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Control Systems Lab 5

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11 views

Control Systems Lab 5

Uploaded by

akashgehlot2025
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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OBJECTIVE

The objective of this experiment is to model the magnetic levitation


(MAGLEV) plant and to design a controller that levitates the ball from post and ball
position tracks a desired trajectory.
Apparatus/software required: MATLAB, Magnetic levitation kit, Q8-USB,
UPM-2405 amplifier.
QUANSER MAGNETIC LEVITATION SYSTEM
The Magnetic Levitation System consists
electromagnet housed in a rectangular enclosure.
One pole of the electromagnet is positioned
towards a black post, on which a steel ball with a
diameter of 2.54 cm is placed. A sensor
embedded in the post measures the ball’s height
above the post. When the ball is resting on the
post, it is situated 14 mm away from the face of
the electromagnet.
Mathematical Model
Table of Parameters

Nc

Electrical System
The system is equipped with resistor Rs in series with the coil whose voltage
V can be measured using the A/D. The measured voltage can be used to compute the
current in the coil. The sense resistor in the circuit results in the equation:
( )
𝑉 (𝑡 ) = 𝑖(𝑡 )(𝑅 + 𝑅 ) + 𝐿 …(1)

Applying the Laplace transform and rearranging yields results in the open loop
transfer function of the MAGLEV electrical system –
( )
𝐺 (𝑠 ) = = …(2)
( )

Here,
𝐾 = ; and 𝜏=

Such a system is stable since its unique pole (system of order one) is located
on the left-hand-side of the s-plane. Nor pole at the origin of the s-plane, so G c(s) is of
type zero.
Mechanical System
Net Force on the steel ball is,

𝐹 +𝐹 =− +𝑀 g ….(3)

Applying Newton’s second law of motion to the ball, the following non-linear
Equation of motion (EOM) comes –
𝐹 + 𝐹 = 𝐹 = 𝑀 𝑥̈

𝑥̈ = 𝑔 − ( ) …(4)

Linearization –
The EOM should be linearized around a quiescent point of operation. In the
case of the levitated ball, the operating range corresponds to small departure
positions xb1, small departure currents, Ic1, from the desired equilibrium point (xb0,
Ic0). Therefore, xb and Ic can be expressed as the sum of two quantities, as shown
below –
𝑥 =𝑥 +𝑥 and 𝐼 =𝐼 +𝐼
Also,

𝑥 = (𝑥 ) ; 𝐼 = (𝐼 )

At equilibrium, all time derivative terms equate to zero and Equation (4)
becomes:

𝑀 g− =0

Hence,

𝐼 = ( )⋅𝑥 ; given, 𝑥 = 6𝑚𝑚

Electromechanical System Modeling


EOM Linearization and Transfer Function
Linearization about (𝑥 , 𝐼 ) using Taylor series:

𝑥 =− +g+ −
Now put the value of Km, we get the linearized equation as,

𝑥 = −

Applying Laplace Transform,


( )
( )
= 𝐺 (𝑠 ) = − …(5)

Here,

𝐾 = and 𝜔 = ( )

Equation (5) shows a second-order system of type zero. The two open-loop
poles are located on the real axis at the s = ±𝜔 . Having one pole in the Right-Half
Plane (RHP), the open-loop system is unstable and feedback control is required.

CONTROLLER DESIGN
Coil Current Controller Design using Pole Placement –
Prior to control the steel ball position, the current flowing through the
electromagnet needs to be controlled. The electromagnet current control loop
consists of a Proportional-plus-Integral (PI) closed-loop scheme.

Transfer Function –
( )
𝑇 (𝑠 ) = ( )
=
⋅ ⋅

Normalized Characteristic polynomial –


1+𝐾 ⋅𝐾 𝐾 ⋅𝐾
𝑠 + 𝑠 + =0
𝜏 𝜏
Now let desired poles be 𝑝 and 𝑝 (-235 ± 70i rad/s), and then the
normalized equation can be written as follows –
𝑠 + (−𝑝 − 𝑝 )𝑠 + 𝑝 ⋅ 𝑝 =0
𝑠 + 2 ∗ 𝜁𝜔 𝑠 + 𝜔 = 0

Ball Position Controller Design using Pole Placement –


The steel ball position is controlled by means of a Proportional-plus-Integral-
plus-Velocity (PIV or PID) closed-loop scheme with the addition of a feed-forward
action.

Normalized Characteristic Polynomial –

𝑠 − 𝑠 + − − 𝑠− =0

let desired poles are 𝑝 , 𝑝 & 𝑝 (-2.5, -44, -51.6 rad/s) so desired
characteristic equation of third order system with these poles is given by-
𝑠 + (−𝑝 −𝑝 − 𝑝 )𝑠 + (𝑝 ⋅𝑝 +𝑝 ⋅𝑝 +𝑝 ⋅ 𝑝 )𝑠 − 𝑝 ⋅𝑝 ⋅𝑝 =0
(𝑠 + 𝑝)(𝑠 + 2 ∗ 𝜁𝜔 𝑠 + 𝜔 ) = 0
ASSIGNMENT-
1)
------------------------------------------------------------------------------------------------------------
2)
Gain Table –
Controller Gains Value
𝐾 182.875
𝐾 24801.56
𝐾 142.83
𝐾 -252.44
𝐾 -247.98
𝐾 -4.285

Experimental Procedure –
 Run setup_lab_maglev_piv.m in MATLAB to set gain values.
 Open q_piv_maglev.mdl in Simulink. Check the signal generator and filters.
 Place the steel ball in the MAGLEV chamber.
 Build and start the real-time code in Simulink.
 Stabilize the ball and enable tracking by adjusting the Simulink constant
block.
 Monitor the ball's position, coil current, and command voltage using scopes.
 Evaluate the system’s performance and settling time.

Results –
Desired ball Position vs Actual Ball Position –
• Blue Line: This line represents the desired trajectory response of the steel ball's
position as it should levitated in the MAGLEV setup.
• Yellow Line: This line represents the actual trajectory followed by the ball's
position after control adjustments are applied.
The yellow line appears to lag behind the blue line at times, suggesting a tracking
error between the desired and actual positions. This is typical when tuning a control
system where the goal is to minimize this difference.
Coil Current –
Real time Response of Coil Current, where the current is actively adjusting to
stabilize or control the levitated object’s position.

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