Nonlinear controller design for a magnetic levitation device

Shameli, E.; Khamesee, Mir Behrad; Huissoon, Jan P.

doi:10.1007/s00542-006-0284-y

Cited by 48 publications

(20 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The levitation direction is vertical, and in the equilibrium position, the magnet's attractive force is equal to the gravitational force of the suspended object. Then, based on the principle that the magnetic force is inversely proportional to the square of the gap between the magnet and the ferromagnetic body (17) , the actuator controls the air gap between the magnet and the object so as to adjust the attractive force. When the air gap is smaller than the balance gap, the actuator raises the magnet to increase the air gap; when the air gap is larger than the balance gap, the actuator lowers the magnet to decrease the air gap.…”

Section: Principle Of Magnetic Suspensionmentioning

confidence: 99%

Zero Power Non-Contact Suspension System with Permanent Magnet Motion Feedback

Sun

Oka

2009

JSDD

View full text Add to dashboard Cite

This paper proposes a zero power control method for a permanent magnetic suspension system consisting mainly of a permanent magnet, an actuator, sensors, a suspended iron ball and a spring. A system using this zero power control method will consume quasi-zero power when the levitated object is suspended in an equilibrium state. To realize zero power control, a spring is installed in the magnetic suspension device to counterbalance the gravitational force on the actuator in the equilibrium position. In addition, an integral feedback loop in the controller affords zero actuator current when the device is in a balanced state. In this study, a model was set up for feasibility analysis, a prototype was manufactured for experimental confirmation, numerical simulations of zero power control with nonlinear attractive force were carried out based on the model, and experiments were completed to confirm the practicality of the prototype. The simulations and experiments were performed under varied conditions, such as without springs and without zero power control, with springs and without zero power control, with springs and with zero power control, using different springs and integral feedback gains. Some results are shown and analyzed in this paper. All results indicate that this zero power control method is feasible and effective for use in this suspension system with a permanent magnet motion feedback loop.

show abstract

Section: Principle Of Magnetic Suspensionmentioning

confidence: 99%

Zero Power Non-Contact Suspension System with Permanent Magnet Motion Feedback

Sun

Oka

2009

JSDD

View full text Add to dashboard Cite

show abstract

“…Some of these structures are presented in [49], [52], [1], [35], [47], [56], [11], [27], [23], [19], [55], [5]. For example, a high gain adaptive output feedback controller is designed in [5] by introducing two different virtual filters and using back-stepping.…”

Section: Introductionmentioning

confidence: 99%

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

Bojan-Dragoş

Precup

Tomescu

et al. 2017

INT J COMPUT COMMUN

View full text Add to dashboard Cite

The paper presents a gain-scheduling control design procedure for classical Proportional-Integral-Derivative controllers (PID-GS-C) for positioning system. The method is applied to a Magnetic Levitation System with Two Electromagnets (MLS2EM) laboratory equipment, which allows several experimental verifications of the proposed solution. The nonlinear model of MLS2EM is linearized at seven operating points. A state feedback control structure is first designed to stabilize the process. PID control and PID-GS-C structures are next designed to ensure zero steady-state control error and bumpless switching between PID controllers for the linearized models. Real-time experimental results are presented for validation.

show abstract

Section: Introductionmentioning

confidence: 99%

“…These control mechanisms include but not limit to sliding-mode control [13], feedback linearization [14], fuzzy logic [15], and neural network [16]. In [14], a state feedback controller was proposed to navigate a small magnetized robot in the vertical direction with 16m accuracy. Lin in [17] proposed using a combination of traditional sliding-mode control system and a radial basis function network estimator for positioning the levitated object of a magnetic levitation system.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Motion Control of a Magnetically Navigated Microrobotic System

Zhang

Khamesee

2016

Proceedings of the 3rd International Conference of Control, Dynamic Systems, and Robotics (CDSR'16)

Self Cite

View full text Add to dashboard Cite

-This paper presents a technology for remotely navigating a magnetized microrobot in three-degree-of-freedom (3-DOF) using magnetic energy. The magnetic energy source is a magnetic drive unit that consists of six iron-core electromagnets, a soft-iron yoke, and a soft-iron pole-piece. The dynamic models of the magnetically navigated microrobot were derived from the magnetic field model in the workspace. An experimental method was applied to define the magnetic field model. Based on the derived dynamic models, a feed-forward plus standard PID controller was used to control the motion of the microrobot with 3-DOF. Experiment was conducted to validate the performance of the proposed controller. The experimental results showed 20µm motion accuracy in 3-DOF in a motion range of 10 × 10 × 30mm 3 .Keywords: Magnetic navigation, Microrobot, Magnetic field, PID plus feedforward controller IntroductionMicromanipulation involves performing tasks using macro scale end-effectors that have micro motion accuracy, and using micro scale end-effectors directly. For the first case, the end-effector of a micromanipulator has a mechanical arm connecting it to its base. This type of micromanipulator includes lead-screw driving stages and piezoelectric actuators [1,2,3]. However, the mechanical connection produces frictions, vibration, and backlash that degrade the performance of micromanipulation. For the second case, an end-effector is remotely manipulated without any mechanical connection to the base of a micromanipulator. This type of micromanipulator is capable of working in hazard and out-of-reach environments. Magnetic levitation micromanipulators, having remotely manipulated micro end-effector and micrometer motion accuracy, are most frequently studied and have promising potential in biomedical applications [4,5,6,7,8].Active magnetic navigation of a microrobot requires a controlled magnetic field source. Generally, electromagnets are used for multi-dimensional manipulation of a microrobot [9,10,11,12]. The magnetic field generated by electromagnets is controlled by a current. The multi-degree of motion freedom of a robot is achieved by setting up special configurations of multi-electromagnets. Since the strength of the magnetic field decays rapidly as the distance from electromagnet increases, an iron-core is commonly used to significantly enhance the magnetic field strength outside the electromagnet. This enhanced magnetic field can then expand the workspace of the microrobot.Modeling the magnetic field in the microrobots workspace is crucial to developing a magnetic navigation system. For systems that have air-core coils and permanent magnets produced magnetic field, analytical methods such as Bio-Savart Law and Amperes Law are applied to find a closed-form magnetic field model. However, for systems that have iron-core electromagnets produced magnetic field, the iron results in high nonlinearity in the whole system. Therefore, it is difficult to find a closed-form for modeling the magnetic field in the workspace. Al...

show abstract

Nonlinear controller design for a magnetic levitation device

Cited by 48 publications

References 15 publications

Zero Power Non-Contact Suspension System with Permanent Magnet Motion Feedback

Zero Power Non-Contact Suspension System with Permanent Magnet Motion Feedback

Proportional-Integral-Derivative Gain-Scheduling Control of a Magnetic Levitation System

Modeling and Motion Control of a Magnetically Navigated Microrobotic System

Contact Info

Product

Resources

About