제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Least Squares Based PID Control of an Electromagnetic Suspension System

  • Park, Yon-Mook (Div. of Aerospace Eng., Dept. of Mechanical Eng. Korea Advanced Institute of Science and Technology) ;
  • Nam, Myeong-Ryong (Satellite Technology Research Center Korea Advanced Institute of Science and Technology) ;
  • Seo, In-Ho (Satellite Technology Research Center Korea Advanced Institute of Science and Technology) ;
  • Lee, Sang-Hyun (Satellite Technology Research Center Korea Advanced Institute of Science and Technology) ;
  • Lim, Jong-Tae (Div. of Electrical Eng., Dept. of Electrical Eng. & Computer Science Korea Advanced Institute of Science and Technology) ;
  • Tahk, Min-Jea (Div. of Aerospace Eng., Dept. of Mechanical Eng. Korea Advanced Institute of Science and Technology)
  • Published : 2003.10.22
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Abstract

In this paper, we develop the so-called functional test model for magnetic bearing reaction wheels. The functional test model has three degree of freedom, which consists of one axial suspension from gravity and the other two axes gimbaling capability to small angle, and does not include the motor. For the control of the functional test model, we derive the optimal electromagnetic forces based on the least squares method, and use the proportional-integral-derivative controller. Then, we develop a hardware setup, which mainly consists of the digital signal processor and the 12-bit analog-to-digital and digital-to-analog converters, and show the experimental results.

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