Title :
Real-time Control of the 3-DOF Sled Dynamics of a Null-Flux Maglev System with a Passive Sled
Author :
de Boeij, J. ; Steinbuch, Maarten ; Gutierrez, Hector
Author_Institution :
Dept. of Electr. Eng., Eindhoven Univ. of Technol., Eindhoven
Abstract :
The real-time control of the 3-DOF dynamics of an electrodynamic (EDS) maglev vehicle is presented. The design is based on a 5-DOF state-space model of the sled dynamics that uses a simple algebraic model to describe the interaction between the null-flux coils on the track and the permanent magnets on the sled. A first order sliding mode controller with integral error term is used to control heave, pitch and roll in real time from position-attitude information measured with sensors located on the sled. Experimental results show that control of the 3-DOF dynamics of the levitated vehicle in real-time can be successfully achieved by the proposed method.
Keywords :
control system synthesis; electric vehicles; electrodynamics; feedback; magnetic levitation; matrix algebra; permanent magnets; state-space methods; variable structure systems; vehicle dynamics; 3-DOF sled dynamics; 5-DOF state-space model; electrodynamic maglev vehicle; feedback control; first order sliding mode controller; nonlinear input matrix; null-flux coils; null-flux maglev system; passive sled; permanent magnets; position-attitude information; real-time control design; Coils; Control systems; Electrodynamics; Error correction; Magnetic levitation; Permanent magnets; Real time systems; Sliding mode control; Vehicle dynamics; Vehicles; Electrodynamic magnetic suspension; magnetic levitation; magnetic servo levitation; null-flux levitation; sliding mode control;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.295973
