3-DOF CENTRALIZED I-PD CONTROL OF NONLINEAR MAGNETIC LEVITATION SYSTEM


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Güney Ö. F. , Bozkurt A. F. , Erkan K.

ISEF 2015 - XVII International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering, Valencia, İspanya, 10 - 12 Eylül 2015, cilt.2015, no.1, ss.1-6

  • Cilt numarası: 2015
  • Basıldığı Şehir: Valencia
  • Basıldığı Ülke: İspanya
  • Sayfa Sayısı: ss.1-6

Özet

Conveyance of steel-plates is one of the application for magnetic levitation systems in industry. This paper proposes a centralized control design approach to levitate a steel-plate underneath of quadruple configuration electromagnets with 3-degree of freedom. The system is modelled by known electromechanical energy conversion principles. Additionally, to precisely investigate and as well as validate the model, 3D FEM (finite elements method) analysis is carried out. An IPD controller is designed for each degree of freedom by using canonic polynomial technique. Simulation results of modelling and control performance of the system for a test bench are presented. Then, to verify simulation results, we practically implemented the controller in an experimental test bench. Experimental results show that the proposed control scheme can control the electromagnets to track various reference trajectories in different operating conditions effectively.