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Modeling, Identification, Validation and Control of a Hybrid Maglev Ball

[+] Author Affiliations
Ahmed Elhussein E. Mekky, Thomas Alberts

Old Dominion University, Norfolk, VA

Paper No. DSCC2012-MOVIC2012-8732, pp. 423-432; 10 pages
doi:10.1115/DSCC2012-MOVIC2012-8732
From:
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4529-5
  • Copyright © 2012 by ASME

abstract

In this paper theoretical modeling, identification and model validation of a hybrid magnetic ball suspension system incorporating both permanent and electric magnets are investigated. Furthermore, the deviation of the theoretical model has been investigated using Comsol Multiphysics® modeling. Simple PD, PID and PID with pre-filter controllers have been designed based on the linearized model of the system. A nonlinear simulation using Simulink® has been carried out using the derived model and has been verified by experimental results. The suggested controller has been applied to the nonlinear simulation and the real-time maglev ball experiment to manage the ball position.

Copyright © 2012 by ASME

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