Abstract
Maglev (Magnetic Levitation) systems are an interesting class of systems since they work without any physical contact and are hence frictionless. Due to this attractive property, such systems have the potential for wide range of applications such as maglev trains. Maglev is non-linear due to magnetic field and unstable that suggest the need of stabilizing controller. An appropriate controller is required to levitate the object at desired position. FOPID (Fractional Order Proportional Integral Derivative) controller and ILC (Iterative learning Control) based FOPID controller are designed in this paper for the levitation of metallic ball with desired reference at minimum transient errors. Since maglev is unstable and ILC is used only for stable systems, FOPID controller is used to stabilize the plant. Non-linear interior point optimization method is used to obtain the parameters of FOPID controller. An ILC is used as a feedforward controller in order to improve the response iteratively. P, PD and PID-ILC control laws are used to update the new control input in ILC based FOPID controller. The overall control scheme is therefore a hybrid combination of ILC and FOPID. The effectiveness of proposed technique is analyzed based on performance indices via simulation. ISE (Integral Square Error) and IAE (Integral Absolute Error) is lesser in case of hybrid PID-ILC as compared to simple FOPID controller.
Highlights
Maglev (Magnetic Levitation) systems are an interesting class of systems since they work without any physical contact and are frictionless
Podlubny [18] proposed the concept of FOPID (Fractional Order PID) Controller
It consists of fractional order integrator and fractional order differentiator
Summary
Mis levitated through this system without any human interaction through magnetic force generated by an electromagnetic coil. Sathiyavathi et al [10] proposed Hybrid ILC technique for Maglev They designed ILC with PID controller for reference tracking of ball. With this proposed controller the closed loop system has 5.58sec settling time which needed to be improved. Duka et al [1] proposed IMC (Internal Model Control) based PID controller for the levitation of ball at desired position. Sahoo et al [24] proposed fuzzy logic controller for the control of the position of a ferromagnetic ball in Maglev With this proposed technique, the close loop system has 0.4sec settling time, 28.57% steady state error, 0.135sec rise time and 0% overshoot. Fuzzy logic controller has removed overshoot but steady state error, rise time and ISE needs to be improved.
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