Abstract:
Electromagnetic levitation is a magical sort of phenomenon that is fascinating
researchers from a very long time. It has found its use in many applications like
levitation trains, launching of space missions where it is used to give space vehicles a
running start to break through earth’s gravity, vibration oscillation systems and
magnetic bearings. Because of inherent nonlinearities associated with the
electromechanical dynamics of the system, the design of efficient control scheme to
follow particular reference trajectory and disturbance suppression appears as a very
challenging task for researchers.
In this work, different tracking control schemes are designed and investigated for
magnetic levitation system provided by Educational control products (ECP-730). This
thesis work has been divided into four parts depending upon the types of control
schemes designed. First part deals with the design of linear output regulation
technique to follow a sine trajectory and to reject the external disturbance generated
by exosystem. Second part is to design the nonlinear feedback linearizing controllers
for nonlinear SISO (single input single output) maglev system. Third part of this
thesis deals with the design of robust controller to follow a reference trajectory in the
presence of external disturbances and model uncertainties and in final part inputoutput linearization feedback controller is designed for MIMO (multi input multi
output) magnetic levitation system. All parts of thesis have been simulated in matlab
simulink and the results have been compared.
Finally, all the designed control schemes are implemented on real time magnetic
levitation system (ECP 730 model) using ECP USR Executive software. The tracking
performance of all control schemes is practically investigated for different reference
trajectories and appreciable results have been achieved. At the end, a comparison of
all the practically implemented control schemes is presented.
