Many educational advantages are realized for the students if a single environment is used for simulation, hardware implementation, and verification as compared. For the simulation of the controlled system the toolbox matlab simulink is used. Observer based controller for magnetic levitation system engr. One electromagnet pole faces a black post upon which a 2. Using the hilink platform to control a magnetic levitation system. Matlab simulink control environment googols magnetic levitation system uses matlabsimulink control environment to design controller and achieve realtime control. Jun 17, 2016 it also discusses the importance of electrical engineering in developing maglev, and how electrical engineers can make this technology the next transportation revolution.
Magnetic levitation system is modelled here and pid, fuzzy and lqr are designed to control the system. The magnetic levitation system with 2 electromagnets mls2em is a complete after assembling and software installation control laboratory system ready to. The real time operating system is running on the tiva board, ensuring that every 140 us 7. Design and simulation of model based system using real. Control of single axis magnetic levitation system using. Linear quadratic regulator controller for magnetic levitation. See also chapter 4 for a description of the control hardware and software functionality. Pid, fuzzy and lqr controllers for magnetic levitation system. Modeling and vibration control with a nanopositioning magneticlevitation system.
The basic principle of mls operation is to apply the voltage to an electromagnet to keep a ferromagnetic sphere levitated. The is an ideal tool for demonstration of magnetic levitation phenomena. The experimental observerbased magnetic levitation system consists of levitation coil, ferrite ball, driver, sensor and personal computer pc. The system is characterized by the magnets position and a control current, both of which determine where the magnet will be an instant later. The first experiment studies system nonlinear characteristics, and the second experiment studies system dynamic characteristics with a number of different control actions. Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed ground transportation, vibration isolation, etc. Magnetic levitation hardwareintheloop and matlabbased. The user has a rapid access to all basic functions of the mls system from the mls control window. Pdf magnetic levitation hardwareintheloop and matlab.
Magnetic levitation control system in stand alone analogue mode recall that the considered equipment is with a builtin power supply and in the analogue mode is capable of standalone operation without any computer control software. Characteristics of matlabsimulink control platform. Linear quadratic regulator controller for magnetic. This is a visually appealing system with convenient time constants for both analogue and digital control. The combination of these settings levitation maglev device for modeling and.
The control algorithm is implemented using assembly. Design and simulation of model based system using real time windows engr. Rapid control prototyping platform for matlab and simulink. Magnetic force is used to counteract the effects of the gravitational acceleration and any other accelerations the two primary issues involved in magnetic levitation are lifting forces. Stabilization of a magnetic levitation control system via. Magnetic levitation system 33006pci description this 33006 magnetic levitation system demonstrates a classic magnetic levitation control experiment, that of suspending a body in space.
Dynamic modeling, timedomain analysis, pi and pid feedback control. The open loop response in matlab shows oscillations, large overshoot and required large. The electromagnetic levitation system controls the magnetic field generated by an electromagnet to levitate a small magnet in midair. The magnetic levitation main window in the ml main window one can find.
Pdf control of magnetic levitation system using fuzzy. Design of magnetic levitation ball control based on co. It consists of a magnetic levitation education model, laboratory card and control computer. In this example we attempt to build a neural network that can predict the dynamic behavior of a magnet levitated using a control current. The position of the ball responds to the changing value of the setpoint. Design of a robust controller for a magnetic levitation system. This paper investigates the issue of real time simulations using matlab as a tool. The modeling of the system is simulated using matlab. Plot of magnetic levitation system with not pid control figure 1. Real time workshop of matlab software and experimental results are shown in.
The simulink model represents the humusoft ce152 magnetic levitation educational presentation scale model. Modeling and control design of magnetic levitation system. Magnetic suspension systems are highly nonlinear and unstable. Magnetic levitation belongs to wellknown type of systems with variety of application field, 14. The \maglev experiment is a magnetic ball suspension system which is used to. This is to certify that the work in the thesis entitled controller design for magnetic levitation system by abhishek nayak is a record of an original research work carried out by him under my supervision and guidance in partial fulfillment of the requirements for the. Linear quadratic regulator lqr controller is designed to analyze the system in closed loop. Matlab can plot models of the system in state space form. Figure 4 shows a realtime control model in matlabsimulink environment. We created this model to work with simulink coder, simulink desktop realtime, and the humusoft mf 644 multifunction io board. Modeling and control of a magnetic levitation system concepts emphasized. The ball elevation from the post is measured using a sensor embedded in the post. The platform is a complete and lowcost realtime control system development package for both educational and industrial applications.
The magnetic levitation system mls is a nonlinear, openloop, unstable time varying frictionless dynamical system. All the controllers are designed in matlab and checked in real time. Magnetic levitation real time control system running on a tiva tm4c123g microcontroller. Magnetic levitation system in control engineering education 153 2. The scaling of all of these transformations affects the system gain and will be examined in more detail in the sections that follow. Magnetic force is used to counteract the effects of the gravitational acceleration and any other accelerations. This paper proposed a new magnetic levitation system using realtime control simulink feature of simlab microcontroller. The magnetic levitation system mls is a complete after assembling and software installation control laboratory system ready to experiments. Experimental design and verification of extended state. Nonlinear model of the magnetic levitation system the magnetic levitation system is shown on fig. Modeling and nonlinear control of magnetic levitation systems. This paper discusses the use of a realtime digital control environment with a hardwareintheloop hil magnetic levitation maglev device for modeling and controls education, with emphasis on neural network nn feedforward control. After the addition of observer based controller the system becomes stable. The plant model is controlled by a pid controller with feed forward to cope with the nonlinearity of the magnetic levitation system.
The control settings and output can be displayed and controlled via a python tkinter interface. The overhead electromagnet generates an attractive force on the metal ball that initially sits on the post. Matlab models for magnetic levitation system a windows pc with a pci slot and with windows 7 x86 or x64 or 10 x64 not supplied by ld didactic gmbh windows 7 service pack 1. Modeling and control for a magnetic levitation system based. A magnetically levitated control system maglev is realized in a wellknown way. The design and simulations are performed under a matlabsimulink platform. You can observe this change not only in the scope window, but also in a viewer window displaying the virtual. The hilink platform offers a seamless interface between physical plants and matlab simulink for implementation of hardwareintheloop realtime control systems. Magnetic levitation us system actual ball position ys maglev front panel interface circuit 1. Modeling and control of a magnetic levitation system.
Magnetic levitation model with simulink desktop realtime. The open loop response showed that the derived model is unstable. The design and simulations are performed under a matlab simulink platform. The electromagnetic levitation system mls is a mechatronic system already acknowledged and accepted by the field experts. You clicked a link that corresponds to this matlab command. This experiment has been built up numerous times before and is widely available on the internet. Keywordsstate feedback, observer, statepi feedback, magnetic levitation, pole placement, stability and stabilization model reference control 4, robust control 5, sliding mode abstract state feedback technique through a gain matrix has been a wellknown method for pole assignment of a linear system. Realtime systems are loosely defined as the class of computer systems. Pdf control of magnetic levitation system using fuzzy logic. To obtain a good model for the maglev system, model 33210 manufactured by feedback limited in. Modeling the magnetic levitation system belongs to challenging tasks, since besides nonlinearities we have to cope with openloop unstable system with fast dynamics and very small degree of natural damping. Hardware the ecp magnetic levitation maglev design see fig. Magnetic levitation system becomes a hot topic of study due to the minimum friction and low energy consumption which regards as very important issues.
Magnetically levitated ball with matlab and arduino. The software optimizes model parameters by formulating the design requirements as a constrained minimization problem, and then solves the problem using optimization techniques. Read how an ilc protocol can improve its robustness and performance. Magnetic levitation hardwareintheloop and matlab based experiments for reinforcement of neural network control concepts. Magnetic levitation experiment for matlab simulink users.
This model requires the following software and hardware components. Iterative learning control for magnetic levitation quanser. This example illustrates how a narx nonlinear autoregressive with external input neural network can model a magnet levitation dynamical system. Modeling and control for a magnetic levitation system. The basic working principle of magnetic levitation system. Run the command by entering it in the matlab command window. Moreover, the sphere can follow a desired position value varying in time. A magnetic levitation put which can be easy implemented comparing to the multi is a nonlinear unstable system and the fuzzy logic controller brings the magnetic levitation system to a stable region by keeping a magnetic ball suspended in the air. You can generate matlab code from the tool, and accelerate response optimization using parallel computing and simulink fast restart. Magnetic levitation system is prone to disturbances and uncertainties. To implement a microcontrollerbased digital controller that stabilizes a 21gram steel ball and tracks reference input signals applied to the maglev.
In this example, we model a ce 152 magnetic levitation system where the controller is used to position a freely levitating ball in a magnetic field. The magnetic levitation system with 2 electromagnets mls2em is a complete after assembling and software installation control laboratory system ready to experiments. Realtime hardwareintheloop control platform for matlab simulink. Using this model, a nonlinear control law based on differential geometry is firstly synthesized. This example shows how to use numerical optimization to tuning the controller parameters of a nonlinear system. Introduction magnetic levitation is becoming widely applicable in magnetic bearings, highspeed. Van schenck and damrongrit piyabongkarn and ioannis frangeskou, journalieee. Mar 02, 2010 rapid control prototyping platform for matlab and simulink. Matlab software is turned on to establish the interface of. Wonjong kim this dissertation demonstrates that a magnetic levitation maglev stage has the. The electromagnetic support and guidance system for magnetic levitation railways consists of electromagnets on.
It is fully integrated into matlab simulink and has a broad range of inputs and outputs. Magnetic levitation maglev or magnetic suspension is a method by which an object is suspended with no support other than magnetic fields. If you click in the space between the magnetic coil and the bottom plate, vrml sensor is updated and its value is read into simulink model using the vr source block. The simulation within the matlab simulink environment download. Hilink realtime control platform for matlabsimulink. Modeling and vibration control with a nanopositioning magnetic levitation system. Open example a modified version of this example exists on your system. Maglev 1 magnetic levitation experiment quanser consulting inc. This paper discusses the use of a realtime digital control environment with a hardwareintheloop hil magnetic levitation maglev device for modeling and controls education, with emphasis on neural network. See the system requirements in section 5 for the required hardware and software. Observer based controller for magnetic levitation system. The magnetic levitation unit and the interface module denoted with 1 and 2 in fig.