Implementation and model verification of a magnetic levitation system

Abstract

This paper presents the implementation of a two degree-of-freedom magnetic levitation system employing one permanent magnet linear synchronous motor, and the experimental validation of a mathematical model previously derived. The paper focuses on showing the development of a calibration procedure to estimate model parameters and its subsequent use for model verification. Experimental results show that the proposed mathematical model accurately describes the dynamics of the system over a wide operating range showing promise for the future implementation of nonlinear controllers.

Nonlinear control design for a high-precision contactless positioning system using magnetic levitation

“…As discussed in [4], it was necessary to implement a system identification technique and apply it to the estimation of the unknown (or not perfectly known) model parameters from (1). The resulting system identification technique was based on the work presented by Pan and Başar in [5].…”

“…It was necessary in [4] to develop a system ID procedure and verify the model accuracy within a reasonable range of operation. These procedures are outlined in the section that follows.…”

“…The focus of this paper is to apply the results from [4] in the design of a nonlinear controller capable of set-point stabilization and sinusoidal tracking across the complete operating range of the 2-DOF apparatus, using feedback linearization and output regulation. The goal is to obtain a steady-state set-point accuracy greater than 0.1 mm and an average tracking error approaching 0.1 mm.…”

“…This is followed by a brief summary of the system identification and model verification from [4]. The nonlinear controller design procedure is then outlined in conjunction with a series of experimental results.…”

“…In [4], two of the authors of this paper initiated the experimental verification of [3], using a simplified 2-DOF apparatus. Specifically, a parameter identification technique developed in [5] was used to estimate the parameters of the model in [3] and then compared the forces predicted by the model to the actual forces exerted by the PMLSM.…”