A Lecture

on
Design of 2-DOF Control and Disturbance Estimator for
Magnetic Levitation System

EED, MNNIT Allahabad

Prof. Richa Negi
Professor
EED, MNNIT Allahabad, Prayagraj (UP)
1
INTRODUCTION

 Magnetic levitation (Maglev) or magnetic suspension is a method by which

an object is suspended with no support other than magnetic field.

 The electromagnetic force is used to counteract the effects of the

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gravitational force.

 The magnetic force is controlled via control of flux/current/voltage in the

system.

 Position of levitated object can be controlled

with the help of the magnetic force control.

 The levitated objects may be ball system /maglev

train body /magnetic bearing system etc. 2

Fig. 1: Magnetic suspension
GENERALIZED DIAGRAM OF MAGNETIC BALL SUSPENSION SYSTEM

Power Amplifier

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Electromagnet
Control

Sensor Signal
Processing

Ferromagnetic
Body

3
Fig. 2: Magnetic ball suspension system
SCHEMATIC DIAGRAM OF ACTIVE MAGNETIC BEARING SYSTEM

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Fig. 3: 1-DOF of active magnetic bearing system

4
ADVANTAGES OF MAGNETIC LEVITATION SYSTEM

The advantages and applications in various fields are

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 High Speed Maglev Trains

 Bio-magnetism- for MRI.

Fig. 4: Maglev Train

 Particle accelerators-to accelerate sub-atomic particles nearly to light

speed.

 Peta-flop Computers- A peta-flop is a thousand-trillion floating point

operations per second. 5
CONTI…
 Satellite Launching:

NASA also uses the Maglev technology for “running start” of satellite to

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break the Earth’s gravity.

Fig. 5: Maglev Technology for running start 6

CONTI…
 Maglev Space Propulsion :

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 Launching systems may use magnetic

fields to levitate and accelerate a vehicle

along a specified track .

 Reaching the end of the track, the vehicle

could switch to more conventional

rocket engines. Fig. 6: Maglev Space

Propulsion
7
CONTI…
Magnetic Levitation Wind Turbine:

 Another possible application in wind turbine.

 Maximum overall efficiency of windmill

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is 30%. The remaining energy is mainly
lost due to friction.

 If the same windmill is operating at 50% of its

maximum speed, the efficiency becomes very low.

 Normal windmill can start its generation from

wind speed of 3 m/s.

 But magnetic levitation based windmill Fig. 7: Maglev wind turbine

can start generation from wind speed of 1.5m/s.
8
 MOTIVATION
 Over the last few decades, the maglev technology based systems have received
practical importance in many engineering and technological applications such as:
high-speed maglev trains, contactless bearings, used for vibration isolation in
sensitive machinery, and many more.

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 The parameter uncertainty and external disturbance are serious problems in maglev
system. To ensure the robustness, various robust schemes were designed in past for
maglev system. However, all have some limitations, as continuous monitoring of
disturbance is not possible during operations.

9
BLOCK DIAGRAM OF MAGNETIC LEVITATION SYSTEM

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Fig. 8: Electrical Circuit Model of Magnetic Levitation System

10
Fig. 9: Schematic Block diagram of Maglev system
MATHEMATICAL MODELING AND PROBLEM FORMULATION [32, 84]
 The nonlinear model of magnetic levitation system is expressed as:
i2
mh = mg − C 2 (1)
h
Ci 2
f (i, h) = 2 (2)
h

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 where C is a constant value which depends on the parameters of coil, m is
mass of the steel ball, g is acceleration due to gravity.

 For easy analysis and design of controller, the system is linearized about the
equilibrium point ( h 0 = 0.009 m and i0 = 0.8 A).
 f (i, h) f (i, h)  (3)
h =  i + h 
 i i h i i0,h0 
 0, 0 
h − Ci
= (4)
i s 2 − Ch
11
32. Ghosh, A., Krishnan, T.R., Tejaswy, P., Mandal, A., Pradhan, J.K. and Ranasingh, S. (2014) Design and Implementation of a
2-DOF PID Compensation for Magnetic Levitation Systems. ISA Transactions, 53, 1216-1222.
84. Manual (2011) Magnetic Levitation Control Experiments. Feedback Instruments Limited, UK
CONTI…
 where Ci and Ch are the constant values for the maglev system and
expressed as:
Ci = 2g ,Ch = 2g (5)
i0 h0

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 The current i flowing in the coil is proportional to the control voltage v and
expressed as: i = C1v (6)
where C1 is the proportionality constant.

 Now, the transfer function can be written as:

h −C1Ci (7)
= 2
v s − Ch
 where v is small incremental control voltage. C2 is the gain of (IR)
12
sensor for conversion of position of ball in meter to voltage.
CONTI…

Tab. 1: Physical Parameter of maglev System [32, 84]

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13
CONTI…
 The transfer function of magnetic levitation system with sensor system is
obtained as: h v −C1C2 Ci (8)
= 2

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v s − Ch
 where h v is the (IR) sensor output voltage.
 Using the values of Tab. 1, the transfer function of the magnetic levitation
system is obtained as:
−3518.85 (9)
P(s) = 2
s − 2180
 The maglev system (2.9) has two poles at  46.69. It is seen that one pole
lies in right half of complex s-plane so system is unstable.
14
 EED, MNNIT Allahabad
Design of 2-DOF Control and Disturbance
Estimator for Magnetic Levitation System

15
 Introduction:
 This work proposes a systematic two-degree freedom control scheme for
unstable maglev system.

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 The proposed control strategy is a two-step design process.

 Firstly, a proportional derivative controller is introduced purposely to get desired

set-point response of maglev system then, for designing set-point tracking
controller, an integral square error (ISE) performance specification is used.

 Secondly, a disturbance estimator is designed using the desired closed loop

16
complimentary sensitivity function for rejection of load disturbances.
PROBLEM FORMULATION
 The maglev model (9), further expressed as

k1
G P (s) = (10)
(1s − 1)(2s + 1)

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 where
k1 = −1.6142 1 = 2 = 0.0214

 The maglev system has poles at  46.69. It is seen that one pole lies in
right half of complex s-plane so system is unstable.
17
 BLOCK DIAGRAM OF PROPOSED CONTROL STRATEGY

Input Output
Disturbance Disturbance
Di Do

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Unstable
Set-Point u UT Maglev
R(s) Tracking Y(s)
System(Gp)
Controller (C)

us f

Disturbance
Estimator
F

Stabilizing
Controller
Gc

Minimum Phase
Model of
Maglev System
_ Gm
18

Fig. 10: Block diagram of 2-DOF control strategy

PROPOSED CONTROL STRATEGY

 The proposed control strategy has three major controllers as

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1. Stabilizing controller

2. Set-point tracking controller

3. Disturbance estimator

19
STABILIZING CONTROLLER (GC)

 The stabilizing controller is designed in such a way that the unstable maglev
system can be stabilized.

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 With the use of stabilizing controller (GC) the maglev model is augmented
as
G m (s)
G 'm (s) = (11)
1 + G C (s)G m (s)

 The set-point transfer function is obtained as

C(s)G P (s) 1 + F(s)G m (s)

H(s) = . (12)
1 + G C (s)G m (s) 1 + F(s)G P (s)
20
CONTI…

 The stabilizing controller is selected as a proportional derivative form

G C (s) = k c + k ds (13)

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 The characteristic equation of set-point transfer function is obtained as

12s 2 + (k d k1 + 1 − 2 )s + k c k1 − 1 = 0 (14)

 With the help of Routh’s Stability criterion, we get the following condition
for parameter tuning of stabilizing controller GC(s)

k d  (1 − 2 ) / k1
(15)
k c  1/ k1 21
CONTI…

 For maglev system (10), the stabilizing controller is chosen as

G C (s) = −0.2s − 4 (16)

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 But, to remove the realization problem, a low pass filter is used with time
constant

. ( 0.01 − 0.1) k d (17)

 The realizable stabilizing controller is obtained as

−0.2s − 4 (18)
G C (s) =
(0.01s + 1)
22
Set-point Tracking Controller C(s)

 The set-point tracking controller is designed with the help of ISE performance
minimization
2
1 k1C(s)

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W(s)(1 − H r (s) 2 = (1 −
2
(19)
s 12s 2 + (k d k1 + 1 − 2 )s + k c k1 − 1 2

 Using the orthogonality property of norm is obtained as

2
(12s 2 + (k d k1 + 1 − 2 )s + k c k1 − 1) − k1C(s)
2
1
W(s)(1 − H r (s) 2 = +
2
(20)
s 2 s(12s + (k d k1 + 1 − 2 )s + k c k1 − 1)
2
2

 For the minimizing the right side,

12s 2 + (k d k1 + 1 − 2 )s + k c k1 − 1
C(s) = 23
k1 (21)
CONTI…

 (21) is not proper and cannot be physically realizable in practice.

1
Hence a second order low pass filter CJ (s) =

( cs + 1) 2 is required.

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 The practically realizable set-point tracking controller is derived as

12s 2 + (k d k1 + 1 − 2 )s + k c k1 − 1 (22)
C(s) =
k1 ( cs + 1) 2

 From the values k d = −0.2 & k C = −4 and the time constant (0.01- 0.1)k d

 The set-point tracking controller for maglev system is obtained as

 4.579  10-4 s 2 + 0.322s + 5.456 

C(s) = −  
(23)
1.6142  10 s + 0.0323s + 1.6142 
-4 2

24
DISTURBANCE ESTIMATOR F(S)

 In the proposed control structure as shown in Fig. 10, the load disturbance
transfer function can be written as

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ydi G P (s) (24)
H di = =
di 1 + F(s)G P (s)
ydo 1 (25)
H do = =
do 1 + F(s)G P (s)
 The complementary sensitivity function of the closed loop between the
system input and output for the load disturbance rejection is derived as
f F(s)G P (s)
Td = = (26)
di 1 + F(s)G P (s)
25
CONTI…

 The practically realizable desired closed loop complementary sensitivity

function may expressed as

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m

a s
i=1
i
i
+1 (27)
Td (s) =
(lf s +1)l +m

 Then, the desired disturbance estimator can be inversely calculated by

Td (s) 1
F(s) = . (28a)
1 − Td (s) G P (s)

26
CONTI…

 As for the unstable magnetic levitation system (10), the closed loop
complementary sensitivity function is obtained as

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a1s + 1
Td (s) =
( f s + 1)3 (28b)
 And desired disturbance estimator is computed as

(1s − 1)(2s + 1)(a1s + 1) (29)

F(s) =
k1[( f s + 1)3 − (a1s + 1)]

 where,   3

 (30)
a1 = 1   + 1 − 1
f
  1  
 
27
CONTI…

1 M '' (s) 2 M (i) i 

F(s) =  M(0) + M (0)s +
'
s + ... + s + ... (31)
s 2! i! 

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 1 
FPID (s) =  K P + + TDs  (32)
 TIs 

K P = M ' (0),TI = 1/ M(0), D = M '' (0) / 2 (33)

28
CONTI…

 The disturbance estimator can be easily in PID structure (32) and their
parameter is obtained as
M(0) = −38.23

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M(0) = −2.47 (34)
M(0) = −0.0307

 And for the practical realization of PID, a filter whose time constant
is chosen between ( 0.01 − 0.1) TD sec.

 The disturbance estimator with low pass filter ( TF = 0.005 sec )

 0.0307s 2 + 2.47s + 38.23 

F(s) = −   (35)
 s(0.005s + 1)  29
SIMULATION RESULTS
Desired & Ball Position (volt)

14 Final Control effort (U(s))

-1 12 Control effort of Disturbance Estimator (F(s))
Control effort of Stablizing Controller (Gc(s))
10 Control effort of Set-point tracking Contoller (C(s))

Control effort (volt)

-1.5 8

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Ball Position 6
Desired
-2 4

2
0 5 10 15 20 25 30
Time (second) 0

-2
Fig. 11(a) 0 5 10 15 20 25 30
-0.6 Time (sec)
-0.8
Desired& Ball Position (volt)

-1

-1.2
Fig. 11(b)
-1.4

-1.6 Fig. 11 (a): ball position

-1.8

-2
Proposed Strategy Fig. 11 (b): Control efforts
Desired
-2.2 Conventional PID
Fig. 11 (c): Comparison
30
0 5 10 15 20 25 30
Time (sec)

Fig. 11(c)
CONCLUSION

 In this work, a systematic two degree freedom control scheme is presented

to improve the reference input tracking and load disturbance rejection for

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unstable maglev system.
 The stabilizing and tracking controller is investigated in such a way so that
the unstable maglev system gets stabilized and forces the system to track the
desired trajectory.
 The disturbance estimator comes into existence when system under goes to
internal/external disturbances.
 This technique leads to remarkable improvement of regulatory capacity for
reference input tracking as well as load disturbance rejection. 31
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