Designing a Multi-Model Sliding Mode Controller for a Magnetic Levitation System

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Karami, Sasan | 2012

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 44811 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Haeri, Mohammad
Abstract:
In this project a complete simulator for a two-winding, 25cm air gap Maglev system by considering the pratical constaritns, position and velocity observer and the current sensor dynamics was derived. In order to control the ball in any desired position a twisting sliding mode controller was designed as the basic controller in the rest of project. The designed controller can not transfer the ball in far trajectory. In first step we modify that to reach a better performance by changing the value of current, passing through the coils in steady state. In the second step, the far trajectories are divided to a finite number of sub-trajectory such that the ball can pass these sub-trajectory by applying the designed twisting sliding mode controller. The closed loop analysis was verified and the simulations justifying the better performance of the multi-model controller. Both controller was designed in first and second setp was compared over power consumption factor. At the end of thsis Time-Analysis has been done for each controller
Keywords:
Closed Loop Stability ; Timming Analysis ; Position And Velocity Observer ; Multimodel Sliding Mode ; Optimal Motion ; Sliding Mode Controller

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