First Order Integral Sliding Mode Control Of The Magnetically Levitated 4-Pole Type Hybrid Electromagnet

Year 2017, Volume: 2 Issue: 1, 79 - 86, 25.02.2017

Hasan Fatih Ertugrul

Abstract

In this study, 4-pole type yoke hybrid electromagnet is modeled with respect to
motion dynamics of the system. The hybrid electromagnet inherently has a nonlinear
characteristic and from the point view of controllability, it is unstable. This
paper concerns the design of robust controller using first order integral sliding
mode control method. Thus, the system becomes stable and robust against
parametric uncertainties, nonlinearity, unmodeled uncertainties and external
disturbance.

Magnetic levitation system includes sensors that only measure the air gap. In
order to estimate other states of the system, the full order disturbance observer
is designed and integrated into the control loop. The estimated disturbance
value is factored by the appropriate conversion gain and added to the input
signal of the plant. The efficiency of control algorithm will be given in the paper
by computer simulations. 

Keywords

Magnetic levitation, Integral sliding mode control, Disturbance observer

References

• [1]. Y. Yakushi, T. Koseki and S. Sone, "3 degree-of-freedom zero power magnetic levitation control by a 4-pole type electromagnet", International Power Electronics Conference,vol.4, pp.2136-2141, April 3-7, 2000, Tokyo, Japan.
• [2]. J. Liu, T. Koseki ,“Robust Control of a 4-Pole Electromagnet in Semi-Zero-Power Levitation Scheme with a Disturbance Observer” The Transactions of I.E.E. Japan, A Publication of Industry Applications Society Vol. 122-D, No. 1, pp. 7-15, January 2002
• [3]. K. Erkan, B. Okur, T. Koseki, and F. Yigit, “Experimental evaluation of zero-power levitation control by transfer function approach for a 4-pole hybrid electromagnet,” 2011 IEEE International Conference on Mechatronics, pp. 23–28, Apr. 2011.
• [4]. Vadim Utkin, Juergen Guldner, Jingxin Shi, Sliding Mode Control in Electro-Mechanical Systems, Second Edition, CRC Press, 2009.
• [5]. Katsuhiko Ogata, Modern Control Engineering, 5th Edition, Prentice Hall, 2009.
• [6]. Shtessel, Y., Edwards, C., Fridman L., Levant A., “Sliding Mode Control and Observation (Control Engineering)”,2013th Edition
• [7]. J.-H. Lee, P. E. Allaire, G. Tao, and X. Zhang, “Integral sliding-mode control of a magnetically suspended balance beam: analysis, simulation, and experiment,” IEEE/ASME Transactions on Mechatronics, vol. 6, no. 3, pp. 338–346, 2001.
• [8]. Lee, J.-H., “A Design of Integral Sliding Mode Suspension Controller to Reject the Disturbance Force Acting on the Suspension System in the Magnetically Levitated Train System” , Transactions of the Korean Society for Noise and Vibration Engineering, Volume 17, Issue 12 2007, pp.1152-1160
• [9]. Zhen Gang Sun; Cheung N.C; Shi Wei Zhao; Wai-Chuen Gan, Integral sliding mode control with integral switching gain for magnetic levitation apparatus, 2009. PESA 2009. 3rd International Conference on Power Electronics Systems and Applications, 2009.
• [10]. Manabe, S.“Coefficient diagram method”, 14th IFAC Symposium on Automatic Control in Aerospace, Aug. 24-28, 1998, Seoul, Korea, 199- 210. (1998).