Keywords
maglev
IR distance sensor
current sensor
dsPIC30F4013
PWM
digital control
How to Cite
Abstract
In the present work, a magnetic levitation system (maglev) with one degree of freedom (vertical) is designed, simulated and implemented physically. A simplified linear model is first obtained which describes the system. From this model, linear controllers are designed using traditional control methods. The effectiveness of these controllers to stabilize the system and their performance parameters are tested by simulation. The proposed models are also validated experimentally. Regarding implementation, an electromagnet is used, whose current flow is controlled to levitate a disk in which a permanent magnet is inserted. The current control is performed using the PWM (Pulse Width Modulation) technique. An infrared optical position sensor and a current sensor are constructed to measure these variables in the system. The control algorithms are implemented in a microcontroller optimized for signal processing (dsPIC). Due to the digital implementation of the controllers, the influence of sampling and processing times on the performance and stability of the system is discussed. Stabilization of the disc for small variations around an equilibrium point within the range of 3 to 8 cm from the magnet is achieved. Finally, the considerations necessary to achieve dynamic control within the range (for variable positions) including non-linear control strategies are discussed.
References
Li, J.H. 2005. "DSP-based Control of a PWM-driven Magnetic Levitation System." IEEE ICSS 2005 International Conference on Systems and Signals. 483-487.
Yang, Z.; Gerulf, K.; Pedersen, M.; Jorgen H.P. 2008. "Model-based Control of a Nonlinear One Dimensional Magnetic Levitation with a Permanent-Magnet Object." Arreguin, Juan Manuel Ramos. Automation and Robotics. InTech. 359-374.
Guillermo, E.; Larriva, J.; Trelles, J. 2003. "Control de un levitador magnético." Cuenca.
Thijssen, M. 1996. "A 2-dimensional Magnetic Levitation-System." Master of Science Thesis. Eindhoven University of Technology.
Al-Muthairi, N.F. and Zribi, M. 2004. "Sliding Mode Control of a Magnetic Levitation System." Mathematical Problems in Engineering (93-107).
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