Abstract
Magnetic suspension systems are mechatronic systems and crucial in several engineering applications, such as the levitation of high-speed trains, frictionless bearings, and wind tunnels. Magnetic suspension systems are nonlinear and unstable systems; therefore, they are suitable educational benchmarks for testing various modeling and control methods. This paper presents the digital modeling and control of magnetic suspension systems. First, the magnetic suspension system is stabilized using a digital proportional-derivative controller. Subsequently, the digital model is identified using recursive algorithms. Finally, a digital mixed linear quadratic regulator (LQR)/H∞ control is adopted to stabilize the magnetic suspension system robustly. Simulation examples and a real-world example are provided to demonstrate the practicality of the study results. In this study, a digital magnetic suspension system model was developed and reviewed. In addition, equivalent state and output feedback controls for magnetic suspension systems were developed. Using this method, the controller design for magnetic suspension systems was simplified, which is the novel contribution of this study. In addition, this paper proposes a complete digital controller design procedure for magnetic suspension systems.
Highlights
Magnetic suspension systems (MSSs) are important in several engineering applications [1,2,3,4], such as the levitation of high-speed Maglev trains [1,2], frictionless bearings [3], and wind tunnels [4].Maglev trains travel a contactless guideway using magnetic suspension, the friction is reduced and the speed is faster than possible with wheeled trains
The identification methods used in the magnetic suspension system are presented
A state-feedback control and mixed linear quadratic regulator (LQR)/H∞ control u = Fx exists if the Riccati equation
Summary
Magnetic suspension systems (MSSs) are important in several engineering applications [1,2,3,4], such as the levitation of high-speed Maglev trains [1,2], frictionless bearings [3], and wind tunnels [4]. A new digital modeling of MSSs is proposed and a complete controller design procedure is provided. This paper is structured as follows: Section 2 reviews the digital model and digital PD control; Section 3 presents identification methods of the digital model; Section 4 describes the state and output feedback controls; Section 5 reviews the state LQR/H∞ control; Section 6 presents the experiments and results; and Section 7 provides the conclusions
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