The ball elevation from the post is measured using a sensor embedded in the post. The design and simulations are performed under a matlab simulink platform. The magnetic levitation system is one of the important benchmark laboratory models for the design and analysis of feedback control systems. This example shows how to use numerical optimization to tuning the controller parameters of a nonlinear system. See the maglev user manual 4 for system parameters. Modelling and design of magnetic levitation systems for. It employs diamagnetism, which is an intrinsic property of many materials referring to their.
Modelling and design of magnetic levitation systems for vibration isolation william samuel parker robertson. The ce152 magnetic levitation system is a nonlinear. Magnetic levitation experiment for matlab simulink users. Observer based controller for magnetic levitation system engr. Observer based controller for magnetic levitation system. Modeling and control for a magnetic levitation system based. If the magnetic force of attraction is used, it is known as magnetic suspension. Robust feedback control analysis of magnetic levitation.
Modeling and control of a magnetic levitation system concepts emphasized. Nov 07, 2014 this project presents design and implementation of a magnetic levitation control system. Matlab models for magnetic levitation system a windows pc with a pci slot and with windows 7 x86 or x64 or 10 x64 not supplied by ld didactic gmbh windows 7 service pack 1. Pdf control of magnetic levitation system using fuzzy. Recently, i finished my first arduino project, a magnet levitation device. Run the command by entering it in the matlab command window. The plant model is controlled by a pid controller with feed forward to cope with the nonlinearity of the magnetic levitation system. In order to design any controller, the mathematical modeling of the. The \maglev experiment is a magnetic ball suspension system which is used to levitate a steel.
Jiya 1senior lecturer, department of electrical and electronic engineering, university of maduguri, borno state nigeria. Comparison of different control algorithms for a gantry crane. If magnetic repulsion is used, it is known as magnetic levitation. This paper deals with the magnetic levitation control system of a metallic sphere, which is an. Design of a robust controller for a magnetic levitation system. Magnetic force is used to counteract the effects of the gravitational acceleration and any other accelerations. Download the seminar report for magnetic levitation. This is to certify that the work in the thesis entitled controller design for magnetic levitation system by abhishek nayak is a record of an original research work carried out by him under my supervision and guidance in partial fulfillment of the requirements for the. What makes it different from similar projects is the position sensor for the feedback loop. Nonlinear control design for a magnetic levitation system master of applied science 2003 rafael becerril arreola graduate department of electrical and computer.
Hardware the ecp magnetic levitation maglev design see fig. Modeling and control of a magnetic levitation system. The magnetic levitation system mls is a nonlinear, openloop, unstable time varying frictionless dynamical system. Magnetic levitation is a way of using electromagnetic fields to levitate objects without any noise. The concept is extended to stabilization control of a magnetic levitation system as reported by this paper is shown on fig. In this example we attempt to build a neural network that can predict the dynamic behavior of a magnet levitated using a control current. Magnetic levitation maglev or magnetic suspension is a method by which an object is suspended with no support other than magnetic fields. Comparison of different control algorithms for a gantry. For these properties of the magnetic levitation system, modeling and mainly control design is very difficult. Modeling and control for a magnetic levitation system. The system is characterized by the magnets position and a control current, both of which determine where the magnet will be an instant later. Pid controller and fuzzy logic controller are implemented on the dspic30f4011 microcontroller for. Magnetic levitation system metsys noitativel citengam a new design with integrated laser sensor overview magnetic levitation is a classical technology in mechatronics. The motivation of this paper is to design and fabrication a cost effective magnetic levitation shortly called maglev system using plc.
I use a single hall effect sensor placed directly on the bottom of the core of the electromagnet. The control simulation was done in matlabsimulink environment and on. Magnetic pressure is used to counteract controller for magnetic levitation system. The mathematical derivations were done in state space form. In section 4 the simulation of the controllers within matlab simulink is discussed. To implement a microcontrollerbased digital controller that stabilizes a 21gram steel ball and tracks reference input signals applied to the maglev. This product is classified as a dangerous good and is not available for online purchase. Pdf control of magnetic levitation system using fuzzy logic. Magnetic levitation system in control engineering education 155 the steps necessary to obtain the executable file from a controller model are shown in fig. Keywords modeling, control design, magnetic levitation, exact linearization method i. Magnetic levitation is the process of levitating an object by exploiting magnetic fields. Magnetic levitation belongs to wellknown type of systems with variety of application field, 14. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics.
In this paper we consider stabilization control of a magnetic levitation system. The user has a rapid access to all basic functions of the mls system from the mls control window. The proposed nlc uses a new inputoutput based differential geometry feedback linearization method in conjugation with a linear state feedback controller in outer loop to levitate a ferromagnetic ball. Introduction the magnetic levitation system is an example of nonlinear, open loop unstable system with fast dynamics. Keywordsstate feedback, observer, statepi feedback, magnetic levitation, pole placement, stability and stabilization model reference control 4, robust control 5, sliding mode abstract state feedback technique through a gain matrix has been a wellknown method for pole assignment of a linear system. Modeling the magnetic levitation system belongs to challenging tasks, since besides nonlinearities we have to cope with openloop unstable system with fast dynamics and very small degree of natural damping. The first experiment studies system nonlinear characteristics, and the second experiment studies system dynamic characteristics with a number of different control actions. The basic principle of mls operation is to apply the voltage to an electromagnet to keep a ferromagnetic sphere levitated. Load matlab and the menu system using the windows start menu figure 5. The adc and dac blocks are the functions written in c programming language and are used to create a driver between the simulink model and the external.
The following manual refers to the feedback instruments magnetic levitation. Magnetic force is used to counteract the effects of the gravitational acceleration and any other accelerations the two primary issues involved in magnetic levitation are lifting forces. Controller design for magnetic levitation system ethesis nit. Modeling and vibration control with a nanopositioning magnetic levitation system. Modeling and vibration control with a nanopositioning magneticlevitation system. In the past, magnetic levitation was attempted by using permanent magnets. Abstract the term levitation refers to a class of technologies that uses magnetic levitation to propel vehicles with magnets rather than with wheels, axles and bearings. It is a series combination of a linear resistor, with resistance r, and a nonlinear inductor, with inductance ly. Gml2001 from googoltech provides an ideal experiment platform for research and tutorial for undergraduate and graduate students studying classical control theory and modern control theory.
An undergraduate control tutorial on root locusbased. A magnetic levitation system for advanced control education. The modeling of this process using newtonian mechanics yields an open loop unstable system with nonlinear dynamics which makes magnetic levitation system as popular test bed for control algorithms. Maglev 1 magnetic levitation experiment quanser consulting inc. Simulink and connected to maglev system via advantech pci1711 card. Mar 02, 2010 using the hilink platform to control a magnetic levitation system.
In this paper a nonlinear controller nlc is designed for a magnetic levitation system mls. Linear quadratic regulator controller for magnetic levitation. Plot of magnetic levitation system with not pid control figure 1. The simulink model represents the humusoft ce152 magnetic levitation educational presentation scale model. The open loop response showed that the derived model is unstable.
Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed. Nonlinear control of a magnetic levitation system using a new. After the addition of observer based controller the system becomes stable. Maglev derived from magnetic levitation uses magnetic. The basic working principle of magnetic levitation system as shown in figure 1. One electromagnet pole faces a black post upon which a 2.
This paper proposed a new magnetic levitation system using realtime control simulink feature of simlab microcontroller. It levitates a magnetic object under an electromagnet. Gml2001 from googoltech provides an ideal experiment platform for research and tutorial for. Design and construction of a magnetic levitation system using. For ordering the dangerous good or other information. Wonjong kim this dissertation demonstrates that a magneticlevitation maglev stage has the. Modeling the magnetic levitation system belongs to challenging tasks, since besides nonlinearities we have to cope with openloop unstable system with fast dynamics and very small degree of.
In this paper we are looking forward to represent the work on classical control as well as nonlinear control for magnetic levitation system. This work was carried out on considering a magnetic levitation system. Design and construction of a magnetic levitation system. In this example, we model a ce 152 magnetic levitation system where the controller is used to position a freely levitating ball in a magnetic field. Magnetic levitation is very useful in high voltage insulation testing 7.
Magnetic levitation us system actual ball position ys maglev front panel interface circuit 1. Using the hilink platform to control a magnetic levitation system. Modeling and nonlinear control of magnetic levitation systems. The user has a rapid access to all basic functions of the mls system from the mls2em control window. Matlab can plot models of the system in state space form. An undergraduate control tutorial on root locusbased magnetic levitation system stabilization ayokunle a. Figure 4 shows a realtime control model in matlabsimulink environment.
Stabilization of a magnetic levitation control system via. For this purpose a stand, a 12 volt electromagnet, eddy current displacement sensor which input voltage is 24 volt and output voltage range is 0 to 10 volt for 0 to 10 mm displacement, siemens logo plc setup board including cpu, cable, analog expansion module. Section 5 the validation of the controllers in labview. Introduction magnetic levitation techniques apply a magnetic. This project presents design and implementation of a magnetic levitation control system. Robust feedback control for magnetic levitation systems is considered problematic due to the parametric uncertainties in mass, strong disturbance forces between the magnets and noise. To obtain a good model for the maglev system, model 33210 manufactured by feedback limited in.
The magnetic levitation main window in the ml main window one can find. Dynamic modeling, timedomain analysis, pi and pid feedback control. Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed ground transportation, vibration isolation, etc. However, magnetic levitation system has wide application. Magnetic levitation principles introduction magnetic fields are used to describe forces at a distance from electric currents. Design of magnetic levitation ball control based on co. Linear quadratic regulator lqr controller is designed to analyze the system in closed loop. Magnetic levitation system becomes a hot topic of study due to the minimum friction and low energy consumption which regards as very important issues. You clicked a link that corresponds to this matlab command.
Matlab models for magnetic levitation system 33942sw 8 matlab models for magnetic levitation system add to product list. Linear quadratic regulator controller for magnetic. Wonjong kim this dissertation demonstrates that a magnetic levitation maglev stage has the. Characteristics of matlabsimulink control platform. Nonlinear control of a magnetic levitation system using a. Modeling and control design of magnetic levitation system. Rapid control prototyping platform for matlab and simulink.
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