Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Control Techniques Applied to an Electromagnetic Levitation System by Attraction
Submission Author:
Renan Imamura , SP
Co-Authors:
Renan Imamura, Décio Crisol Donha, Éverton Lins de Oliveira
Presenter: Renan Imamura
doi://10.26678/ABCM.COBEM2023.COB2023-1522
Abstract
Abstract. This paper describes the design and construction of a prototype of an electromagnetic attraction system for the levitation of small ferromagnetic objects. The electromagnetic levitation system is chosen because it is a highly nonlinear unstable open loop device, frequently used as control benchmark. Also, this system has a wide range of applications, such as the handling of small objects in clean rooms present in the food production, pharmaceutical and electronic industries as well in the scientific area. The objective of the work is to apply different control techniques to a prototype, obtaining experimental data for performance analysis of each alternative. Following the historical evolution of control techniques, classical controllers are initially applied, in a single input single output approach. Among these techniques, phase lead and lead-lag control are implemented. Next, other control techniques such as Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR) and H-Infinity are numerically applied for comparison purpose. The paper presents the mathematical modeling of the system, the synthesis and implementation of the controllers, the practical experiments and the analysis of the performance of each control proposed. It also presents the build of the prototype, including the power electromagnet instrumented with optical sensors used to measure the air gap distance (distance between the levitated object and the electromagnet core). Robustness issues are also in sight, since system parameters, such as the electrical resistance of the electromagnet, can change during operation.
Keywords
electromagnetic levitation, Modern Control, LQR, PID, Controle Robusto, Phase Lead, Phase Lead-Lag, Robustic control
