Fuzzy sliding mode control based on PSO for magnetic levitation positioning stage
01 Oct 2018-Ieej Transactions on Electrical and Electronic Engineering (John Wiley & Sons, Ltd)-Vol. 13, Iss: 10, pp 1492-1500
About: This article is published in Ieej Transactions on Electrical and Electronic Engineering.The article was published on 2018-10-01. It has received 4 citations till now. The article focuses on the topics: Sliding mode control & Fuzzy logic.
Citations
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TL;DR: This paper addresses speed control of permanent magnet synchronous motor under load torque perturbations with a novel control strategy called disturbance observer SMC (DOSMC) that includes an observer that offers a tool to vanish the effect of load torque.
Abstract: This paper addresses speed control of permanent magnet synchronous motor under load torque perturbations. The mathematical model is derived using park’s transformation. The load torque disturbance is considered unknown bounded, and states variables are available in feedback. In order to achieve robust speed performance, sliding mode control (SMC) is introduced. However, it is noted that conventional SMC does not provide satisfactory performance under load torque disturbances. To end this, a novel control strategy called disturbance observer SMC (DOSMC) is formulated. It includes an observer that offers a tool to vanish the effect of load torque. The DOSMC technique has two distinguished characteristics: first, the design gains are needed to be greater than the maximum limit of disturbance estimation error instead of disturbances, second; the proposed observer estimates load disturbances and provide a compensator to update sliding surface and control input. The stability analysis of overall control system is verified using Lyapunov theorem. Simulations in MATLAB/Simulink proves efficacy of the proposed scheme.
29 citations
01 Jan 2012
TL;DR: In this article, a nonlinear controller based on the theory of differential geometry is proposed for the magnetic levitation positioning stage, which consists of a moving table, four Halbach permanent magnetic arrays, four stators and displacement sensors.
Abstract: To enhance the system damping,a permanent magnet set which served as an eddy current damper was added to the magnetic levitation positioning stage which consists of a moving table,four Halbach permanent magnetic arrays,four stators and displacement sensors.The dynamics model of this stage was a complex nonlinear,strong coupling system which made the control strategy to be a focus research.The nonlinear controller of the system was proposed based on the theory of differential geometry.Both simulation and experimental results show that either the decoupling control of the movement can be realized in horizontal and vertical directions,and the control performance was improved by the damper,verifying the validity and efficiency of this method.
1 citations
17 May 2022
TL;DR: In this paper , a rigid-flexible coupling positioning stage (RFCPS) is proposed for long-stoke-high-precision (LSHP) positioning, and its dynamic model is established.
Abstract: A rigid-flexible coupling positioning stage (RFCPS) is proposed in this study for long-stoke-high-precision (LSHP) positioning, and its dynamic model is established. The structure of the RFCPS contains three parts: the working stage, the frame and the flexure hinge group. The flexure hinges can provide micro deformation to compensate the positioning error cause by the friction of the mechanical bearing. In order to consider the deformation of the flexure hinges, the flexible multi-body system dynamic analysis method is adopted to establish the dynamic model of the RFCPS. The investigation of the principle model demonstrates that the floating frame of reference formulation (FFRF) has higher accuracy than the absolute nodal coordinate formulation (ANCF) for the deformation analysis of the RFCPS. Sequentially, a finite element based model (FE model) is established by using the FFRF. Numerical simulation results shown that the results of the FE model is consistent to the analytical solution, and the deformation of the flexure hinges is effectively obtained. The establishment of the dynamic model lays the foundation for structural optimization and control system design of the RFCPS.
References
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TL;DR: An analytical modeling approach is established to accurately predict the Lorentz force generated by the square coil with the 1-D Halbach PM array by considering the corner region, and the proposed modeling approach can be extended easily to apply on other coil designs such as the circular coil.
Abstract: This paper presents a novel design of six-degree-of-freedom (6-DOF) magnetically levitated (maglev) positioner, where its translator and stator are implemented by four groups of 1-D Halbach permanent-magnet (PM) arrays and a set of square coils, respectively. By controlling the eight-phase square coil array underneath the Halbach PM arrays, the translator can achieve 6-DOF motion. The merits of the proposed design are mainly threefold. First, this design is potential to deliver unlimited-stroke planar motion with high power efficiency if additional coil switching system is equipped. Second, multiple translators are allowed to operate simultaneously above the same square coil stator. Third, the proposed maglev system is less complex in regard to the commutation law and the phase number of coils. Furthermore, in this paper, an analytical modeling approach is established to accurately predict the Lorentz force generated by the square coil with the 1-D Halbach PM array by considering the corner region, and the proposed modeling approach can be extended easily to apply on other coil designs such as the circular coil, etc. The proposed force model is evaluated experimentally, and the results show that the approach is accurate in both single- and multiple-coil cases. Finally, a prototype of the proposed maglev positioner is fabricated to demonstrate its 6-DOF motion ability. Experimental results show that the root-mean-square error of the implemented maglev prototype is around 50 nm in planar motion, and its velocity can achieve up to 100 mm/s.
63 citations
TL;DR: This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system and proposes a lumped uncertainty estimator and an exact estimator to exactly estimate the unknown uncertainties in finite time.
Abstract: This paper investigates the robust tracking control problem for a bipolar electromagnetic-levitation precise-position system. The dynamic model of the precise-position device is derived by conducting a thorough analysis on the nonlinear electromagnetic forces. Conventional sliding-mode control and terminal sliding-mode control strategies are developed to guarantee asymptotic and finite-time tracking capabilities of the closed-loop system. A lumped uncertainty estimator is proposed to estimate the system uncertainties. The estimated information is then used to construct a smooth uniformly ultimately bounded sliding-mode control. An exact estimator is also proposed to exactly estimate the unknown uncertainties in finite time. The output of the exact estimator is used to design a continuous chattering free terminal sliding-mode control. The time taken for the closed-loop system to reach zero tracking error is proven to be finite. Experiment results are presented, using a real time digital-signal-processor (DSP) based electromagnetic-levitation system to validate the analysis.
62 citations
59 citations
01 Jan 2010
TL;DR: Intelligent control theory and technology will be discussed in this chapter, and the focus is placed on the fundamental ideas that have been found most useful in industry.
Abstract: In the previous chapters, the theoretical and technological foundations of MI have been investigated, they include, knowledge-based system, multi-agent system, data mining and knowledge discovery, computing intelligence, process and system modeling, sensor integration and data fusion, and group technologies. As another very important branch of MI, intelligent control theory and technology will be discussed in this chapter. The chapter should be viewed as a resource for those in the early stages of considering the development and implementation of intelligent controllers for industrial applications. It is impossible to provide the full details of a field as large and diverse as intelligent control in a single chapter. Hence, the focus is placed on the fundamental ideas that have been found most useful in industry. INTRODUCTION
59 citations