Date of Award
Master of Science
Electrical and Computer Engineering
This work describes the modeling, control design, and experimental verification of an electromagnetic suspension system with position feedback using infrared sensors. A nonlinear model is obtained by fitting a first principle analytical model of the system to experimental data. A sliding control strategy is designed using a sliding surface derived from the model to achieve robust stabilization for the closed-loop system. The control is then implemented on an embedded commercial DSP system for experimental verification of the designed control on a laboratory scale electromagnetic suspension system. To compensate for the steady-state tracking error, two modifications are considered. In the first method, a small magnitude integral term is added to the error feedback, equivalently adjusting the reference signal and eliminating the constant bias. In the second method, an integral sliding control is considered, using a higher-order sliding surface, which also eliminates the constant bias. The experimental results show the efficacy of all designed control techniques. The modified techniques, unlike the original design, effectively eliminate the constant position error.
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