Professional Documents
Culture Documents
Mechatronics
journal homepage: www.elsevier.com/locate/mechatronics
Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China
School of Electrical and Electronic Engineering, University of Adelaide, SA 5005, Australia
c
College of Engineering and Science, Victoria University, Melbourne, VIC 8001, Australia
b
a r t i c l e
i n f o
Article history:
Received 27 December 2012
Revised 1 July 2013
Accepted 20 August 2013
Available online 23 September 2013
Keywords:
Electromagnetic suspension systems
Fuzzy controller design
TakagiSugeno fuzzy model
21 Performance
a b s t r a c t
This paper presents a TS model-based fuzzy controller design approach for electromagnetic suspension
systems. The TS fuzzy model is rstly applied to represent the nonlinear electromagnetic suspension
systems. Then, based on the obtained TS fuzzy model, a fuzzy state feedback controller is used to ensure
the required mixed 21 performance of original electromagnetic suspension system to be achieved.
This controller is designed in a nonparallel-distributed compensation scheme. And sufcient conditions
for the existence of such a controller are derived in terms of linear matrix inequalities. Finally, numerical
simulation on an electromagnetic suspension system is performed to validate the effectiveness of the
proposed approach.
Crown Copyright 2013 Published by Elsevier Ltd. All rights reserved.
1. Introduction
Owing to its environmental, commercial and technological
attractions, the electromagnetic suspension (EMS) system [1] has
been widely adopted in many real world applications. Systems,
such as that in high-speed maglev passenger trains [24], levitation of wind tunnel models, levitation of molten metal in induction
furnaces, vibration isolation and frictionless bearings, are all based
on EMS systems. The main objective of EMS system is to overcome
the inuence of gravity by means of electromagnetic forces. Thus,
in this view, EMS system can be regarded as repulsive system or
attractive system which is based on the source of electromagnetic
levitation forces. Due to the involvement of magnetic force, this
kind of system is described by highly nonlinear differential equations and it is usually open-loop unstable. The nonlinear property
of EMS system presents additional difculties in its manipulation.
Then constructing the high-performance feedback controllers will
be an important task for the regulation of EMS system. Over the
past few years, various controllers have been considered to manipulate the EMS system. To mention a few, nonlinear control methods are proposed in [5,6]; model reference adaptive control has
been studied in [7]; sliding mode control has been adopted by
q
This work was supported in part by the National Natural Science Foundation of
China (61174126 and 61222301), and the Fundamental Research Funds for the
Central Universities (HIT.BRETIV.201303), the National Key Basic Research Program
(2012CB215202), and the 111 Project (B12018).
Corresponding author at: School of Electrical and Electronic Engineering,
University of Adelaide, SA 5005, Australia. Tel.: +61 8 83136424.
E-mail addresses: suxiaojie1985@gmail.com (X. Su), peng.shi@adelaide.edu.au
(P. Shi), ligangwu@hit.edu.cn (L. Wu).
0957-4158/$ - see front matter Crown Copyright 2013 Published by Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.mechatronics.2013.08.002
329
represents its peak value, the above three kinds of norms can be
also described as energy to energy, energy to peak, and peak to peak
performances. Many works are analyzed based on those special
norms of the transfer function, namely, the energy to energy robust
control problem in [2124]; energy to peak optimization problem
in [2527]. In some practical cases, the 21 control is more reasonable in achieving the desired system performance. Such a control procedure ensures that, the controlled output is less than a
prescribed level in case of energy-bounded noise input.
In this work, we are motivated to design a 21 fuzzy controller
for the EMS system of maglev train. This controller is designed such
that, in presence of energy bounded disturbance, the position offset
of maglev train is within an allowable scale. Consequently the comfort level of high speed maglev train will be greatly improved. To
construct such a controller, rstly the nonlinear dynamic equations
of EMS system are obtained from physical laws. Then, discrete-time
TS fuzzy model [28,29] is applied to approximate the original nonlinear dynamic equations. Further, using the LyapunovKrasovskii
technique, sufcient 21 performance conditions in terms of linear matrix inequalities (LMIs) are obtained, thus the desired controller is designed. Finally, simulation results are provided to verify the
feasibility and effectiveness of our controller design method.
The remaining parts of this paper are organized as follows. The
dynamic analysis of EMS system is illustrated in Section 2, and the
TS fuzzy modeling is performed in Section 3. Sections 4 and 5 provide the 21 performance analysis and the controller design
method respectively. And in Section 6, simulation results are represented to illustrate the effectiveness of proposed methods. Finally, conclusions are drawn in Section 7.
1.1. Notations
The notations used throughout this paper are fairly standard.
The superscript T stands for matrix transposition; Rn denotes
the n-dimensional Euclidean space; the notation P > 0(P0) means
that P is real symmetric and positive denite (semi-denite); In and
0mn represent n n identity matrix and m n zero matrix,
respectively; diag{ } stands for a block-diagonal matrix; k k2 denotes the Euclidean norm (2-norm) of a vector; k k1 indicates the
1-norm of a vector; In symmetric block matrices or long matrix
expressions, we use an asterisk () to represent a term that is induced by symmetry. Matrices, if their dimensions are not explicitly
stated, are assumed to be compatible for algebraic operations.
2. Dynamic analysis of the EMS system
The maglev train is a kind of high-tech transportation
means. In the normal working state, this kind of train is
levitated by the EMS system. A single module of the EMS system is presented in Fig. 1.
The parameters of the EMS system module in Fig. 1 are presented as follows,
gross mass of carriage and electromagnet
coil resistance
valid pole area of the coil
gravitational acceleration
number of turns in the coil
vertical disturbance force
suspension airgap
current of the electromagnet coil
voltage of the electromagnet coil
m
Rm
am
g
N
fd(t)
d(t)
i(t)
u(t)
8
2
>
m d dtdt
>
2 Fit; dt fd t mg;
>
>
>
h i
>
>
< Fit; dt l0 N2 am it 2 ;
4
dt
2:1
>
dWit;dt
>
>
ut Rm it;
>
dt
>
>
>
: Wit; dt l0 N2 am it ;
2dt
where F(i(t), d(t)) is the suspension force produced by electromagnet; W(i(t), d(t)) is the magnetic potential of the electromagnetic
system; l0 is the permeability of air. By some simple manipulations,
dynamics in (2.1) can be changed into the following equivalent
equations
8
h i
2
>
l0 N2 am it 2
< m d dt
fd t mg;
2
4
dt
2dt
l0 N2 am
dt
>
: dit
dt
it ddt
dt dt
2:2
ut Rm it:
_
and
Assuming that the system states are z1(t) = d(t), z2 t dt
z3(t) = i(t), the state-space equations in (2.2) are expressed as
8
z_ 1 t z2 t;
>
>
>
h i2
<
N 2 am z3 t
g m1 fd t;
z_ 2 t l04m
z1 t
>
>
>
: z_ 3 t 2R2 m z1 tz3 t z2 tz3 t 2z12t ut:
z1 t
l N a
l N a
0
2:3
j,
4mg
l0 N 2 am
3 2
3
x1 t
z1 t z1e
xt , 4 x2 t 5 4 z2 t 5:
x3 t
z3 t z3e
Guideway
Area am
(t )
F (i (t ), (t ))
Turns N
2:4
8
x_ 1 t x2 t;
>
>
p
>
<
2 jd x3 tgx3 t
2dref x1 tgx1 t
x
m1 fd t;
x_ 2 t jxreftd
2
2
1
1 tdref
ref
>
p
>
x t jd
jx td
>_
:
x3 t 3x1 td ref x2 t 12mg ref Rm x3 t v t:
2:5
ref
u ( t)
Electromagnet
mg
f d (t )
i (t )
330
(3) When h1(t) is near h1min and h2(t) is near h2max, the nonlinear
equations can be simplied as
3. TS fuzzy modeling
Before the design of fuzzy controller, rstly we should get the
TS fuzzy model of original nonlinear system. Let us dene h1(t) , x1(t) and h2(t) , x3(t). With the denition
8
>
h1 t;
< h1 max , max
xt
h1 min , minh1 t;
>
: h2 max , maxh2 t;
h2 min , minh2 t;
xt
xt
3:1
xt
(4) When h1(t) is near h1min and h2(t) is near h2min, the nonlinear
equations can be simplied as
3:2
n11 h1 t n21 h1 t 1;
8_
x1 t x2 t;
>
>
p
>
>
2 jdref h2 max gx3 t
2dref h1 min gx1 t
>
< x_ 2 t
h
m1 fd t;
2
jh1 min dref 2
1 min dref
p
h2 max jdref
jh1 min dref
>
>
Rm x3 t v t;
>
2mg
> x_ 3 t h1 min dref x2 t
>
:
yt x1 t:
n12 h2 t n22 h2 t 1:
3:3
Then, based on 3.1, 3.2 and 3.3, the membership functions can be
calculated as
8
< n11 h1 t
h1 th1 min
h1 max h1 min
max h1 t
n21 h1 t hh11max
;
h1 min
: n12 h2 t
h2 th2 min
h2 max h2 min
max h2 t
n22 h2 t hh22max
;
h
3:4
8_
x1 t x2 t;
>
>
p
>
>
2 jdref h2 min gx3 t
2dref h1 min gx1 t
>
< x_ 2 t
h
m1 fd t;
2
jh1 min dref 2
1 min dref
p
h
jdref
jh
dref
>
>
x2 t 1 min
Rm x3 t v t;
x_ 3 t 2hmin
>
2mg
>
1 min dref
>
:
yt x1 t:
Then, employing the Euler rst-order approximation, we will
get the following discrete-time TS fuzzy model.
Plant Form:
2 min
8
x_ 1 t x2 t;
>
>
>
p
>
2 jdref h2 max gx3 t
2dref h1 max gx1 t
>
1
>
>
< x_ 2 t jh1 max dref 2 h1 max dref 2 m fd t;
p
>
>
h
jdref
jh
dref
>
>
x2 t 1 max
Rm x3 t v t;
x_ 3 t 2hmax
>
2mg
1 max dref
>
>
:
yt x1 t:
(2) When h1(t) is near h1max and h2(t) is near h2min, the nonlinear
equations can be simplied as
8_
x1 t x2 t;
>
>
p
>
>
2 jdref h2 min gx3 t
2dref h1 max gx1 t
>
< x_ 2 t
h
m1 fd t;
2
jh1 max dref 2
1 max dref
p
h2 min jdref
jh1 max dref
>
>
Rm x3 t v t;
>
2mg
> x_ 3 t h1 max dref x2 t
>
:
yt x1 t:
xk 1 A1 xk B11 xk B21 v k;
yk C 1 xk:
xk 1 A2 xk B12 xk B22 v k;
yk C 2 xk:
xk 1 A3 xk B13 xk B23 v k;
yk C 3 xk:
xk 1 A4 xk B14 xk B24 v k;
yk C 4 xk:
where w(k) is the discrete form of fd(t); M11 and M21 represent
about h1max; M31 and M41 represent about h1min; M12 and M32
represent about h2max; M22 and M42 represent about h2min.
Correspondingly, their membership functions are as follows
M31 h1 k M41 h1 k
n21 h1 k;
M12 h2 k M32 h2 k n12 h2 k;
M22 h2 k M42 h2 k
n22 h2 k:
21
( 1 (t ))
11
( 1 (t ))
22
( 2 (t ))
12
( 2 (t ))
1
1min
1max
(t )
2
2min
2max
(t )
331
1
6 T2dref h1 max g
6 h d 2
A1 6
1 max
ref
4
0
B11
2 3
0
6 7
4 mT 5;
T
1
6
B21 4
7
5;
jdref h2 max g
1
2 3
0
6 7
4 mT 5;
6
B22 4
7
5;
1
2mg
p
T2 jdref h2 max g
1
p
Th2 max jdref
h1 min dref
1
i1
v k K i xk;
2 3
1
6 7
C T2 4 0 5;
i 1; 2; 3; 4;
3:7
6 T2dref h1 min g
6
A3 6 h1 min dref 2
4
0
7
7
7;
5
2mg
i1
Assume that the premise variable of the fuzzy model h(k) is available for feedback, which implies that hi(h(k)) is available for feedback. Suppose that the controllers premise variables are the same
as those in the plant. The parallel distributed compensation strategy
(PDC) is utilized and the fuzzy state feedback controller obeys the
following rules,
Controller Form:
Rule i: IF h1(k) is Mi1 and h2(k) is Mi2 , THEN
4
X
hi hkB1i ;
4
X
B2 k ,
hi hkB2i :
i1
p
Th2 min jdref
h1 max dref
B1 k ,
i1
2 3
1
6 7
C T1 4 0 5;
p
T2 jdref h2 min g
4
X
hi hkAi ;
4
X
Ck ,
hi hkC i ;
6 T2dref h1 max g
6
A2 6 h1 max dref 2
4
0
Ak ,
7
7
7;
5
2mg
2mg
B12
T2
p
Th2 max jdref
h1 max dref
where
v k Kkxk;
3
7
7
7;
5
3:8
where
Kk
2mg
4
X
hi hkK i :
3:9
i1
B13
2 3
0
6 7
4 mT 5;
6
B23 4
7
5;
0
1
6 T2dref h1 min g
6
A4 6 h1 min dref 2
4
0
2 3
0
6 7
4 mT 5;
p
Th2 min jdref
h1 min dref
6
B24 4
7
5;
8
4 X
4
X
>
>
>
hi hkAi hj hkB2i K j xk B1i xk;
> xk 1
>
<
1
i1 j1
jdref h2 min g
jh1 min dref 2
T2
2mg
B14
2 3
1
6 7
C T3 4 0 5;
4
>
X
>
>
>
hi hkC i xk:
>
: yk
7
7
7;
5
i1
3:10
2mg
2 3
1
6 7
C T4 4 0 5;
yk Ckxk:
2mg
hi hk ,
3:11
where
b
xk 1 Akxk
B1 kxk;
b
Ak
, Ak B2 kKk:
Mij hj k
j1
4 Y
2
X
i 1; 2; 3; 4;
Mij hj k
i1 j1
h1 hk n11 h1 k n12 h2 k;
h2 hk n11 h1 k n22 h2 k;
h3 hk n21 h1 k n12 h2 k;
h4 hk n21 h1 k n22 h2 k:
8
4
X
>
>
>
xk 1
hi hkAi xk B1i xk B2i v k;
>
<
i1
4
>
X
>
>
>
hi hkC i xk:
: yk
lim jxkj 0;
k!1
3:5
where jxkj ,
p
xT kxk.
i1
xk 1 Akxk B1 kxk B2 kv k;
yk Ckxk;
3:6
80 x 2 2 0; 1;
332
6
4
q
kykk1 , sup yT kyk;
k
qX
1
kxkk2 ,
xT kxk:
k0
"
Remark 2. The 2-norm of a signal stands for its energy, and the
1-norm stands for the peak of its value, so the 21 performance
is also called the guaranteed energy-to-peak performance.
Our objective in this work is to determine the fuzzy controller
matrices in (3.8) such that the closed-loop system in (3.11) is
asymptotically stable with a guaranteed 21 performance level c.
8
T
1
b
>
>
< Pk , G kPkG k;
P4
Pk , i1 hi hkPi ;
>
>
P
:
Gk , 4i1 hi hkGi ;
4:1
b
Vk , xT k Pkxk:
4:2
Then, based on the fuzzy LKF (4.2), we can obtain the following
result.
Theorem 1. The closed-loop system in (3.11) is asymptotically stable
with a guaranteed 21 performance level c if there exist matrices
Pi > 0 and Gi, i = 1, 2, 3, 4, which are dened in (4.1), such that for any
integer k, the following matrix inequalities hold for any integer k,
Gk 1 GT k 1 Pk 1
c2 I CkGk
Pk
c I Ck
b
Pk
I
> 0:
4:8
"
b T k Pk
b
b 1 Ak
b
A
Pk
b T k Pk
b 1B1 k
A
b 1B1 k I
BT k Pk
b
B1 k
AkGk
Pk
I
3
7
5 < 0;
!k ,
J k , Vk
xT ixi:
i0
T
k1
X
xi
xi
k1
X
k1
X
DVi xT ixi
i0
i0
xT ixi
xi
:
Xi
xi
4:12
where
"
b T i Pi
b Pi
b 1 Ai
b
A
#
b T i Pi
b 1B1 i
A
:
b 1B1 i I
BT i Pi
1
Pk 1 Gk 1P 1 k 1Pk 1 Gk 1 P 0;
b
<
xT k Pkxk
we have
b 1 k 1 6 Gk 1 GT k 1 Pk 1:
P
k1
X
J k Vk V0
4:4
#
b T k Pk
b 1B1 k
A
:
b 1B1 k
BT k Pk
b T k Pk
b
b 1 Ak
b
A
Pk
i0
> 0:
4:10
By (4.9) and (4.11), it follows that DV(k) < 0, thus the closed-loop
system in (3.11) is asymptotically stable.
In the following, we shall investigate the 21 performance.
Under the zero initial condition, we have V(0) = 0. Dene an index
as
4:3
k1
X
xT ixi:
4:5
b
yT kyk < c2 xT k Pkxk:
Pk
I
3
7
5 < 0:
4:13
i0
Thus, it follows from (4.3) and (4.5) that the following inequality
holds
b
B1 k
AkGk
4:9
where
b 1 k 1
P
< 0;
b 1xk 1 xT k Pkxk
b
DVk , Vk 1 Vk xT k 1 Pk
T
xk
xk
;
4:11
!k
xk
xk
Xi ,
6
4
Considering the fuzzy LKF (4.2), and along the trajectories of the
closed-loop system in (3.11), we have
"
"
2
4:7
b
< 0:
C T kCk c2 Pk
6
4
4. Performance analysis
3
b
B1 k
Ak
7
b
Pk
0 5 < 0;
b 1 k 1
P
4:6
yT kyk < c2
k1
X
xT ixi:
4:14
4:15
i0
T k , diagfI
G1 k Ig;
Sk , diagfI
G1 kg:
1
X
xT ixi:
4:16
i0
Obviously ky(k)k1 < ckx(k)k2 holds for all nonzero x(k) 2 2[0,1),
and the proof is completed. h
333
v k KkG1 kxk;
5:1
e c kxk B1 kxk;
xk 1 A
5:2
e c k Ak B2 kKkG1 k.
where A
Theorem 2. The closed-loop system in (5.2) is asymptotically
stable with a guaranteed 21 performance level c if there exist
matrices Pi > 0 and Gi,i = 1, 2, 3, 4, which are dened in (4.1), such
that inequality in (4.4) and the following inequality hold for any
integer k,
6
4
5:8
s1 j1 i1
4 X
4
X
hj hkhi hkUij < 0:
5:9
j1 i1
3
Gk 1 GT k 1 Pk 1 AkGk B2 kKk B1 k
7
0 5 < 0:
Pk
I
5:3
By using [32], if conditions (5.4)(5.6) and (5.7) hold, then (5.8) and
(5.9) are fullled. Therefore, it follows from Theorem 2 that the EMS
system in (3.11) is asymptotically stable with a guaranteed 21
performance level c. Thus, the proof is completed. h
6. Simulation results
In this part, the proposed method is applied to design a fuzzy
feedback controller for the afore mentioned EMS system. The
parameter values of the EMS system are given in Table 1 (other sets
of parameter values can be found in [2,5,6]), and the allowable
bounds of h(k) are listed in Table 2.
With the parameter value given in Tables 1 and 2, we will get
the exact expressions of original nonlinear EMS system and its
approximated TS fuzzy model. Firstly let us analyze the stability
property of the original system. We set the initial state of the
EMS system as x(0) = [0.0001, 0, 0]T. And then system states of the
original open-loop system are plotted in Fig. 4. Obviously the origi-
Table 1
Parameter values of the EMS system.
Parameter
Unit
m
kg
Rm
X
Value
150
1.1
g
m/
s2
9.8
am
m2
N
kilo
l0
H/m
dref
m
T
ms
1.024 102
4p 107
0.004
0.5
Table 2
Allowable bounds of h(k).
Parameter
Unit
Value
h1max
m
0.001
h1min
m
0.001
h2max
A
1
h2min
A
1
100
150
200
0.2
5:4
5:5
Psij , 4
Gs
GTs
Ps
Ai Gj B2i K j
P i
0.2
0.4
0.6
5:6
5:7
where
B1i
0 5;
I
0.8
1
1.2
0
50
c2 I C i Gj :
Uij ,
Pi
334
0.05
3
2
3
0:0000 0:0011 0:0002
0:0000 0:0011 0:0001
6
7
6
7
G3 4 0:0010 0:2969 0:5271 5; G4 4 0:0010 0:2892 0:3933 5;
0:0051 2:8855 55:9006
0:0051 2:9619 55:9910
xk
0.1
100
50
200
150
250
x 10
3
2.5
2
1.5
1
0.5
0
0.5
1
0.05
when k 6 0 or k P 20:
p
P1
T
By calculation, we have kxkk2
k0 x kxk 392:3. Corresponding output of the controlled nonlinear system is shown in
Fig. 7, where the peak value of y(k) is about 3 105. So the actual
50
100
150
200
250
300
350
10
0.05
0.05
10
0.1
15
50
100
150
200
250
20
50
100
150
200
250
300
350
veries that our designed fuzzy controller has ensured the prescript
21 performance of the given EMS system. The fuzzy control input
u(k) is presented in Fig. 8.
7. Conclusions
In this paper, the TS fuzzy model based 21 fuzzy control
method has been proposed for the nonlinear EMS system. The
standard nonlinear dynamic equations of the EMS system have
been rstly obtained from some physical laws. Then the original
nonlinear system has been presented by a TS fuzzy model. Further, 21 performance analysis of the EMS system has been performed based on its approximated TS fuzzy model, and
corresponding fuzzy controller design method has been derived
under a non-PDC scheme. Finally, simulation results have been
presented to demonstrate the effectiveness of the proposed controller design method.
References
[1] Hurley WG, Wole WH. Electromagnetic design of magnetic suspension
system. IEEE Trans Edu 1997;40(2):12430.
[2] Xu J, Zhou Y. A nonlinear control method for the electromagnetic suspension
system of the maglev train. J Mod Transport 2011;19(3):17680.
[3] Kang BJ, Hung LS, Kuo SK, Lin SC, Liaw CM. H1 2DOF control for the motion of a
magnetic suspension positioning stage driven by inverter-fed linear motor.
Mechatronics 2003;13(7):67796.
[4] Lim TM, Cheng S. Magnetic levitation of a one DOF system using simultaneous
actuation
and
displacement
sensing
technique.
Mechatronics
2011;21(3):54859.
[5] Joo S, Seo JH. Design and analysis of the nonlinear feedback linearizing control
for an electromagnetic suspension system. IEEE Trans Control Syst Technol
1997;5(1):13544.
[6] Sinha PK, Pechev AN. Nonlinear H1 controllers for electromagnetic suspension
systems. IEEE Trans Autom Control 2004;49(4):5638.
[7] Sinha PK, Pechev AN. Model reference adaptive control of a maglev system
with stable maximum descent criterion. Automatica 1999;35(8):145765.
[8] Fei J, Xin M. Robust adaptive sliding mode controller for semi-active vehicle
suspension system. Int J Innovative Comp Inf Control 2012;8(1B):691700.
[9] Sung HK, Lee SH, Bien Z. Design and implementation of a fault tolerant
controller for EMS systems. Mechatronics 2005;15(10):125372.
[10] Du H, Zhang N. Fuzzy control for nonlinear uncertain electrohydraulic active
suspensions with input constraint. IEEE Trans Fuzzy Syst 2009;17(2):34356.
[11] Gysen B, Paulides J, Janssen J, Lomonova E. Active eletromagnetic suspension
system for improved vehicle dynamics. IEEE Trans Veh Technol
2010;59(3):115663.
[12] van der Sande TPJ, Gysen BLJ, Besselink IJM, Paulides JJH, Lomonova EA,
Nijmeijer H. Robust control of an electromagnetic active suspension system:
simulations and measurements. Mechatronics 2013;23(2):20412.
335