Switched control of a magnetic levitation system with stick-slip

Diana Hernández-Alcántara, Luis Amézquita-Brooks, Jesús Liceaga-Castro, Eduardo Liceaga-Castro

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Magnetic levitation systems can be used in many applications such as precise positioning. Repulsive configurations are open-loop stable and offer other interesting characteristics. However, these applications may present stick-slip effects due to the friction forces. The combination of the highly non-linear magnetic forces and the stick-slip effects result in a complex control problem. This article presents the identification, model analysis and control system design for an experimental repulsive magnetic levitation system. The design is based on the principles of state feedback linearization. In previous reports it was shown that the performance of feedback linearization control of similar devices is degraded by the parameter uncertainty introduced by the friction. In this work, the performance of the feedback linearization control is improved by adding an outer-loop linear controller with integral action. This controller was designed according to classical frequency analysis. Experimental results show better transient responses and low steady state errors. Nevertheless, the integral action and the friction force increase the stick-slip oscillations. Stick-slip motion is eliminated through a switching control strategy based on the experimental characterization of the stick-slip sliding surface. The resulting control scheme allows preserving the low steady state error of the integral control law and eliminates the stick-slip motion. This is accomplished through a relatively simple controller when compared with previous reports. Experimental results show the effectiveness of the proposed scheme. © 2014 CEA.
Original languageEnglish
Pages (from-to)285-294
Number of pages10
JournalRIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Publication statusPublished - 1 Jan 2014
Externally publishedYes

Fingerprint

Magnetic levitation
Stick-slip
Feedback linearization
Friction
Controllers
State feedback
Transient analysis
Identification (control systems)
Systems analysis
Control systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Hernández-Alcántara, Diana ; Amézquita-Brooks, Luis ; Liceaga-Castro, Jesús ; Liceaga-Castro, Eduardo. / Switched control of a magnetic levitation system with stick-slip. In: RIAI - Revista Iberoamericana de Automatica e Informatica Industrial. 2014 ; pp. 285-294.
@article{4b2486403f684353987102015d0bdc59,
title = "Switched control of a magnetic levitation system with stick-slip",
abstract = "Magnetic levitation systems can be used in many applications such as precise positioning. Repulsive configurations are open-loop stable and offer other interesting characteristics. However, these applications may present stick-slip effects due to the friction forces. The combination of the highly non-linear magnetic forces and the stick-slip effects result in a complex control problem. This article presents the identification, model analysis and control system design for an experimental repulsive magnetic levitation system. The design is based on the principles of state feedback linearization. In previous reports it was shown that the performance of feedback linearization control of similar devices is degraded by the parameter uncertainty introduced by the friction. In this work, the performance of the feedback linearization control is improved by adding an outer-loop linear controller with integral action. This controller was designed according to classical frequency analysis. Experimental results show better transient responses and low steady state errors. Nevertheless, the integral action and the friction force increase the stick-slip oscillations. Stick-slip motion is eliminated through a switching control strategy based on the experimental characterization of the stick-slip sliding surface. The resulting control scheme allows preserving the low steady state error of the integral control law and eliminates the stick-slip motion. This is accomplished through a relatively simple controller when compared with previous reports. Experimental results show the effectiveness of the proposed scheme. {\circledC} 2014 CEA.",
author = "Diana Hern{\'a}ndez-Alc{\'a}ntara and Luis Am{\'e}zquita-Brooks and Jes{\'u}s Liceaga-Castro and Eduardo Liceaga-Castro",
year = "2014",
month = "1",
day = "1",
language = "English",
pages = "285--294",
journal = "RIAI - Revista Iberoamericana de Automatica e Informatica Industrial",
issn = "1697-7912",
publisher = "Universidad Politecnica de Valencia.",

}

Switched control of a magnetic levitation system with stick-slip. / Hernández-Alcántara, Diana; Amézquita-Brooks, Luis; Liceaga-Castro, Jesús; Liceaga-Castro, Eduardo.

In: RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 01.01.2014, p. 285-294.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Switched control of a magnetic levitation system with stick-slip

AU - Hernández-Alcántara, Diana

AU - Amézquita-Brooks, Luis

AU - Liceaga-Castro, Jesús

AU - Liceaga-Castro, Eduardo

PY - 2014/1/1

Y1 - 2014/1/1

N2 - Magnetic levitation systems can be used in many applications such as precise positioning. Repulsive configurations are open-loop stable and offer other interesting characteristics. However, these applications may present stick-slip effects due to the friction forces. The combination of the highly non-linear magnetic forces and the stick-slip effects result in a complex control problem. This article presents the identification, model analysis and control system design for an experimental repulsive magnetic levitation system. The design is based on the principles of state feedback linearization. In previous reports it was shown that the performance of feedback linearization control of similar devices is degraded by the parameter uncertainty introduced by the friction. In this work, the performance of the feedback linearization control is improved by adding an outer-loop linear controller with integral action. This controller was designed according to classical frequency analysis. Experimental results show better transient responses and low steady state errors. Nevertheless, the integral action and the friction force increase the stick-slip oscillations. Stick-slip motion is eliminated through a switching control strategy based on the experimental characterization of the stick-slip sliding surface. The resulting control scheme allows preserving the low steady state error of the integral control law and eliminates the stick-slip motion. This is accomplished through a relatively simple controller when compared with previous reports. Experimental results show the effectiveness of the proposed scheme. © 2014 CEA.

AB - Magnetic levitation systems can be used in many applications such as precise positioning. Repulsive configurations are open-loop stable and offer other interesting characteristics. However, these applications may present stick-slip effects due to the friction forces. The combination of the highly non-linear magnetic forces and the stick-slip effects result in a complex control problem. This article presents the identification, model analysis and control system design for an experimental repulsive magnetic levitation system. The design is based on the principles of state feedback linearization. In previous reports it was shown that the performance of feedback linearization control of similar devices is degraded by the parameter uncertainty introduced by the friction. In this work, the performance of the feedback linearization control is improved by adding an outer-loop linear controller with integral action. This controller was designed according to classical frequency analysis. Experimental results show better transient responses and low steady state errors. Nevertheless, the integral action and the friction force increase the stick-slip oscillations. Stick-slip motion is eliminated through a switching control strategy based on the experimental characterization of the stick-slip sliding surface. The resulting control scheme allows preserving the low steady state error of the integral control law and eliminates the stick-slip motion. This is accomplished through a relatively simple controller when compared with previous reports. Experimental results show the effectiveness of the proposed scheme. © 2014 CEA.

M3 - Article

SP - 285

EP - 294

JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

SN - 1697-7912

ER -