In this paper, a cart-type inverted pendulum is controlled using combining of two methods of approximate feedback linearization and sliding mode control. Both position of the cart and angular posit...

Pareto optimum control of a 2-DOF inverted pendulum using approximate feedback linearization and sliding mode control

In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on application conditions. However, an acceptable controller for ropeless elevator guiding system should guaranty the passengers safety and convenient. Consequently, the response of the system should be fast, robust, and without considerable overshoots and oscillations. These required advantages are compromised in the proposed parallel PID sliding mode controller. The affectivity of the introduced controllers for maglev guiding system is investigated through conducted simulations in MATLAB/Simulink environment. The obtained results illustrate that PID sliding mode controller is a so fast and robust controller for a ropeless elevator maglev guiding system.

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A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System

In this paper, two different PID control methods are described to control of Maglev Guiding System for Linear Elevator. The linear elevator driven by permanent magnet linear synchronous motor (PMLSM) use the method to adopt the magnetic guidance system to control the PMLSM gap which changes frequently and can impact the vertical thrust and control the level vibration and noise in the process of start, operation, and stop to make passenger feel comfortable. The first PID control method is based on feedback linearization. In this method, single Maglev guiding systems are controlled to maintain the air gap of linear motor in the reference value independently. To achieve a more practical control method and better operation of maglev guiding system, this method is corrected and a simultaneous control method of two counterpart Maglev systems is proposed. MATLAB modeling of these systems are used in this paper. Simulation results show that the second method has a better performance.

PID control of Maglev Guiding System for Linear Elevator

Active magnetic levitation AML systems have been widely used in magnetic levitation
vehicles, wind turbine, medical applications, micro robot actuation and turbo-machinery.
Contactless support of objects continues to be a fantasy for several centuries. The utilization of magnetic forces seems to be the ideal solution in many situations to such a goal.
Using magnetic forces to support an object without any mechanical contact is constrained
by the laws of magnetism. Earnshaw’s theorem states that when the inverse-square-law
forces govern several charged particles, they can never be within a stable equilibrium. The
interaction between ferromagnetic objects and electromagnets of either the active or passive type, is associated with an unstable nature. This unstable behaviour can be represented
by highly non-linear differential equations. In the literature many researches are based on
linearised models around a specific nominal operating point then linear controller is utilized to control the system. The associated problem with the linear control technique is
that the system only be adequately controlled in a small region around the equilibrium
point but the variation of operating regions in such non-linear system is wide following a
major disturbance. In this research, two kinds of non-linear observer-based excitation controller are proposed for Maglev to ensure the stability of non-linear system in the presence
of large disturbance and over larger operation regions. A combination of full-order Nonlinear high-gain observer (NHGO) with LQR-feedback linearisation is considered as first
proposal. Second proposed controller is based on the Lyapunov stability theorems, and a
further non-linear full-order observer-based controller via a non-linear fuzzy sliding mode
controller is developed for Maglev system. The proposed control approaches are tested
and validated through simulated exercises of a magnetic levitation system. Comparative
assessments of the approaches are presented and discussed through the thesis

Non-linear observer based control of magnetic levitation systems

In this paper two cascade control system (CCS) structures designed in order to control the position of the magnetic sphere of a Magnetic levitation laboratory equipment are presented. The proposed CCS structures consist of a TP– based controller (TP–C) in the inner control loop and a Proportional Integral Fuzzy Controller (PI–FC) with integration of controller output (Fuzzy–OI–TP–CS) and a PI– FC with integration of controller input (Fuzzy–II–TP–CS) in the outer control loop, respectively. The parallel distributed compensation technique (PDC), the modal equivalence principle and the modulus optimum method are used in the design of the suggested CCS structures. The experimental results validate the proposed control solutions. Finally, a comparative analysis is also included.

TP–Based Fuzzy Control Solutions for Magnetic Levitation Systems

The magnetic levitation device which has non-contact characteristics, is used to replace the traditional guiding equipment, it would be applied in linear elevator to maintain a constant air gap of linear motor, and to eliminate mechanical vibration. In order to solve nonlinear problems of maglev device, feedback linearization control and fuzzy sliding mode control method is adopted to control the air gap of magnetic levitation device. Simulation results show that the control strategy has strong robustness.

Fuzzy sliding mode control of maglev guiding system based on feedback linearization

In this paper, linear elevator driven by permanent magnet synchronous linear motor (PMLSM) is used in fuzzy PID control method, in which it is to adopt the magnetic guidance system to control the PMLSM gap which changed frequently, and it can impact the vertical thrust and control the level vibration and noise in the process of start, operation, and stop to make passenger comfortable. Matlab modeling of this system is used in this paper. Simulation results show the effectiveness of the control strategy.

Hao Liu

Papers

Fuzzy sliding mode control of maglev guiding system based on feedback linearization

Fuzzy PID nonlinear control of maglev guiding system for linear elevator based in feedback linearization