Obtaining the center of gravity, inertia parameters and finite element approximation models of electromagnetic nonlinearity on 6DOF magnetic levitation system by adaptive control method

Abstract

This paper provides an adaptive control method for a magnetic levitation using finite element approximation. Thanks to noncontact and frictionless, magnetic levitation can move smoothly and position precisely an object. In addition, it also makes possible to measure small force applied to the object. However, the fundamental nature of electromagnetic force causes obstructive problems to measuring force correctly. In order to achieve both positioning and measuring force, the finite element approximation works smartly to obtain the model of the magnetic levitation system by the model reference adaptive control technique and correct the deviation of the system from the reference model. As the result, the magnetic levitation system behaves as a reference linear motion system, so that both positioning and measuring force become possible. To show the efficiency of this method, the control system is implemented in the digital signal processors and improve the tracking control performance by obtaining the finite element model of electromagnetic force, parameters of inertia and the center of gravity.

Keywords

• magnetic levitation system
• adaptive control
• nonlinear system
• motion control
• finite emlement approximation