Three-axis gap clearance I-PD controller design based on coefficient diagram method for 4-pole hybrid electromagnet

Erkan K., Yalçın B. C., Garip M.

AUTOMATIKA, vol.58, pp.147-167, 2017 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 58
  • Publication Date: 2017
  • Doi Number: 10.1080/00051144.2017.1382649
  • Journal Name: AUTOMATIKA
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.147-167
  • Keywords: 4-pole hybrid electromagnet, I-PD control, coefficient diagram method, maglev, mechatronics, SYSTEM
  • Yıldız Technical University Affiliated: Yes


4-pole hybrid electromagnetic systems have a potential usage in many industrial areas, such as clean room design, transportation, semi-conductor manufacturing due to providing mechanical contact-free operation with considerably low energy consumption. However, the main problem of magnetic levitation process: it has highly nonlinear nature and even if it can be linearized, it has unstable pole(s), which makes the system vulnerable in terms of stability. In this paper, to overcome the instability issue and track the desired references for each degree of freedom, a modified PID controller (so called I-PD) design technique based on coefficient diagram method (CDM) has been proposed. CDM is an algebraic design applied to polynomial structure of the system on the parameter space, where a specific diagram is used to present and interpret the essential data. It is quite simple to apply with a visual support, requires basic mathematical computations for field engineers, and offers a good equilibrium in terms of simplicity, stability, minimum overshoot and robustness, which are crucial specifications for maglev applications. The effectiveness and feasibility of CDM-based I-PD controller have been compared with CDM-based classical PID controller over an experimental set-up.