Professional Documents
Culture Documents
Journal of Electrical Engineering & Technology, Vol. 3, No. 4, pp. 584~592, 2008
1. Introduction
Magnetic levitation systems have practical importance in
many engineering systems such as high-speed maglev
passenger trains, frictionless bearings, levitation of wind
tunnel models, etc. [7-10]. They have been used for
educational purposes in teaching students on the concept of
feedback control. A lot of studies have been conducted for
the control of magnetic levitation systems. In order to
handle nonlinear characteristics of the systems, various
nonlinear control techniques such as sliding mode control,
feedback linearization, and backstepping have been
applied [2, 6, 9]. When applying model-based control,
accurate system modeling needs to precede designing of a
controller. In particular, the magnetic force exerted on the
levitation object should be carefully characterized for good
control of magnetic levitation systems.
Magnetic control force exerted on the levitation object is
a function of the coil current and the displacement
between the levitation object and the electromagnet. The
effect of the coil current on the magnetic control force
exerted on the levitation object at a certain position differs
depending on the substance of the levitation object. If the
levitation object is a ferromagnetic ball, the magnetic
force is proportional to the square of the coil current [5, 6,
Corresponding author. This work was supported by KESRI (R-20072-059), which is funded by MOCIE
(Ministry of Commerce, Industry, and Energy).
(e-mail: lys@inha.ac.kr, {zero1zuck, syong82}@hanmail.net)
* School of Electrical Engineering, Inha University, 253
Yonghyundong, Inchon, Korea.
Received 28 March 2008 ; Accepted 5 August 2008
585
x=g
F
,
m
(1)
[2]
[3]
[6]
Levitation
object
Permanent
magnet
Permanent
magnet
Ferromagnetic
ball
Model
function
F=
V
a ( x)
F=
i
a ( x)
F=
i2
a ( x)
586
V (or i or i 2 )
a0 + a1 x + a2 x 2 + " + an x n
(2)
x=g
F
m
V = ( F , x)
Meaning
rotating handle
linear motion shaft
lead screw
mount table
load cell
mount table for position sensor modeling
incremental rotary encoder
screw nut
linear bushing
adaptor for attaching a load cell
587
588
10
9
8
Voltage(V)
7
6
5
4
3
2
1
0
10
12
14
16
18
20
22
24
26
Ditance(mm)
displacement data.
Step 4. Set the applied voltage V = V + V .
Step 5. Check whether V > Vmax . If yes, stop. If
not, go to Step 2.
589
e(t ) = x xd .
Choose the sliding surface as follows:
t
S (t ) = e(t ) + c1e(t ) + c2 e( ) d ,
0
S (t ) S (t ) < 0 .
The above attraction condition is satisfied by selecting the
control input such that S (t ) = sign( S (t )) , where > 0 is a
design parameter. The time derivative of S (t ) is
Fig. 12. Experimentally obtained magnetic force model,
V = ( F , x).
S (t ) =
e (t ) + c1e(t ) + c2 e(t )
x
xd + c1e(t ) + c2 e(t )
=
F
xd + c1e(t ) + c2 e(t ).
m
Lets take F as follows:
=g
F = mc [ g
xd + c1e + c2 e + sign( S (t ))],
where mc is the mass of the object that the control
590
20
18
16
14
12
10
8
0.015
0.0155
0.016
0.0165
0.017
0.0175
0.018
0.0185
0.019
Distance[m]
(4)
22
V = (mc [ g
xd + c1e + c2 e + sign( S (t ))], x).
22
(5)
20
18
16
Voltage[V]
V = a( x)mc [ g
xd + c1e + c2 e + sign( S (t ))].
24
Voltage[V]
14
12
10
8
6
0.015
0.0165
0.017
0.0175
0.018
0.0185
0.019
16
0.016
Distance[m]
sign( S (t )) , if | S (t ) |
sat( S (t ) / ) =
, if | S (t ) | <
S (t ) /
14
Voltage[V]
0.0155
12
10
6
0.015
0.0155
0.016
0.0165
0.017
0.0175
0.018
0.0185
0.019
Distance[m]
Because
a( x)
is
obtained
20
19
18.5
18
17.5
17
16.5
16
1.5
2.5
3.5
4.5
20
reference
proposed model
existing model
19.5
19
18.5
18
17.5
17
16.5
16
0.5
Time(s)
assuming
reference
proposed model
existing model
19.5
Distance(mm)
Distance(mm)
591
0.5
1.5
2.5
3.5
4.5
Time(s)
19.5
m = 90 [ g ] . Therefore, the
Distance(mm)
19
18.5
18
17.5
17
16.5
16
0.5
1.5
2.5
3.5
4.5
Time(s)
592
5. Conclusions
In this paper, we proposed a new model of the magnetic
control force in magnetic levitation systems. The new
model is represented numerically using a 2D lookup table.
Unlike the conventional model that reveals the local
characteristics only, the proposed model has a feature that
it shows the global characteristics of the magnetic force
satisfactorily. In order to construct the proposed model
through experiments, we specially devised new
measurement equipment. An experimental procedure to
construct the model using the equipment was presented.
The proposed procedure removes the drawbacks of the
existing experimental procedures. For illustration of the
validity of the proposed model, we applied it in designing a
sliding mode controller for a lab-built magnetic system.
The controller based on the proposed model was shown to
be more robust against mass variation than the controller
adopting the conventional model.
References
[1] N.F. Al-Muthairi and M. Zribi, Sliding control of a
magnetic levitation system, Mathematical Problems in
Engineering, Vol. 2, pp. 93-104, 2004.
[2] D. Cho, Y. Kato and D. Spilman., Sliding mode and
classical control magnetic levitations systems, IEEE
Control Systems Magazine, Vol. 13, pp. 42-48, 1993.
[3] J.S. Choi and Y.S. Baek, A single DOF magnetic
levitation system using time delay control and
reduced-order observer, KSME International Journal,
Vol. 16, No. 12, pp. 1643-1651, 2002.
[4] M. Dussaux, The industrial applications of the
active magnetic bearings technology, Proceedings of
the 2nd Int. Symp. Magnetic Bearings, pp. 33-38,
1990.
[5] M. Fujita and T. Namerikawa, -Synthesis of an
electromagnetic suspension systems, IEEE Transactions on
Automatic Control, Vol. 40, No. 3, pp. 530-536, 1995.
[6] A.E. Hajjaji and M Ouladsine, Modeling and
nonlinear control of magnetic levitation systems,
IEEE Transactions on Industrial Electronics, Vol. 48,
No. 4, pp. 831-838, 2001.
[7] B.Z. Kaplan and D. Redev, Dynamic stabilization of
tuned-circuit levitators, IEEE Transactions on
Magnetics, Vol. Mag-12, pp. 556-559, 1976.
[8] D.A. Limbert, H.H. Richardson and D.N. Wormley,
Controlled characteristics of ferromagnetic vehicle
suspension providing simultaneous lift and guidance,
Trans. ASME, J. Dyn. Syst. Meas. Control, Vol. 101, pp.
217-222, 1990.
[9] F.J. Lin, L.T. Teng, and P.H. Sheh, Intelligent
Adaptive Backstepping Control System for Magnetic
Levitation Apparatus, IEEE Transactions on Magnetics,
Vol. 43, No. 5, pp. 2009-2018, 2007.
[10] J.E. Pad, State variable constraints on the performance of
[11]
[12]
[13]
[14]
[15]
Ji-Hyuk Yang
He received his M.Sc. degree in
Electrical Engineering from Inha
University, Inchon, Korea, in 2008.
He is currently pursuing his Ph.D.
degree in Electrical Engineering at
Inha University, Inchon, Korea. His
primary research interest lies in the development of
rapid control prototyping environment.
Su-Yong Shim
He received his B.Sc. degree in
Electrical Engineering from Inha
University, Inchon, Korea, in 2008.
He is currently pursuing his M.Sc.
degree in Electrical Engineering at
Inha University, Inchon, Korea. His
research interests are mechatronics and embedded systems.