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

Abstract

4-pole hybrid electromagnetic systems have a potential usage in many industrial areas, such as clean room design, transportation, semiconductor 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 CDMbased classical PID controller over an experimental setup .

Optimum Design of CDM-Backstepping Control with Nonlinear Observer for Electrohydraulic Servo System Using Ant Swarm

“…CDM control is an algebraic method with polynomial form, it permit designing the controller under the requirements of stability, time domain performance and robustness. The performance specification, equivalent time constant and stability index are definite in the closed loop transfer function and form a relationship to the controller parameters algebraically [3]. The output of the controlled is expressed as…”

“…To resolve the declared problems, a level nonlinear robust controller is created by combining the advantages of Coefficient Diagram Method (CDM) [3] and backstepping method [4][5][6][7][8][9][10][11][12], CDM-backstepping with nonlinear observer is established to control the EHSS in company of uncertainties where exploiting the robustness of CDM and asymptotic convergence of backstepping. The concept of backstepping is easy.…”

“…n -1, give the stability and the waveform of the time response[3]. The settling time ts and the equivalent time constant T0 are related as The settling time and the time constant can be modified to provide the needed performance, therefore γi >1.5 for all i=1~(n -1).…”

Yeni Nesil Modüler Taşıma Aracının 3-Serbestlik Derecesinde Manyetik Yastıklama Hava Aralığı Kontrolü

“…Elektromıknatıslara kalıcı mıknatıs dilimlerinin eklenmesi ile elde edilen karma elektromıknatıslar; enerji kayıplarını büyük oranlarda azaltırken, elektromıknatıs boyutunun ve ağırlığının küçülmesine olumlu katkı sağlar [2][3][4][5]. Manyetik yastıklama ve yataklama sistemlerinde sıklıkla kullanılan U ve E şekilli elektromıknatıslar ile ancak tek serbestlik derecesinde yastıklama ya da yataklama sağlanabilir.…”

“…Manyetik yastıklama ve yataklama sistemlerinde itme yada çekme kuvveti ile yastıklama hava aralığındaki ilişki doğrusal olmayan bir karakteristik gösterip, kontrol açısından kararsız bir yapı oluşturmaktadır [1,2]. Kararlı manyetik yastıklama, hava aralığını istenen değerde tutmayı sağlayan, kontrolün elektromıknatıs bobinlerinden geçirilecek akımla sağlandığı geri beslemeli kontrol ile oluşturulabilmektedir [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15]. Denetleyici tasarım yaklaşımları olarak literatürde pek çok yöntem manyetik yastıklar için önerilmiştir.…”