Title :
Nonlinear control design for a high-precision contactless positioning system using magnetic levitation
Author :
Owen, Robert Brydon ; Maggiore, Manfredi ; Apkarian, Jacob
Author_Institution :
Dept. of Electr. & Comput. Eng., Toronto Univ., Ont.
Abstract :
This paper presents the implementation of a two degree-of-freedom, high-precision, magnetic-levitation-based positioning system. The apparatus employs one permanent magnet linear synchronous motor and is constructed by Quanser Inc. The paper focuses on the design and testing of a nonlinear controller required for actuating the positioning system. The controller is based on feedback linearization and output regulation. Experimental results show that the controller is capable of performing both set-point stabilization and sinusoidal tracking over the complete operating range to within a specified degree of accuracy, with an acceptable amount of overshoot and settling time
Keywords :
control system synthesis; feedback; linear synchronous motors; machine control; magnetic levitation; nonlinear control systems; permanent magnet motors; position control; stability; feedback linearization; high-precision contactless positioning; magnetic-levitation-based positioning system; nonlinear control design; output regulation; permanent magnet linear synchronous motor; set-point stabilization; sinusoidal tracking; Control design; Force control; Hardware; Jacobian matrices; Linear feedback control systems; Magnetic levitation; Output feedback; Parameter estimation; Synchronous motors; System testing;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507172