Robust Positioning Control Of Magnetic Levitation System

Chin, Francis Jun Hau (2013) Robust Positioning Control Of Magnetic Levitation System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Magnetic levitation system is a non-contact system that uses the electromagnetic force to levitate object such as bearing, ball, train and others on air. With this basic working principle, magnetic levitation system can be used in lots of application like maglev train with the advantages of frictionless, high speed, required little maintenance, low noise and so on. However, due to its nonlinear characteristic and open-loop unstable system, it is very hard to realize the system in practical and achieve a high performance control system. This is because it is very difficult to construct a high performance controller to control the position of the levitated object. Moreover, the magnetic levitated system is always facing the poor transient performance and the problem of stability especially in the presence of parametric uncertainties. In order to solve this problem, a robust controller is necessary needed to give a high positioning performance and robust system. Therefore, a fuzzy logic controller is proposed for the positioning control of magnetic levitation system. Both Mamdani’s approach and Sugeno’s approach are used to design fuzzy logic control system and examine and evaluate in simulation and experiment. In order to examine the robustness of the proposed controller, different mass of ball is levitated. Then, the results of conventional controller will compare with the results from proposed controller, fuzzy logic controller. The positioning results of fuzzy logic controller are validated experimentally and in simulation in comparison with PID controller too. As a results, fuzzy logic controller that designed with Sugeno’s approach is able to control and improve the positioning performance of the mechanism and also more robust to the uncertainty different mass of ball.

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