Time-Optimal Control Supported by PD in Real-Time

Piłat, Adam; Turnau, Andrzej

doi:10.3182/20120913-4-it-4027.00032

Cited by 4 publications

(2 citation statements)

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“…The correct formula of the F em guarantees, that the controller synthesis will be realized accurately, and the designed closed loop system will be stable. In fact, the AML model should be expanded with the coil current model [13], when the voltage based control is used.…”

Section: Electromagnetmentioning

confidence: 99%

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Modelling, investigation, simulation, and PID current control of Active Magnetic Levitation FEM model

Piłat

2013

2013 18th International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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This elaboration presents the numerical model of the Active Magnetic Levitation (AML). The model is developed in the 2D axis symmetry mode. The Finite Element Method is used to calculate the magnetic field. The Ordinary Differential Equation is solved simultaneously to simulate the levitated object motion. The model is solved in the time domain, together with the levitated object motion being simulated. A few investigation simulations are realized to diagnose the basic properties of the model. The PID current mode controller is used to drive the coil and keep the object levitated in the desired position. The electromagnetic force and magnetic flux density are investigated to analyze the AML non-linearities. Finally, the conclusions towards the experimental research are given.

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Section: Electromagnetmentioning

confidence: 99%

“…Moreover, the stabilization time increases. Therefore, the controller parameters must vary with respect to the levitated objects distance and planned levitation task [8,9,13].…”

Section: Pid Controlmentioning

confidence: 99%