• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.51 no.9
• /
• pp.515-521
• /
• 2002

This paper presents the scheme that improves control responsibility and stability of the controlled-PM electromagnet levitation system with zero Power controller. A magnetically levitation system is used widely because friction can almost be disappeared. But it is difficult to control due to restraint of controllable area and nonlinear characteristics of electromagnetic force, which is proportioned to a square of the magnetic flux density and is in inverse proportion to a square of the air-gap. So, the application of observer theory in which the levitation system is considered to be a linear dynamic model has resulted in omitting the time dependence on mover's speed. Consequently, the performance of the observer is quite poor during transients. Therefore, this paper proposed the controlled-PM electro-magnetic levitation control method in which the variable load is estimated by using the reduced order extended luenverger observer and its system is controlled at a new zero power equilibrium air-gap position. It is also verified that the proposed control method improve the control performance through simulation and experiment.

• Proceedings of the KIEE Conference
• /
• summer
• /
• pp.1325-1327
• /
• 2004

인구가 증가하면서 인간의 생활활동 범위가 증가되었고 이에 따라 운송시스템에 대한 수요가 크게 증대되고 있다. 그러나 물류 이동에 필요한 여러 가지 제반시설은 이를 충족시키지 못하고 있으며, 이로 인하여 현재 국내의 물류수송효율은 최악의 상황에 직면해있다. 이로써 대용량의 수송능력을 담당하는 철도차량 운송 시스템에 대한 수요가 급증하게 되었다. 따라서 이에 대비하고자 많은 신규 노선을 계획하고, 이와 함께 신설되는 노선에 대해서는 시스템 운영 효율의 극대화를 위해 노선별로 고속전철과 지하철, 경전철, 틸팅차량, 그리고 자기부상열차 시스템 등 여러 가지 방식이 검토 중에 있으며 차량에 가장 적합한 추진시스템을 설계하는 것이 차량의 성능에 크게 향상시킬 수 있다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.4
• /
• pp.321-327
• /
• 2011

This paper proposes an equipment and an algorithm for modeling the magnetic force of electromagnets in magnetic levitation systems. We assume that the magnetic force model is represented in terms of a 2D lookup table. The 2D lookup table is constructed by applying noncausal filtering and interpolation to data measured by the proposed modeling equipment. The proposed modeling equipment is designed such that it can measure the magnetic force exerted on the levitation object while it changes the voltage applied to the electromagnet and position of the levitation object. The algorithm of making a 2D lookup table has two stages. The data measured by the proposed modeling equipment is smoothed by a noncausal filter and then the 2D lookup table is obtained by interpolating filtered data. The proposed modeling method has advantages of time-saving, model consistency, and chance of automation for mass production. We show the validity of proposed method through control experiments.

• Proceedings of the KIEE Conference
• /
• 2004.04a
• /
• pp.281-283
• /
• 2004

인구가 증가하면서 인간의 생활활동 범위가 증가되었고 이에 따라 운송시스템에 대한 수요가 크게 증대되고 있다. 그러나 물류 이동에 필요한 여러 가지 제반 시설은 이를 충족시키지 못하고 있으며, 이로 인하여 현재 국내의 물류수송효율은 최악의 상황에 직면해있다. 이로써 대용량의 수송능력을 담당하는 철도차량 운송 시스템에 대한 수요가 급증하게 되었다 따라서 이에 대비하고자 많은 신규 노선을 계획하고, 이와 함께 신설되는 노선에 대해서는 시스템 운영 효율의 극대화를 위해 노선별로 고속전철과 지하철, 경전철, 틸팅차량, 그리고 자기부상열차 시스템 등 여러 가지 방식이 검토 중이 있으며 차량에 가장 적합한 추진시스템을 설계하는 것이 차량의 성능에 크게 향상시킬 수 있다.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.62 no.9
• /
• pp.1264-1269
• /
• 2013

In this paper, we study a disturbance observer (DOB) based controller for an EMS(Electro-Magnetic Suspension) system in presence of mass uncertainty and input disturbance. The DOB based controller is employed in order to compensate the modeling uncertainty and attenuate disturbance signals. For the design of DOB based controller, the Jacobain linearization of nonlinear system model equation is used. Computer simulation is carried out for nonlinear model in order to compare the performance of the proposed DOB controller with that of the conventional PID controller. The simulation results show that the substantial improvement in the performance can be achieved by the proposed DOB controller.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.11
• /
• pp.1820-1826
• /
• 2016

This paper deals with dynamic characteristics of the experimental magnetic levitation vehicle employing LSM(Linear Synchronous Motor) for propulsion. To predict the dynamic characteristics of the system, the dynamic model which is composed of the electrical elements such as electromagnets and LSM and mechanical components and is developed based on multibody dynamics is developed. The resulting system equations of motion for the model are a coupled one representing all the mechanical and electrical parts. To verify the dynamic model of the system, air gaps are measured in both running tests and simulation, and the frequency characteristics of air gaps are analyzed. From the results, it can be seen that the frequency responses are almost the same. Finally, to evaluate the levitation stability and the designed controller, numerical simulations are carried out.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.5
• /
• pp.812-818
• /
• 2017

In this paper, we design a reduced-order disturbance observer (DOB) controller for an EMS (Electro-Magnetic Suspension) system with mass uncertainty. Compared with conventional DOB controller, the proposed reduced-order DOB controller can be implemented in a simpler way, since it uses reduced order nominal model and Q-filter. It is shown that the nominal model for the proposed DOB controller should be carefully chosen in order to achieve the robust stability in the present of mass uncertainty. Computer simulation results to validate the effectiveness of the proposed DOB controller are included.

• Proceedings of the KIEE Conference
• /
• 2001.07b
• /
• pp.647-649
• /
• 2001

It is a indispensible condition that the simulation and the experiment to improve a efficiency of maglev system. We usually carry out the simulation using the approximate equation, because it is impossible to use a exact modeling such as a practice modeling. This paper proposed a ideal simulation ap to the maglev system modeling by Finite Ele Method. To save the electrical energy, zero p control method is used, and verifying the feasibi FEM dynamic simulation, we make an exper with a TI DSP TMS320F240-based hardware.

• Proceedings of the KSR Conference
• /
• 2006.11a
• /
• pp.145-159
• /
• 2006

This paper describes the development of a clustering based fuzzy controller of an electromagnetic suspension vehicle using gain scheduling method and Kalman filter for a simplified single magnet system. Electromagnetic suspension vehicle systems are highly nonlinear and essentially unstable systems For achieving the levitation control of the DC electromagnetic suspension system, we considered a fuzzy system modeling method based on clustering algorithm which a set of input/output data is collected from the well defined Linear Quadratic Gaussian(LQG) controller. Simulation results show that the proposed clustering based fuzzy controller methodology robustly yields uniform performance with adequate gap response over the mass variation range.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.4
• /
• pp.701-708
• /
• 2017

This paper proposes an optimum design method using Teaching-Learning-based optimization for the fuzzy PID controller of Magnetic levitation rail-guided vehicle. Since an attraction-type levitation system is intrinsically unstable, it is difficult to completely satisfy the desired performance through the conventional control methods. In the paper, a fuzzy PID controller with fixed parameters is applied and then the optimum parameters of fuzzy PID controller are selected by Teaching-Learning optimization. For the fitness function of Teaching-Learning optimization, the performance index of PID controller is used. To verify the performances of the proposed method, we use a Maglev model and compare the proposed method with the performance of PID controller. The simulation results show that the proposed method is more effective than conventional PID controller.