Robust LQ control of magnetically levitation systems with a combined lift and guidance using loop-shaping techniques

루프형성 기법을 이용한 편심배치방식 자기부상 시스템의 강인 LQ 제어

The modeling and control design schemes are developed for maglev systems with a combined lift and guidance. First, bond graph techniques are applied for modeling these multi-energy domain systems more logically and systematically. And the stability loop via pole placement and the performance loop via loop-shaping LQ control are designed. The suggested controller satisfies the required characteristics of stability and performance simultaneously. Finally, the robustness of the synthesized maglev control system is evaluated for the variations of air gap and vehicle mass through computer simulation.