一个教学用的磁悬浮控制系统模型.docxVIP

Modeling of a Didactic Magnetic Levitation System forControl EducationMilica B. NaumoviCAbsr~uo ~ The magnetic levitation control system of a metallicsphere is an interesting and visual impressive device successfulfor demonstration many intricate problems for controlengineering research. The dynamics of magnetic levitation systemis characterized by its instability, nonlinearity and complexity. Inthis paper some approaches to the levitation sphere modeling areaddressed, that may he validate with experimentalmeasurements.Keywords - magnetic levitation system, control engineeringeducation, system modelingI. INTRODUCTIONMagnetic levitators not only present intricate problems forcontrol engineering research, but also have many relevantapplications. such as high-speed transportation systems andprecision bearings. From an educational viewpoint, thisprocess is highly motivating and suitable for laboratoryexperiments and classroom demonstrations, as reported in theengineering education literature [1]-[8].The classic magnetic levitation control experiment isprescnted in the form of laboratory equipment given in Fig.1.The complete purchase of the Feedback Instruments Ltd.Maglev System 33-006 [9] is supported by WUS (WorldUniversity Service [IO]) - Austria under Grant CEP (Centerof Excellence Projects) No. 115/2002. This attraction-typelevitator system is a challenging plant because of its nonlinearand unstable nature. The suspended body is a hollow steel ballof 25 mmdiameter and 20 g mass. This results in a visuallyappealing system with convenient time constants. Both analogueand digital control solutions are implemented. In addition, thesyslem is simple and relatively small, that is portable.This paper deals with the dynamics analysis of the consideredmagnetic levitation system. Although the gap between the realphysical systcm and the obtained nominal design model hascomplex structure, it should be robust stabilized in spite of modeluncertainties.II. SYSTEMD ESCRIPTIONThe Mag