Abstract
MAGnetic LEVitation (Maglev) is a multi-variable, non-linear and unstable system that is used to levitate a ferromagnetic object in free space. This paper presents the stability control of a levitating object in a magnetic levitation plant using Fractional order PID (FOPID) controller. Fractional calculus, which is used to design the FOPID controller, has been a subject of great interest over the last few decades. FOPID controller has five tunning parameters including two fractional-order parameters ($\lambda $ and $\mu $ ). The mathematical model of the Maglev plant is obtained by using first principle modeling and the laboratory model (CE152). Maglev plant and FOPID controller both have been designed in MATLAB-Simulink. The designed model of the Maglev system can be further used in the process of controller design for other applications. The stability of the proposed system is determined via the Routh Hurwitz stability criterion. Ant Colony Optimization (ACO) algorithm and Ziegler Nichols method has been used to fine-tune the parameters of FOPID controller. FOPID controller output results are compared with the traditional IOPID controller for comparative analysis. FOPID controller, due to its extra tuned parameters, has shown extremely efficient results in comparison to the traditional IOPID controller.
Highlights
The theory of the magnetic levitation (Maglev) system can be described as the levitation of a ferromagnetic object in free space due to the presence of an electromagnetic field against a gravitational force acting on it
This results in an increased force of attraction between the levitating object and the electromagnet, which causes the levitating object to move upwards and accelerate until it stops upon hitting the core of the electromagnet
The power amplifier is fed with an input voltage signal through D/A converter, which produces an output current that passes through the coil, resulting in the creation of the magnetic field that lifts the levitating object in free space
Summary
The theory of the magnetic levitation (Maglev) system can be described as the levitation of a ferromagnetic object in free space due to the presence of an electromagnetic field against a gravitational force acting on it. A. Mohsin: Design and Control of Magnetic Levitation System by Optimizing Fractional Order PID Controller. Symbiotic Organism Search optimization algorithm initialized adaptive and control parameters due to magnetic levitation system instability and strong non - linearity. FOPID controller provides better control because of two extra tuning parameters (λ and μ), fast response towards reference signal, more flexibility, higher stability and better handling of a non-linear systems [73]. In this research Ant Colony Optimization (ACO) algorithm is used, to optimize the tuning parameters of FOPID controller, which has positive feedback mechanism, a discrete optimization technique, strong robustness, high reliability, fast convergence, high flexibility, fewer setting parameters, stability to explore local solutions, ease of implementation, the capability of combining with other algorithms and ability to handle the objective cost.
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