Control of a magnetic levitation system using fast derivative estimation

Johann Reger
reger@ieee.org

Institut fur Me- und Automatisierungstechnik

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Contents
1. Simplied system model 2. Flatness-based tracking controller 3. Trajectory planning 4. An estimate for the velocity 5. Closed-loop dynamics 6. Simulations

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References
We refer to some results exposed in E. Delaleau, Differential Flatness in Electrical Drives and Power Electronics, Tutorial at the 1st International Conference on Electrical and Electronics Engineering and 10th Conference on Electrical Engineering, September, 2004. J. Levine, J. Lottin, and J.-C. Ponsart, A Nonlinear Approach to the Control of Magnetic Bearings, IEEE Transactions on Control System Technology, Vol. 4., No. 5, September, 1996. H. Sira Ramrez and M. Fliess, On the output feedback control of a synchronous generator, Proc. 43rd IEEE CDC, December, 2004. J. Reger, H. Sira Ramrez, and M. Fliess, On non-asymptotic observation of nonlinear systems, submitted to 44th IEEE CDC, December, 2005.
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Simplied system model

Consider the simplied model of a magnetic levitation system h = v, v = k m i ch 2 g

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Control of a magnetic levitation system using fast derivative estimation 4/12

Simplied system model

Consider the simplied model of a magnetic levitation system h = v, v = with h > 0: vertical position of the center of mass (measured) output, v: vertical velocity of the center of mass, i > 0: coil current input, g: gravity constant, c: minimal air gap, m: mass to be lifted, k: konstant (air gap permeability, core reluctance, . . . ). k m i ch 2 g

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Flatness-based tracking controller

We design a controller for stabilizing the output reference h = h# (t).

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Flatness-based tracking controller

We design a controller for stabilizing the output reference h = h# (t). The output h is at since v = h, i = (c h) r m (h + g) . k

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Control of a magnetic levitation system using fast derivative estimation 5/12

Flatness-based tracking controller

We design a controller for stabilizing the output reference h = h# (t). The output h is at since v = h, i = (c h) r m (h + g) . k

In accordance with Delaleau/Hagenmeyer the reference h = h# (t) may be tracked by a feedforward linearizing controller s Z t m # h + 2 (h# h) + 1 (h# h) + 0 (h# h)d + g i = (c h# ) k 0 which is a feedforward of h# enhanced with a PID-controller.

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Control of a magnetic levitation system using fast derivative estimation 5/12

Flatness-based tracking controller

We design a controller for stabilizing the output reference h = h# (t). The output h is at since v = h, i = (c h) r m (h + g) . k

In accordance with Delaleau/Hagenmeyer the reference h = h# (t) may be tracked by a feedforward linearizing controller s Z t m # h + 2 (h# h) + 1 (h# h) + 0 (h# h)d + g i = (c h# ) k 0 which is a feedforward of h# enhanced with a PID-controller. It enforces the error dynamics h h + 2 (h h) + 1 (h h) + 0
#

(h# h)d = 0 .

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Control of a magnetic levitation system using fast derivative estimation 5/12

Flatness-based tracking controller

Differentiating once wrt. time we obtain the third order dynamics ...# ... # # # h h + 2 (h h) + 1 (h h) + 0 (h h) = 0 .

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Control of a magnetic levitation system using fast derivative estimation 6/12

Flatness-based tracking controller

Differentiating once wrt. time we obtain the third order dynamics ...# ... # # # h h + 2 (h h) + 1 (h h) + 0 (h h) = 0 . Consequently, we may set the error dynamics ... e + 2 e + 1 e + 0 e = 0 of the error e = h# h

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Control of a magnetic levitation system using fast derivative estimation 6/12

Flatness-based tracking controller

Differentiating once wrt. time we obtain the third order dynamics ...# ... # # # h h + 2 (h h) + 1 (h h) + 0 (h h) = 0 . Consequently, we may set the error dynamics ... e + 2 e + 1 e + 0 e = 0 of the error e = h# h by choosing the coefcients i such that s3 + 2 s2 + 1 s + 0 is a Hurwitz polynomial.

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Control of a magnetic levitation system using fast derivative estimation 6/12

Flatness-based tracking controller

Differentiating once wrt. time we obtain the third order dynamics ...# ... # # # h h + 2 (h h) + 1 (h h) + 0 (h h) = 0 . Consequently, we may set the error dynamics ... e + 2 e + 1 e + 0 e = 0 of the error e = h# h by choosing the coefcients i such that s3 + 2 s2 + 1 s + 0 is a Hurwitz polynomial. A possible choice is 2 = 400, 1 = 30000, 0 = 90000 .

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Trajectory planning
For the reference h# we specify a stationary set point change h# (t0 ) = h0 h# (t1 ) = h1 .

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Trajectory planning
For the reference h# we specify a stationary set point change h# (t0 ) = h0 The reference may be chosen as h# = h0 + (h1 h0 ) B( ) with the Bezier polynomial B( ) = 5 (252 1050 + 1800 2 1575 3 + 700 4 126 5 ), = t t0 t1 t0 h# (t1 ) = h1 .

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Control of a magnetic levitation system using fast derivative estimation 7/12

Trajectory planning
For the reference h# we specify a stationary set point change h# (t0 ) = h0 The reference may be chosen as h# = h0 + (h1 h0 ) B( ) with the Bezier polynomial B( ) = 5 (252 1050 + 1800 2 1575 3 + 700 4 126 5 ), which guarantees that B(0) = 0, B(1) = 1 and di di = = 0, i = 1, 2, 3, 4 . B( ) B( ) d i d i =0 =1 = t t0 t1 t0 h# (t1 ) = h1 .

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An estimate for the velocity

The chosen feedback s Z t m # i = (c h# ) (h# h)d + g h + 2 (h# h) + 1 (h# h) + 0 k 0 requires knowledge about the velocity h.

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An estimate for the velocity

The chosen feedback s Z t m # i = (c h# ) (h# h)d + g h + 2 (h# h) + 1 (h# h) + 0 k 0 requires knowledge about the velocity h. For instants t > tr we obtain a velocity estimate resorting to the formula (k + i 1)! 1 h(i) (t) = h(t) i! (k i 1)! (t tr )i +
i X j=1

i = 1, . . . , d k 1 !

k + i j 1 (k j 1)! 1 zj (k, t) ij (k i 1)! (t tr )k+ij

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Control of a magnetic levitation system using fast derivative estimation 8/12

An estimate for the velocity

The chosen feedback s Z t m # i = (c h# ) (h# h)d + g h + 2 (h# h) + 1 (h# h) + 0 k 0 requires knowledge about the velocity h. For instants t > tr we obtain a velocity estimate resorting to the formula (k + i 1)! 1 h(i) (t) = h(t) i! (k i 1)! (t tr )i + with zj (k, t) =
i X j=1

i = 1, . . . , d k 1 !

k + i j 1 (k j 1)! 1 zj (k, t) ij (k i 1)! (t tr )k+ij

k (1)j (j + 1)! (t tr )kj1 h(t) + zj+1 (k, t), j+1 and zj (k, tr ) = 0,

! 2

j = 1, . . . , k

zk1 (k, t) = k! (1)1k h(t)

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j = 1, . . . , k 1 .

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An estimate for the velocity

We choose the 4-th order estimate 1 1 h+ z1 , t tr (t tr )4 1 1 1 h = 60 h+8 z1 + z2 (t tr )2 (t tr )5 (t tr )4 h = 12

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Control of a magnetic levitation system using fast derivative estimation 9/12

An estimate for the velocity

We choose the 4-th order estimate 1 1 h+ z1 , t tr (t tr )4 1 1 1 h = 60 h+8 z1 + z2 (t tr )2 (t tr )5 (t tr )4 h = 12 with the lter z1 = 72 (t tr )2 h + z2 , z2 = 96 (t tr ) h + z3 , z3 = 24 h subject to the homogeneous initial values z1 (0) = 0, z2 (0) = 0, z3 (0) = 0 .

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Closed-loop dynamics
In the closed loop, we may have to deal with a noisy feedback hn (t).

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Closed-loop dynamics
In the closed loop, we may have to deal with a noisy feedback hn (t). Therefore, the closed-loop dynamics reads h = v, 2 c h# # # # h + 2 (h hn ) + 1 (h hn ) + 0 + g g , v = ch = h# hn

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Control of a magnetic levitation system using fast derivative estimation 10/12

Closed-loop dynamics
In the closed loop, we may have to deal with a noisy feedback hn (t). Therefore, the closed-loop dynamics reads h = v, 2 c h# # # # h + 2 (h hn ) + 1 (h hn ) + 0 + g g , v = ch = h# hn with the estimate hn = 12 and the lter z1 (t) = 72 (t tr )2 hn + z2 (t), z2 (t) = 96 (t tr ) hn + z3 (t), z3 (t) = 24 hn ,
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1 1 hn + z1 (t) t tr (t tr )4

z1 (0) = 0 , z2 (0) = 0 , z3 (0) = 0 .

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Simulations
We tackle the estimator singularity at t = tr by using the extrapolation r r h h(t ) + h(t )(t tr ) r h h(t ) whenever t [tr , tr + ).

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Control of a magnetic levitation system using fast derivative estimation 11/12

Simulations
We tackle the estimator singularity at t = tr by using the extrapolation r r h h(t ) + h(t )(t tr ) r h h(t ) whenever t [tr , tr + ). We retain the estimation accuracy by reinitializing the estimator either

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Control of a magnetic levitation system using fast derivative estimation 11/12

Simulations
We tackle the estimator singularity at t = tr by using the extrapolation r r h h(t ) + h(t )(t tr ) r h h(t ) whenever t [tr , tr + ). We retain the estimation accuracy by reinitializing the estimator either at equidistant, small time intervals or

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Control of a magnetic levitation system using fast derivative estimation 11/12

Simulations
We tackle the estimator singularity at t = tr by using the extrapolation r r h h(t ) + h(t )(t tr ) r h h(t ) whenever t [tr , tr + ). We retain the estimation accuracy by reinitializing the estimator either at equidistant, small time intervals or by calculation of a next reset time t being the rst time when r e(t) = |hn (t) h(t)| > , i. e., an absolute error bound is passed. The output estimate 1 r r h(t) = h(t ) + h(t )(t tr ) + h(t )(t tr )2 . r 2 accounts for deviations from polynomial evolution.
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Control of a magnetic levitation system using fast derivative estimation 11/12

Simulations
In the following simulations we assume a set point change from h# (t0 ) = h0 = 1 h# (t1 ) = h1 = 5

within the time interval [t0 , t1 ] = [0, 1]. Moreover, we used the normalized systems parameters k = 58, c = 0.11, g = 981, m = 0.084 .

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Simulations
In the following simulations we assume a set point change from h# (t0 ) = h0 = 1 h# (t1 ) = h1 = 5

within the time interval [t0 , t1 ] = [0, 1]. Moreover, we used the normalized systems parameters k = 58, c = 0.11, g = 981, m = 0.084 .

We close with some Matlab-Simulations.

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