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. Matlab simulink control environment googols magnetic levitation system uses matlabsimulink control environment to design controller and achieve realtime control. Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed. Magnetic levitation principles introduction magnetic fields are used to describe forces at a distance from electric currents. Pdf control of magnetic levitation system using fuzzy logic. Nov 07, 2014 this project presents design and implementation of a magnetic levitation control system. For these properties of the magnetic levitation system, modeling and mainly control design is very difficult. 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. Run the command by entering it in the matlab command window. Modeling and control design of magnetic levitation 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.
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. One electromagnet pole faces a black post upon which a 2. 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. This project presents design and implementation of a magnetic levitation control system. Comparison of different control algorithms for a gantry. The ce152 magnetic levitation system is a nonlinear. The \maglev experiment is a magnetic ball suspension system which is used to levitate a steel. Robust feedback control analysis of magnetic levitation.
Design and construction of a magnetic levitation system. It is a series combination of a linear resistor, with resistance r, and a nonlinear inductor, with inductance ly. In this paper a nonlinear controller nlc is designed for a magnetic levitation system mls. Matlab can plot models of the system in state space form. Magnetic levitation is the process of levitating an object by exploiting magnetic fields. Modeling and control of a magnetic levitation system. The simulink model represents the humusoft ce152 magnetic levitation educational presentation scale model. To obtain a good model for the maglev system, model 33210 manufactured by feedback limited in. Hardware the ecp magnetic levitation maglev design see fig. Rapid control prototyping platform for matlab and simulink. The magnetic levitation main window in the ml main window one can find. This paper proposed a new magnetic levitation system using realtime control simulink feature of simlab microcontroller.
Gml2001 from googoltech provides an ideal experiment platform for research and tutorial for. In this paper we are looking forward to represent the work on classical control as well as nonlinear control for magnetic levitation system. Modelling and design of magnetic levitation systems for. Magnetic levitation is very useful in high voltage insulation testing 7. In the past, magnetic levitation was attempted by using permanent magnets. The design and simulations are performed under a matlab simulink platform.
Maglev derived from magnetic levitation uses magnetic. The basic principle of mls operation is to apply the voltage to an electromagnet to keep a ferromagnetic sphere levitated. Jiya 1senior lecturer, department of electrical and electronic engineering, university of maduguri, borno state nigeria. For ordering the dangerous good or other information. To implement a microcontrollerbased digital controller that stabilizes a 21gram steel ball and tracks reference input signals applied to the maglev. A magnetic levitation system for advanced control education. Modeling and vibration control with a nanopositioning magnetic levitation system.
What makes it different from similar projects is the position sensor for the feedback loop. The system is characterized by the magnets position and a control current, both of which determine where the magnet will be an instant later. Modeling and control of a magnetic levitation system concepts emphasized. The basic working principle of magnetic levitation system as shown in figure 1.
Dynamic modeling, timedomain analysis, pi and pid feedback control. Wonjong kim this dissertation demonstrates that a magneticlevitation maglev stage has the. The ball elevation from the post is measured using a sensor embedded in the post. Nonlinear control of a magnetic levitation system using a. In this example we attempt to build a neural network that can predict the dynamic behavior of a magnet levitated using a control current. Keywords modeling, control design, magnetic levitation, exact linearization method i. Introduction the magnetic levitation system is an example of nonlinear, open loop unstable system with fast dynamics.
After the addition of observer based controller the system becomes stable. Magnetic levitation us system actual ball position ys maglev front panel interface circuit 1. In this paper we consider stabilization control of a magnetic levitation system. The open loop response showed that the derived model is unstable. Magnetic force is used to counteract the effects of the gravitational acceleration and any other accelerations. Nonlinear control design for a magnetic levitation system master of applied science 2003 rafael becerril arreola graduate department of electrical and computer. Controller design for magnetic levitation system ethesis nit. I use a single hall effect sensor placed directly on the bottom of the core of the electromagnet.
Plot of magnetic levitation system with not pid control figure 1. Mar 02, 2010 using the hilink platform to control a magnetic levitation 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. Simulink and connected to maglev system via advantech pci1711 card. An undergraduate control tutorial on root locusbased. Modeling and control for a magnetic levitation system. The mathematical derivations were done in state space form. Figure 4 shows a realtime control model in matlabsimulink environment. 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.
Maglev 1 magnetic levitation experiment quanser consulting inc. Stabilization of a magnetic levitation control system via. Wonjong kim this dissertation demonstrates that a magnetic levitation maglev stage has the. Modeling and vibration control with a nanopositioning magneticlevitation system. Modeling and control for a magnetic levitation system based. Comparison of different control algorithms for a gantry crane. Magnetic levitation is a way of using electromagnetic fields to levitate objects without any noise. Characteristics of matlabsimulink control platform. Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed ground transportation, vibration isolation, etc. It combines electromagnetism and electronics technology, control technology, signal processing, mechanics, and dynamics. Matlab models for magnetic levitation system 33942sw 8 matlab models for magnetic levitation system add to product list. The following manual refers to the feedback instruments magnetic levitation. Recently, i finished my first arduino project, a magnet levitation device.
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. In order to design any controller, the mathematical modeling of the. Magnetic levitation maglev or magnetic suspension is a method by which an object is suspended with no support other than magnetic fields. In section 4 the simulation of the controllers within matlab simulink is discussed. You clicked a link that corresponds to this matlab command. 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. Magnetic pressure is used to counteract controller for magnetic levitation system. This product is classified as a dangerous good and is not available for online purchase. It employs diamagnetism, which is an intrinsic property of many materials referring to their. Magnetic levitation system metsys noitativel citengam a new design with integrated laser sensor overview magnetic levitation is a classical technology in mechatronics. An undergraduate control tutorial on root locusbased magnetic levitation system stabilization ayokunle a.
This paper deals with the magnetic levitation control system of a metallic sphere, which is an. However, magnetic levitation system has wide application. Introduction magnetic levitation techniques apply a magnetic. The concept is extended to stabilization control of a magnetic levitation system as reported by this paper is shown on fig. Download the seminar report for magnetic levitation. The control simulation was done in matlabsimulink environment and on. Observer based controller for magnetic levitation system engr. If the magnetic force of attraction is used, it is known as magnetic suspension. Modeling and nonlinear control of magnetic levitation systems. Magnetic levitation system becomes a hot topic of study due to the minimum friction and low energy consumption which regards as very important issues.
The magnetic levitation system mls is a nonlinear, openloop, unstable time varying frictionless dynamical system. The first experiment studies system nonlinear characteristics, and the second experiment studies system dynamic characteristics with a number of different control actions. Linear quadratic regulator controller for magnetic. Design of a robust controller for a magnetic levitation system. Section 5 the validation of the controllers in labview. The user has a rapid access to all basic functions of the mls system from the mls control window. This example shows how to use numerical optimization to tuning the controller parameters of a nonlinear system. The user has a rapid access to all basic functions of the mls system from the mls2em control window. Magnetic levitation system in control engineering education 155 the steps necessary to obtain the executable file from a controller model are shown in fig. Design of magnetic levitation ball control based on co. Modelling and design of magnetic levitation systems for vibration isolation william samuel parker robertson. Design and construction of a magnetic levitation system using. See the maglev user manual 4 for system parameters.
Magnetic levitation experiment for matlab simulink users. Load matlab and the menu system using the windows start menu figure 5. 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. 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. 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. Linear quadratic regulator controller for magnetic levitation. If magnetic repulsion is used, it is known as magnetic levitation. Using the hilink platform to control a magnetic levitation system. Pdf control of magnetic levitation system using fuzzy. Linear quadratic regulator lqr controller is designed to analyze the system in closed loop. The plant model is controlled by a pid controller with feed forward to cope with the nonlinearity of the magnetic levitation system.