entre el acero esfera para ser levitaba y el electroimn core (variab
le x) por una longitud constante denominada "a". En este modelo, L1 representa l
a inductancia del electroimn cuando la esfera de acero est demasiado lejos del ncle
o del electroimn, es decir, L1 = L(). Cuando la esfera de acero se adjunta al ncleo
del electroimn de la inductancia aumenta por lo Henries.
La siguiente ecuacin resume este enfoque:
x-a L( )x = L1 + Lo e (1) Para un sistema que es capaz de almacenar la energa com
o es un electroimn, la fuerza que puede aplicarse a un material magntico es consec
uencia de los cambios en el sistema energtico. As se calcula la energa almacenada g
radiente:
W ( )xf = (2) x
2 L(x)i donde W( )xi,= (3) 2
Por lo tanto, la fuerza magntica es:
X- ( )xf = 2 - Lo i E (4) 2 una
basada en este enfoque [2], el modelo dinmico para la simulacin propuesta es:
2 x d x - m = 2 - Lo i E + m g + m 2TD 2 un xd (5) td
donde m es la masa de esfera y es el coeficiente de amortiguacin de aire.
2.2 modelo polinomial en documentos [3] y [4], el electroimn inductancia con resp
ecto a la distancia de separacin entre el ncleo y la esfera magntica, x es:
xo L( )x = L1 + Lo (6) x
donde xo es la levitacin operativo gap.
Sustituyendo (6) en (3) y el resultado en (2) da la fuerza magntica como:
2 xo i ( )xf Lo:= (7) 2 x
desde el electroimn inductancia vara con x
, el circuito R-L que define la dinmica de la corriente de la bobina depende tamb
in de la distancia x. La ecuacin que rige la dinmica actual es:
( ) ( ) xv = iR+ L x id td (8)
donde v es el voltaje aplicado al electroimn, y R y L(x) son la resistencia y la
inductancia del electroimn, respectivamente.
Sobre la base de este enfoque [3], el modelo dinmico de nuestra simulacin es:
2 2 d x lo xo yo m = - + m g + m 2TD 2 x
xd (9)
Sin embargo, en el documento TD [4], la fuerza magntica es dada como:
2
i ( )xf (10) Lo:=2b x 1+
b
donde b tiene un significado similar como la longitud constante "a" en el enfoqu
e exponencial.

3
2.3 modelos Simulink lineal La linearizacin de cualquiera de los dos enfoques men
cionados se realiza mediante la expansin de la serie de Taylor. La expresin genera
l para este caso donde dos variables, a saber, la distancia (x) y corriente (I),
describir la dinmica del sistema de electroimn, se trunca tomando simplemente los
trminos lineales de esta serie:

 f f ( ) ( ) , xif= , dIf+ x + i'' (11) x , i xIo ,xIo

donde x' y yo" son las variaciones en la distancia de separacin y la corriente re
spectivamente alrededor del punto de levitacin operativo, es decir:
x' = x - xo (12) , i' = i - I (13) Desde la linearizacin es alrededor de la levit
acin operativo punto, la dinmica lineal desde donde la funcin de transferencia de l
a planta se obtiene son:
2d x' = k M1 x' + 2 Ik' (14) 2TD
Cuando, por el aumento exponencial del enfoque:
XO - 2 f k Lo e I
1 = = 2 (15) x , xIo 2 Un
xo - un f I K2 = - Lo e (16) i , un xIo
y para el polinomio enfoque:
2 f I K1 = 3 baja (17) x , xIo 2 xo b 1+
b
f k2 == Lo I
2 (18) i ,xIo xo b 1+,
por lo tanto, la funcin de transferencia lineal que representa la planta operando
cerca de la operacin
desde el punto
b (14) y despus de la realizacin de transformaciones de Laplace es:
X K2 (s) = 2 (19) ( )sI sm- k1
de (19), Est claro que el coeficiente de amortiguacin de aire no se considera en e
ste modelo linealizado.
Dado que la dinmica del sistema est representada por eqns. (8) y (14), la primera
a las ecuaciones diferenciales que rigen el sistema de suspensin dinmica son:
k 2 & = k1 x'+ i (20) m m
r v - i + (21) id=td L L
donde es la velocidad.
Eqns. (20) y (21) se utiliza para definir el estado ecuacin:
x&' =Ax+B' u (22) La ecuacin de estado de salida para este sistema SISO es:
y = xC' (23)

4
Por lo tanto, el estado y la salida de las ecuaciones del sistema estn definidos
por las siguientes matrices:
1 0
A =
0 K1 0
0 k2 , B = , C = m 0 1 [ ] Gs 0 0
0 0 L
m r - L
donde gs es la ganancia del sensor de posicin y las variables de estado elegidos
son: posicin (

x' ), la velocidad
( x&' ) y corriente (I).
El mtodo de colocacin de polos para el diseo de la controladora del estado fue real
izada mediante el lugar de comando de MATLAB(A,B,P), donde el argumento de un me
dio el sistema matrix, b el vector de entrada y P los polos deseados para el sis
tema de bucle cerrado. El regulador Cuadrtico Lineal fue diseado por el comando de
MATLAB lqr(A,B,Q,R,N) donde Q, R y N son el peso de matrices para el vector de
estado, la seal de entrada y estado final respectivamente, que definen la discret
a performance index [12] como :
1 1 J = x ( ) ( ) N xSN + (24) 2 2

N 1-
x( ) ( ) ( ) ( ) k q x k + u k r u k
k =0
desde la lqr minimiza el ndice de desempeo y esto significa ms restricciones, puede
producir una mayor inestabilidad.
2.4 modelos Simulink no lineal para simular el sistema de levitacin electromagntic
a mediante la dinmica no lineal de la posicin de la esfera de acero, se decidi mant
ener la bobina de inductancia constante en un valor cercano a uno de los puntos
de operacin con el fin de simplificar el modelo de simulacin, como se muestra en l
a Fig. 3, para el bloque del circuito r-l.
Fig. 1 muestra el modelo de dinmica no lineal del sistema de levitacin usando el p
olinomio o el enfoque exponencial ([4] y [3]), donde para el polinomio enfoque b
=
2 0.018 m, baja = 0,11 H, xo = 0,01 m, m = 0,13 kg, g = 9,5 m/s y beta es el amo
rtiguamiento coeficiente de aire.

Fig. 1. Polinmica o exponencial no lineal de la dinmica de la planta

3 resultados experimentales y de simulacin del modelo lineal y no lineal propuest

o en [1] con las constantes medido para el

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R61 5 implementa el sistema de suspensin fue simulado en Simulink y los resultado
s predichos en un esfuerzo de control de amplitud igual a uno es el mostrado en
la Fig. 2 (a) y (b), respectivamente, que puede ser comparada con la posicin medi
da con la estimacin actual en la Fig. 2. (c) y con el sensor de corriente en la F
ig.
2. (d). La previsin del cambio de posicin mediante el modelo lineal de 1,5 cm es c
ercana a la predicha por el modelo no lineal de 1 cm y los experimentales que fu
eron aproximadamente 1,25 cm (Figura 2). (c) y 0.8 cm (Fig. 2. (d)
(a) (b)

(c) (d)
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Fig. 2. (a) Salida pronosticado por el modelo lineal (enfoque exponencial) para
el controlador PD (b) Posicin de salida para el polinomio exponencial y no lineal
de planta para el controlador PD (c) Medida de la salida de posicin dada por el
controlador PD con la estimacin actual (D) mide la salida de posicin dada por el c
ontrolador PD con sensor de corriente.

Fig. 3 muestra el modelo Simulink cuando la planta lineal es sustituido por la d

inmica no lineal que fue modelo linealizado (Fig. 1). Y el controlador es el mism
o control PD como el utilizado en la simulacin para obtener Fig. 2. (a) y (b)
Fig. 3. Controlador PD no lineal y planta.
R61 los esfuerzos son mayores cuando se trata de simular la planta lineal ya que
en el primer caso, el modelo se toma

cuando simulando el sistema con el modelo no lineal es normal notar que el contr
ol
en cuenta el esfuerzo de tomar la levitaba objeto desde la posicin inicial a la p
osicin deseada condicin y, por tanto, el coeficiente de aire de amortiguacin es imp
ortante en el modelo para la estabilidad del sistema en lazo cerrado para oponer
se a la planta lineal donde no aparecen.
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6
Fig. 4 (a) y (b) muestran que el valor medido de la corriente de la bobina para
el sistema de bucle cerrado con controlador PD tiene el comportamiento de traque
teo que [] a fin de disminuir sus efectos indeseables sobre la salida del sistem
a digital de control por modo deslizante es una opcin [].
(a) (b)
Fig. 4. (a) la corriente de la bobina medida dadas por el controlador PD con la
estimacin actual de la funcin de transferencia de la corriente de la bobina de la

estimacin. (b) la corriente de la bobina medida dadas por el controlador PD con s

ensor de corriente.
Para los controladores de espacio de estado, el Matlab Simulink - diagrama utili
zado para simular el
R94 Sistema de suspensin controlado mediante la colocacin de polo y regulador cuad
rico lineal mtodos para el regulador, con y sin observador completa, se muestra en l
a Fig. 5. El esfuerzo de control de ambos controladores era igual a uno. Los res
ultados pronosticados para la posicin de salida y corriente de la bobina por esto
s dos controladores se muestran en la Fig. 6.
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y
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h4ij!T
7

Fig 5. State feedback controller and regulator system with full-order state obs
erver.
The simulations of the state feedback controller and regulator system with full
order state observer using pole placement method to calculate the feedback gains
are shown in fig. 6 (a) and (b) and in Fig 6 (c) and (d) are the measured posit
ion and current coil variables. These simulations show that the best predicted v
ariable is the position with state observer where the change of position is appr
oximately 1.1 cm which is closed to the change in position shown in Fig 6 (c) wh
ere these change is approximately 1.25 cm. The simulated currents do not show go
od predictions must possible due to the chattering behavior already commented.

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(a) (b)

R121 (c) (d) Fig 6. (a) Position output and (b) coil current predicted by Matla
b Simulink (c) Measured position output and (d) measured coil current for the fe
edback controller and regulator system with full-order state observer using pole
placement method and the polynomial plant.
Since the lqr is a method of optimization to calculate the feedback and observe
r gains then it is expected to have less range of change for the state variables
as it shown in Fig 7 (a) and (b) for the regulator with state observer. Fig 8.
(a) and (b) show that these state feedback controllers requires some method of f
iltering the noise to have a better performance as for example the Kalman filter
.
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(b) (b)
R121 Fig 7. (a) Position output and (b) current output predicted by Matlab Simu
link for the state feedback controller and regulator system with full-order stat
e observer using the lqr method and the polynomial nonlinear plant)

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(a) (b)
Fig 8. (a) Measured position using the pole placement method and (b) Measured p
osition using the lqr method by the state feedback controller without full-order
state observer.
5 Experimental system and measurements
5.1 Inductance

Inductance is defined as the relation between magnetic flux () through the coil
and the current (i) that circulates through the wires.
In an electromagnet, the magnetic flux tends to be confined to the core due to
its high magnetic permeability. It may be said that the magnetic flux is approxi
mately uniform in the core and the average value of magnetic flux density B coin
cides with the value that appears in the middle line that passes through the cen
troid of the core.
As the cross section of the core of the coil is straight and the magnetic flux
density is almost
S (25)
perpendicular to this cross section, the inductance can be defined as: r r B Sd

L = = i i i i
S cos( ) BA
s BA
where L is the inductance, BA is the magnetic flux density in the middle line o
f the core, S is the
2 transversal area of the core of the coil ( R ) and (i) is the current in amperes
.
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Fig. 17. Assembly used to measure the inductance.
Fig. 17 shows the diagram of the assembly used to measure the inductance, which
comprises a current sensor and a field sensor whose outputs are carried to two
ADC inputs of the ds1104 board to be processed by Simulink.
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A field sensor (A1302), a current sensor (ACS712) and the ds1104 are used to me
asure the inductance as shown in Fig. 18. Both sensors use the Hall effect to pe
rform their functions. The difference between them is that the current sensor us
es an IC to transform the magnetic field produced by the current that circulates
through the sensor in a voltage proportional to this current.
Fig. 18. Schematic of the circuit implemented to sense the inductance.
The field sensor delivers a voltage proportional to the magnetic flux density a
pplied (for this sensor, it is 1.3mV/G when the device is polarized with 5 V and
the ambient temperature is 25 C). In this device, when B=0, the output voltage i
s not zero it is 50 of the supply voltage.
Similarly, the current sensor delivers a voltage proportional to the current ap
plied (182mV/A), and in the quiescent state (i=0), the output voltage is nominal
ly one-half the supply voltage.
The voltage signals from the output of the field and current sensors are lead t
o two ADC inputs of the ds1104 (Figs. 17 and 18). The signals are processed by S
imulink since the DSP works under Matlab platform (as is observed in Fig. 19) an
d the results obtained (inductance as a function of the sphere position) are use
d to obtain each point of Fig. 20.

Fig. 19. schematic used to process the voltage signals coming from both sensors
.
Fig. 19 shows the Matlab - Simulink schematic used in the DS1104 to calculate t
he inductance of the coil where Gsensor_field and Gsensor _current are the gains
of the field sensor and the current sensor respectively (the gain of the field
sensor is 1.3 mV/G it is multiplied by 1e-4 to convert to SI units).
The output voltage of the current and field sensors is attenuated by the ds1104
board by a factor, therefore in the block diagram the ADC inputs are amplified
by a gain of 10.
The output voltage in the quiescent state in both sensors shows 2.5 V. Hence, 2
.5 V is subtracted from each voltage signal in the block diagram so that the gra
phs available in the GUI (Control Desk) can show zero values for magnetic flux d
ensity or current.
From (25), it can be seen that the current divides the other terms of the equat
ion. Therefore, a switch is used in Fig. 19 to prevent division by zero, which e
nsures that the final graph does not have singularities.
In Fig. 20, the inductance variations can be seen when the steel sphere is movi
ng along the X- axis of the core coil. This graph has been obtained using the as
sembly indicated in Fig. 17

11
and the schematic of Fig. 19, and is used to measure the inductance at differen
t points under the core of the coil in discrete intervals of 2.5 mm.
When the distance between the steel sphere and the core is maximum, the inducta
nce calculated shows a value of 0.37 H. For the opposite case (when the distance
between the sphere and the core is minimum), the measured inductance is 1H or L
1+L0=1H
5.2 Position The position sensor is implemented using infrared diodes connected
as an array in front of an array of photodiodes. This sensor is a very importan
t and critical factor in the control of the plant. A good position sensor avoids
problems and ensures that the sphere levitates.
Fig. 21 shows the position sensor. The elements used in this sensor are eight s

ilicon photodiodes (op906) and eight IR LEDs (QEC113). It is also possible to us

e a photo resistor (Fig. 12) instead of photodiodes (Fig. 13) although the syste
m oscillates a little more and the operation range is reduced compared to the pe
rformance of photodiodes.
The position signal is taken from the photodiodes and leads to an ADC input of
the DS1104.
Fig. 20. Inductance vs. Distance between the sphere and the core of thecoil.
5.3 Power Module The PWM control signal is provided by the ds1104 through a dig
ital output, which is carried to a protection circuit made of optocouplers that
inverts the control signal. Thus, in Fig. 23, the master bit out block delivers
zeros and the optocoupler takes the signal and inverts it, in order to switch th
e MOSFET that controls the coil current. The MOSFET power circuit connects the c
oil to a regulated DC source that operates at 25V D.C. The transistor reference
is IRF840 N- channel MOSFET that allows handling high currents and voltages.
To turn on and turn off (switching), the MOSFET transistor needs a driver the on
e chosen was the IR2110 that can manage high voltage and speed. It works like a
buffer providing the necessary voltage to turn on the MOSFET. Fig. 22 shows the
schematic of the power module connected to the coil.

12
Fig. 21. Position Sensor

Fig.22 . Diagram of the protection system and power module.

5.4 Implemented Controllers Fig. 23 shows the schematic of the PD controller us
ed in the magnetic levitation system where Vs is the bias voltage of the coil (2
5 V), Gs is the position sensor gain (86 V/m), Gsm is a gain to adjust Gs, R is
the coil resistance (3.4 ), L is the coil inductance (0.37 H), Kp is the proporti
onal constant of the controller (3.6), Td is the derivative constant of the cont
roller (0.056 s), and Gc is the current sensor gain (182 mV/A).

Fig 23. PD controller implemented in the DS1104

13
In this model, the position is measured by a sensor, the current can be estimat
ed by a RL transfer function or measured by a current sensor, and the PWM signal
is designed in Simulink using a switch that works like a comparator between the
control signal and the sawtooth signal.

In Fig. 23, it can be seen that the system is excited by a pulsed signal to tes
t the controller and verify that it works correctly. The response of a PD contro
ller to this excitement is shown in Figs. 10 and 11.
Figs. 24 and 25 show the Simulink schematics of the state space controllers imp
lemented in the DS1104 board. Fig. 24 shows the regulator system with full-order
state observer and Fig. 25 shows the state feedback control system without obse
rver. In this figure, a velocity estimator was implemented since there is no sen
sor available for this state variable.
Here, A, B, C, Lob are coefficient constant matrices of dimensions (3x3), (3x1)
, (1x3), (3x1) respectively.
In the controller of Fig. 25, the velocity is estimated differentiating the mea
sured position through a backwards differentiator:
V (Z ) Z 1 = (26) X ( )Z Z T
where T is the sample time.
The other state variables (position and current) are measured by position and c
urrent sensors, unlike Fig. 24, where current and position are determined by the
observer.
Both controllers are excited by a pulsed signal, which is a demanding signal to
test the system stability.
The graphs of position and current obtained using the full-order state observer
of Fig. 24 are shown in Figs. 12 to 15.

Fig 24. Regulator system with full-order state observer

14
Fig 25. State feedback control system controller with velocity estimator implem
ented in the ds1104
Similarly, the graphs of position and current obtained using the state space co
ntroller with the velocity estimator of Fig. 25 are shown in Fig. 16.
5.5 Sample time The sample time chosen was 0.02 s, which is enough for the band
width of the magnetic suspension system that is about 5 Hz [1].
6 Conclusions The experimental results for the linear quadratic regulator showe
d more noise sensibility than the pole placement method as was expected based on
the increase in the number of constrains.
The position control in the PD as well as in the state regulators was improved
by changing the sensor position from a photo- resistor to a matrix of infrared p
hotodiodes (OP906) and LEDs (OEC113). Photodiodes have a strong linearity and ar
e not affected by the surrounding light sources.
The current estimator using the R-L coil transfer function that was used for th
e minor current loop in the PD controller showed good results even when using th
e photoresistor.
Simulations using the polynomial nonlinear model for the magnetic suspension sy
stem predicted results closer to the experimental data than the exponential nonl
inear model.
The ds1104 board used as a rapid prototyping tool was the key to verify the the
ory and the controllers studied in the first courses of electrical engineering i
n the control system area.

Future work with this levitation plant and the ds1104 will seek to study and im
plement optimization methods where noise is taken into account. These include th
e Kalman filter [10], nonlinear control methods [9] and intelligent controllers
[11].
7 Acknowledgments The authors would like to acknowledge the financial support o
f the CODI (Committee for the research development) from the University of Antio
quia.
8 References 1 Hurley, W. G., Hynes, M., and Wolfle, W. H.: PWM control of a mag
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W.G., and Wolfle, W.H.: Electromagnetic design of a magnetic suspension system, IE
EE Trans. Educ., 1997, 40, (2), pp. 124130

15
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