Abstract
A magnetic suspension system is required to keep a stable state even if the system parameters vary. In this study, a sliding mode control is applied in order to enhance the robustness to the parameter variations. First, the sliding mode control is applied to the system whose manipulated variable is pulse width of a DC chopper replacing a conventional linear amplifier for current control of the magnetic coil. We refer the system to as a voltage control type. In this case, the control system becomes equivalent to that of which manipulated variable is the current of the magnetic coil because sliding mode operation reduces the system order by one. However, the manipulated variable can be current without using the sliding mode control when hardware of control device is changed and a current-source controller is used. Next, hence, the sliding mode control is applied to the system referred to as a current control type.As a result, the control system achieves enhancement of the robustness to practically imrportant parameter variations such as a mass of a suspended body, and an equilibrium point. Besides, it is found that the sliding mode control system is more robust to step disturbance input than an optimal control system.
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