The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Decentralized $H_{\infty}$ Control of Multiple Magnetic Levitation System

다중 자기부상 시스템의 분산형 $H_{\infty}$ 제어

  • 김종문 (한국전기연구원 계측제어연구그룹) ;
  • 이상혁 (부산대 전자전기정보컴퓨터공학부) ;
  • 최영규 (부산대 전자전기정보컴퓨터공학부)
  • Published : 2005.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, an application of a decentralized $H_{\infty}$ controller(DHC) to multiple controlled-permanent magnet(CMAG) magnetic levitation(Maglev) systems is presented. The designed DHC using two Riccati equations iteratively has simpler structure and needs less computational loads than conventional centralized $H_{\infty}$ controller. A target plant is a hybrid-type CMAG system with permanent magnet and coil, and its mathematical model is firstly derived to design the DHC. To implement the designed algorithm, a real Maglev vehicle system including digital controller, chopper, sensor, etc., is manufactured. To compare the performances of the DHC method with an observer-based state feedback control(OSFC), the input tracking and disturbance rejection characteristics are experimentally tested. As performance indices(PI), integral of squared error(ISE), integral of absolute error(IAE), integral of time multiplied by absolute error(ITAE) and integral of time multiplied by squared error(ITSE) are used. From the experimental results, it can be seen that the input tracking and disturbance rejection performances of the DHC are better than those of the conventional controller.

Keywords

References

  1. G.Bohn and G. Steinmetz, 'The elctromagnetic levitation and guidance technology of the TRANSRAPID test facility emsland,' IEEE Trans. Magnetics, vol. 20, no. 5, pp. 1666-1671, 1984 https://doi.org/10.1109/TMAG.1984.1063246
  2. K.H. Kim, et al, A study on the Development of Control System for levitation and Propulsion, KERI report, 1998
  3. G. Schweitzer, H. Bleuler and A. Traxler, Active Magnetic Bearing, ETH Zurich, 1994
  4. J.M. Kim and D.H. Kang, Development of 1 tonne Lossless Hybrid-Type Magnetic Levitation System, KERI report, 2004
  5. H.K. Sung, A Study on the Design of Robust and Reliable Controller for Electromagnetic Suspension System, Ph.D. Thesis, KAIST, 2001
  6. A. Bittar and R.M. Sales, '$H_2$ and $H_{\infty}$ control applied to and electromagnetically levitation system,' Proc. of the 1997 IEEE International Conference on Control Applications, pp. 773-778, October, 1997 https://doi.org/10.1109/CCA.1997.627753
  7. J.H. Seo, J.S. Kong and S.H. Lee, 'Decentralized $H_{\infty}$ controller design,' 1st Asian Control Cong., Tokyo, pp. 539-542, 1994
  8. J.H. Seo, J.S. Kong and S.H. Lee, 'Decentralized controller design,' Automatica, 35, pp. 965-876, 1999 https://doi.org/10.1016/S0005-1098(98)00208-8
  9. P.K. Sinha, Electromagnetic Suspension: Dynamics and Control, U.K. Peregrinus, 1987
  10. M. Green, K. Glover, B.J.M. Limebeer and J.C. Doyle, 'A J-spectral factorization approach to $H_{\infty}$ control,' SIAM J. Control Optim., 28, pp. 1350-1371, 1990 https://doi.org/10.1137/0328071
  11. VxWorks User's Guide, The WindRiver, 1996
  12. Tornado 2 User's Guide, The WindRiver, 2000
  13. C.F. Ostia and O.Y. Chuy, 'Genetic tuning of fuzzy controller,' Mindanao Journal XXVII, pp. 197-239, 2003