Control of A Magnetic Suspension System: Module Code: Module Name

Control of a Magnetic Suspension System
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Abstract
1
Control of a magnetic suspension system by modelling the mathematical expression in state
space representation form, we design the state feedback controller to control the vertical
position of ball by adjusting the current or power voltage source. We have to design the
controller with the help of pole placement and the LQR controller approach, this report deals
with the study of the design of controller of the magnetic system by computing the state space
matrix by linearizing the model at the equilibrium point. Using the Simulink model using
both pole placement and LQR controller, we found that the pole placement gives the better
and faster response with the permissible range of y is 0 to 10cm and the permissible range of
voltage is 0 to 50V, we also determine the largest range of initial disturbance from which ball
will return to the equilibrium position without violation of the constraints on y and v which
we found out the disturbance is 7.6cm. we also create the nonlinear closed-loop system
response to study the effect of 20% parameter variation from the nominal values for all the
parameters as well as the effect of the current protection circuit which will set the current
values to zero if the current goes beyond the 5A.
Table of Content
2
Content Page No.
1. Introduction 4
1.1 Background 4
2. Method 5
2.1 State space Model 5
2.2 State Feedback controller 6
2.3 Controller Design 7
2.4 Simulink Model 10
3. Result 12
4. Discussion 27
5. Conclusion 28
1. Introduction
3
In this project we are going to design and model the magnetic suspension system for the ball
which is controller by adjusting the current in the electromagnet which can be manipulated by
adjusting the power voltage source, the position of the ball is measure with the help of optical
sensor which help to maintain the desired position of the ball, to control the ball we develop
the state feedback controller to stabilize the ball within the permissible range of position of
ball and voltage which is from 0 to 50V. the typical diagram of the Magnetic suspension
system is shown below.
Figure 1. Magnetic suspension system

For the above system we have provided the equation of motion, and the equations for the
electrical circuit consists of the inductance, resistors on the by controlling the voltage in
circuit the position of the ball is manipulated which is described in the next section. We
develop the Simulink model and MATLAB script in this task to run the simulation for the
magnetic suspension system using the state feedback control law, we first find out the steady
states values of the current and voltage which is required to maintain the respective position
of ball using the desired position of ball we linearize the model at the equilibrium points input
voltage as steady state voltage value which gives us the state space matrix representation, we
created the function which gives us the steady state current and voltage and state space matrix
as a function of the desired position, we used those values to design the state feedback
controller to stabilize the ball within the given permissible range of voltage and current, we
also investigate the effect of 20% parameter variation from nominal values for all the
parameters.
1.1 Background
Since the 1930s, the stable suspension of a metallic sphere in a magnetic field has picked
people's interest. It serves to illustrate several important aspects of electrical and electronic
engineering, including as electromagnetism and electrodynamics, control theory, and
analogue and digital circuit design, in addition to its visual impact [1]. A basic magnetic
suspension can also be controlled with a fuzzy logic-based controller. As a physical
representation of the magnetic suspension, a basic electromagnet-ball system and a
contactless optical position monitoring device are created. The linearization of a nonlinear
mathematical model is described. A discrete linear PID controller with optimal parameters
4
was designed using this approach [6]. For both analogue and digital controllers, the
application of PD control [5] and lead control has been extensively reported here we use the
state feedback control law approach to stabilize the ball for the desired position. With
uncertain dynamic systems, robust nonlinear control theory using the sliding mode technique
has been demonstrated to provide significant benefits. The problem appears to have begun
with the lack of a suitable nonlinear controller, rather than with the lack of a suitable
observer. Nonlinear control laws [2], in general, typically necessitate multi-state feedback.
This is typically a major impediment in real systems, as many of the states are difficult to
measure or do not have an intuitive physical meaning. As a result, the problem becomes one
of constructing an effective controller/observer combination [4], which linear control theory
simply provides. When the poles of the controller and observer are independently stable, the
well-known separation principle of linear systems ensures closed loop system stability.
2. Method
We have given the equation of motion of the ball and the differential equation of electrical
circuit which uses the Kirchhoff voltage law which drives the voltage in the circuit with the
help of manipulating the voltage the position of the ball is maintained for the steady state
values which we get by linearising the state space model of the magnetic suspension system.
The equation of motion of ball is given by
m ÿ=−k ẏ +mg+ F ( y ,i)
Whereas m is the mass of ball, y is the vertical position of ball measured for the reference
position, k is the viscous friction coefficient, g is the acceleration due to gravity, F is the
electromagnetic force, i is the electric current, the induction of the electromagnet depends on
the ball position which is given by
L0
L ( y )=L1+
y
1+
a
Whereas L1 , L0∧a are positive constants and the electromagnetic force is given by
∂E
F ( y , i )=
∂y
1 2
With E= L ( y ) i . The circuit is driven by a voltage source v. the Kirchhoff voltage law is
2
given by
v=∅˙ + Ri
Whereas ∅=L ( y ) i is the magnetic flux linkage and R is the series resistance of circuit.
2.1 State-Space Model
It is a mathematical description of a physical system as a set of input, output, and state
variables linked by first-order differential equations or difference equations is known as a
state-space representation. State variables are variables whose values change over time based
5
on the values they hold at any given time and the values of input variables imposed
externally. The values of output variables are determined by the values of state variables. The
order of the system's defining differential equation is usually equal to the lowest number of
state variables required to depict a given system, n. the general equation of the state-space
model for the linear system is given below
ẋ ( t )= A x ( t ) + B u (t )
ẏ ( t ) =C x ( t ) + Du ( t )
Whereas x is the state vector, y is the output vector and u are the control input signal, the
block representation of the control linear state-space system is shown below.
Figure. State space model

2.2 State feedback controller
We are designing the state feedback controller for the maintaining the reference or desired
position of ball for that purpose we first determine the state space matrix which is used to
linearize the model and designing of the state feedback control law with the help of pole
placement and LQR approach. Pole placement is a feedback control system theory approach
for placing a plant's closed-loop poles in pre-determined places in the s-plane. Placing poles
is advantageous since their location corresponds directly to the system's eigenvalues, which
influence the system's response characteristics. In order to use this strategy, the system must
be considered controllable. The gain of the controller is found out by determining the
determinant of the characteristic’s equation as
|sI−( A−BK )|=0

The goal of optimal control theory is to operate a dynamic system at the lowest possible cost.
The LQ problem is defined as a situation in which the system dynamics are characterised by a
set of linear differential equations and the cost is described by a quadratic function. The
linear–quadratic regulator provides the solution, which is one of the theory's fundamental
findings (LQR). For the continuous time linear system which is described as
ẋ= Ax+ Bu
With the quadratic cost function is given as
t1
J=x ( t 1 ) F ( t 1) x ( t 1 ) +∫ ( x Qx+u Ru+ 2 x Nu ) dt

T T T T
t0
6
The feedback control law that minimizes the value of cost is given by
u=−Kx
The block representation of the state space model with state feedback system is shown below
Figure 3. state feedback model

From the above block model, we can see that the controller gain K is determined using the
pole placement method and LQR approach, now we have to design the controller for the
computed gain to get the stable response for the linearized model at equilibrium point. The
controller design of the magnetic suspension system is described in the next section.
2.3 Controller Design
The aim of the project is to design a robust state feedback controller that tracks the position
of ball, the state variables for the feedback is y , ẏ∧i and the control input is the voltage u. we
have given the equation of motion of ball which is represented as
m ÿ=−k ẏ +mg+ F ( y ,i)
Whereas m is the mass of ball, y is the vertical position of ball measured for the reference
position, k is the viscous friction coefficient, g is the acceleration due to gravity, F is the
electromagnetic force, i is the electric current, the induction of the electromagnet depends on
the ball position which is given by
L0
L ( y )=L1+
y
1+
a
1 2
We know that E= L ( y ) i , we get
2
1 L0 2
E= L1 + i
2 y
1+
a
The electromagnetic force is given by
7
∂E
F ( y , i )=
∂y
∂E −L0 i2
F ( y , i )= =
∂y
( )
2
y
2a +1
a
Substituting the above expression into the equation of motion of ball we get,
m ÿ=−k ẏ +mg+ F ( y ,i)
2
L0 i
m ÿ=−k ẏ +mg−
( )
2
y
2 a +1
a
The circuit is driven by a voltage source v. the Kirchhoff voltage law is given by
v=∅˙ + Ri
Rearranging the terms we get,
˙
∅=v−Ri
Whereas ∅=L ( y ) i is the magnetic flux linkage and R is the series resistance of circuit. Now
we compute the derivative of the ϕ with respect to time, we get,
ϕ̇ =L ( y ) i' + L̇ ( y ) i
L0 L0 i̇ ẏ
ϕ̇ =L1+ i '−
y
( )
2
1+ y
a +1
a a
L0 ' L0 i̇ ẏ
v−Ri=L1+ i−
y
( )
2
1+ y
a +1
a a
L0 i̇ ẏ
v−Ri+
( )
2
y
a +1
a
i' =
L0
L1 +
y
1+
a
We get the final two final differential equation from which we have to obtain the state space
model for the magnetic suspension system which is given as,
L0 i2
m ÿ=−k ẏ +mg−
( )
2
y
2a +1
a
8
2
−k L0 i
ÿ= ẏ + g−
m
( )
2
y
2 a m +1
a
Rearranging the above terms, we get

2
−k L0a i
ÿ= ẏ + g− 2
m 2 m ( y +a )
The differential equation for the rate of change of current is given by
L0 i̇ ẏ
v−Ri+
( )
2
y
a +1
a
i' =
L0
L1 +
y
1+
a
L0 a i̇ ẏ
v−Ri+ 2
( y+ a )
i' =
L
L1 + 0
y
1+
a
To show the expression of the state space as given in the problem statement we have to
replace the terms y=x 1 , ẏ=x 2 , i=x 3∧v=u, we get.
ẋ 1=x 2
2
k L0 a x 3
x˙2=g− x 2− 2
m 2 m ( x 1+ a )
L0 a x 3 x 2
u−R x 3 + 2
( x 1+ a )
x 3=
L0
L1 +
x
1+ 1
a
From the above derived expression, we can see that we get the same equation as given in the
problem statement. so, we can show that the derived expression is correct, now we have to
linearize the model to get the steady state value of voltage and current using MATLAB, the
expression of the steady state value as a function of desired position r is given as
V ss =
√ 2 R ( a+r )
√ L0 a
gm
9
V ss √2 ( a+r )
I ss = =
√
R L0 a
gm
Now we have to determine the state space matrix using the above differential equation by
computing the derivative of each term by the x 1 , x 2∧x 3, the first row we get using the three
[ ]
differential equation is give
0 1 0
2
L0 a x 3 −k −L0 a x 3
m ( a+ x 1 ) 3
m m ( a+ x 1 )2
( ) ( )
L0 a x 2 x 3 L0 a x2
A= L0 u−R x 3+ 2
− R− 2
( a+ x 1 ) 2 L0 a x 2 x3 L0 a x3 ( a+ x1 )
−
( ))
( xa +1)
( )) ( )) ( ))
2 2
L0 1 3 L0 2 L0 L0
a L1 + ( a+ x 1 ) L1+ ( a+ x 1 ) L1 + L1 +
( x1
a
+1 ( x1
a
+1 ( x1
a
+1 ( x1
a
+1
And from the constants terms we get the matrix B which is given as
[( )]
0
0
1
B= L0
L1 +
( xa +1)
1
We have given the magnetic suspension parameters which is given as

m
m=0.01 kg , k=0.001 N /m/s , g=9.81 , a=0.05 m , L0 =0.01 H , L1=0.02 H , R=10 Ω
s2
Substituting the parameters to the state space equation we get
[ ]
0 1 0
A= 327 −0.1 −16.5076
0 5.8262 −352.9412
[ ]
0
B= 0
35.2941
C=[ 1 0 0 ]
D= [ 0 ]
Using the state space representation of the model we create the state model for which we
design the state feedback controller using the MATLAB command place and lqr, we place
10
the poles −20 ± 20i∧−300 to get the stabilize response of the system, the gain we get using
the place command
K=[−602.703 −22.307 −0.3695]
Using the lqr approach for R=1∧Q=C ' C , we get

K= [−416.2823 −22.7928 1.0146 ]
We simulate the model using both the method and we take the gain which gives the best
result for the further analysis by simulating the model for the ball at 1cm, 5cm and 8cm. first
we create the mathematical model in Simulink to simulate different scenario for permissible
range of ball and voltage, the response of the system can also be varies by changing the
parameters by 20% from the nominal values.
2.4 Simulink model
We develop the Simulink model using the state space model basic block diagram as given in
the above section we develop the model for checking the response of gain we get using the
place and lqr command in MATLAB, we select the gain which gives the best and
faster/stable response, the Simulink model for the magnetic suspension system is shown
below
Figure 4. magnetic suspension model

We simulate the above model for the desired position of ball at 1cm, 5cm and 8cm, we
provide the permissible range of ball is 0 to 10cm and the permissible range of voltage is 0 to
50V. we determine the largest range of the initial disturbance for which the ball will return
the initial position without violation of the constraints, the suspension model with the input
disturbance model is shown below
11
Figure 4. magnetic suspension model with disturbance
For the nonlinearities in the system, we add the constraints in the system for the permissible
range of position and voltage and we also add the current protection circuits for which the
current values go to zero if the current value goes beyond i max =±5 A , the Simulink model for
the system is shown below
Figure 4. magnetic suspension model with current protection circuit

Now as we develop the model for all the task and for the investigation of the effect of
variation of parameter from the nominal values, we can now simulate the model for different
position of ball to plot the result as position of ball with respect to time using the MATLAB
script, we plot all the essential response which is requires for the studying the parameters, the
result with script is described in the next section.
3. Results
We simulate the model for the derived state space model and the designed state feedback
controller with the help of pole placement and the lqr approach, we compute gain using both
12
the methods and simulate the response of the model by plotting the position of ball from the
initial reference position, the MATLAB code with the result for the described task is shown
below.
Control of a magnetic suspension system
% Clear data and figures
clc
clear
close all
Finding the steady state value of Iss and Vss for the desired position of ball
% Define symbolic variables
syms m k g a L0 L1 R x1 x2 x3 u r
% Define state-space equation
eqn1=x2==0;
eqn2=g-k*x2/m-L0*a*x3^2/(2*m*(a+x1)^2)==0;
eqn3=(u-R*x3+(L0*a*x2*x3/(a+x1)^2))/(L1+L0/(x1/a+1))==0;
% Solve equation to compute x1 x2 x3
Soln=solve([eqn1;eqn2;eqn3],[x1 x2 x3]);
% Extract result
x1=Soln.x1;
x2=Soln.x2;
x3=Soln.x3;
% Compute Vss
Vss=solve(x1(2)==r,u);
disp('Vss=')
pretty(Vss)
% Compute Iss
Iss=Vss/R;
disp('Iss=')
pretty(Iss)
Vss=
sqrt(2) R (a + r)
-----------------
/ L0 a \
sqrt| ---- |
\ g m /
Iss=
sqrt(2) (a + r)
---------------
/ L0 a \
sqrt| ---- |
\ g m /
First, we have to find the state space equation of the system which we have derived in the
theory section, from that we find the state space representation of magnetic suspension
system, by solving the equation we find the steady state values of current and voltage as a
function of desired position, the steady state values are given above.
13
Compute the linearized Model
% Define Symbloic variable
syms m k g a L0 L1 x1 x2 x3 u r
% Compute State-space Matrix
gradient(x2,[x1 x2 x3])
gradient(g-k*x2/m-L0*a*x3^2/(2*m*(a+x1)^2),[x1 x2 x3])
gradient((u-R*x3+(L0*a*x2*x3/(a+x1)^2))/(L1+L0/(x1/a+1)),[x1 x2 x3])
% Checking the stablility at u=Vss

% Define parameters
m=0.01;
k=0.001;
g=9.81;
a=0.05;
L0=0.01;
L1=0.02;
R=10;
r=0.01;
% State variables
x1=r;
x2=0;
x3=(2^(1/2)*(a + r))/((L0*a)/(g*m))^(1/2);
Iss=x3;
Vss=(2^(1/2)*R*(a + r))/((L0*a)/(g*m))^(1/2);
u=Vss;
% Compute Matrix A
A(1,1)=0;
A(1,2)=1;
A(1,3)=0;
A(2,1)=(L0*a*x3^2)/(m*(a + x1)^3);
A(2,2)=-k/m;
A(2,3)=-(L0*a*x3)/(m*(a + x1)^2);
A(3,1)=(L0*(u - R*x3 + (L0*a*x2*x3)/(a + x1)^2))/(a*(L1 + L0/(x1/a + 1))^2*(x1/a + 1)^2) -
(2*L0*a*x2*x3)/((a + x1)^3*(L1 + L0/(x1/a + 1)));
A(3,2)=(L0*a*x3)/((a + x1)^2*(L1 + L0/(x1/a + 1)));
A(3,3)=-(R - (L0*a*x2)/(a + x1)^2)/(L1 + L0/(x1/a + 1));
B=[0;0;1/(L1+L0/(x1/a+1))];
% Compute Poles of the System

Poles=eig(A);
disp('Poles of the system')
disp(Poles)
ans =
0
1
0
ans =
14
(L0*a*x3^2)/(m*(a + x1)^3)
-k/m
-(L0*a*x3)/(m*(a + x1)^2)
ans =
(L0*(u - R*x3 + (L0*a*x2*x3)/(a + x1)^2))/(a*(L1 + L0/(x1/a + 1))^2*(x1/a + 1)^2) -

(2*L0*a*x2*x3)/((a + x1)^3*(L1 + L0/(x1/a + 1)))
(L0*a*x3)/((a + x1)^2*(L1 + L0/(x1/a + 1)))

-(R -
(L0*a*x2)/(a + x1)^2)/(L1 + L0/(x1/a + 1))
Poles of the system

17.9044
-18.2779
-352.6677
we have to linearize the model by finding the gradient of the three-differential equation, from
the given system parameters we find the state space matrix, using that matrix A we have to
find the poles by finding the eigenvalues of the matrix, we found that one poles of the system
is positive which shows the system is unstable, so to make the system stable we have to
design the controller using the pole placement and lqr approach which is shown in the next
part.
State Feedback controller simulation to stabilize ball at 1cm, 5cm and 8cm
clc
clear
close all
For Desired position of ball at 1cm

% Define Global variables
global m k g a L0 L1 R
% Define Numerical Data

m=0.01;
k=0.001;
g=9.81;
a=0.05;
L0=0.01;
L1=0.02;
R=10;
% Reference position ball
r=0.01;
% Initial position of ball
x0=0.1;
% Call function SS_para

[Iss,Vss,A,B,C,D]=SS_para(r);
15
% Compute eigen values
disp('Eigen value of System')
eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
K=place(A,B,[p1 p2 p3]);
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
N = inv([A,B;C,D])*Z';
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model1');
% Plot Result
figure
subplot(121)
plot(data.position)
grid on
ylabel('position (m)')
title('Position Vs time using place command')
% Controller using LQR method

ctrbMat=ctrb(A,B);
disp('Rank of System')
rank(ctrbMat)
% If rank is same as number of state space variable then it is controllable
Q=C'*C;
Rn=1;
% Compute gain lqr command
K=lqr(A,B,Q,Rn);
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simualte Model
data=sim('Model1');
subplot(122)
plot(data.position)
grid on
16
title('Position Vs time using lqr command')
sgtitle('Desired Position at 1cm')
Eigen value of System
ans =
17.9044
-18.2779
-352.6677
Rank of System
ans =

m=0.01;
k=0.001;
g=9.81;
a=0.05;
L0=0.01;
L1=0.02;
R=10;
17
r=0.05;
x0=0.1;


eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model1');
% Plot Result
figure
subplot(121)
plot(data.position)
grid on

ctrbMat=ctrb(A,B);
rank(ctrbMat)
Q=C'*C;
Rn=1;
K=lqr(A,B,Q,Rn);
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
18
% Simualte Model
data=sim('Model1');
subplot(122)
plot(data.position)
grid on
ans =
13.9101
-14.1083
-399.9017
Rank of System
ans =

m=0.01;
19
k=0.001;
g=9.81;
a=0.05;
L0=0.01;
L1=0.02;
R=10;
r=0.08;
x0=0.1;


eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model1');
% Plot Result
figure
subplot(121)
plot(data.position)
grid on

ctrbMat=ctrb(A,B);
rank(ctrbMat)
Q=C'*C;
Rn=1;
K=lqr(A,B,Q,Rn);
20
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simualte Model
data=sim('Model1');
subplot(122)
plot(data.position)
grid on
ans =
12.2071
-12.3652
-419.2967
Rank of System
ans =
21
From the above response for the reference position of 1cm, 5cm and 8 cm we design the state
feedback controller using the place and lqr command from the result we can see that the pole
placement gives the best result among the both approaches. So, we have to use the gains for
the pole placement for the study and investigation of parameters.
State Feedback controller simulation to determine largest range of

initial displacement
clc
clear
close all


m=0.01;
k=0.001;
g=9.81;
a=0.05;
L0=0.01;
L1=0.02;
R=10;
r=0.02;
x0=0.05;
22
% Initial Disturbance
xdist=0.076;


eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model2');
% Plot Result
figure
subplot(121)
plot(data.position)
grid on
title('Position Vs time')
subplot(122)
plot(data.voltage)
grid on
ylabel('Voltage (V)')
title('Voltage Vs time')
ans =
16.5966
-16.8974
-368.2203
23
The above result shows the addition of largest initial disturbance for which the ball will
return to the equilibrium position, for the above simulation we have given the initial
disturbance of 7.6cm from that we can visualize that the we can above to achieve the
equilibrium position of 2cm and the voltage is also in the permissible range of 0 to 50V. we
also model the nonlinear closed loop system for the investigation of effect of 20% parameters
variation from the nominal values for all parameters which is described in the next part.
State Feedback controller simulation (Current Protection circuit)
clc
clear
close all


m=0.01*1.2;
k=0.001*1.2;
g=9.81;
a=0.05*1.2;
L0=0.01*1.2;
L1=0.02*1.2;
R=10*1.2;
r=0.02;
x0=0.09;
24

eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model3');
% Plot Result
figure
subplot(131)
plot(data.position)
grid on
subplot(132)
plot(data.voltage)
grid on
subplot(133)
plot(data.current)
grid on
ylabel('Current (A)')
title('Current Vs time')
sgtitle('Without Activation of Current Protection')
ans =
15.5229
-15.8073
-363.4519
25
For Activation of Current Protection Circuit
m=0.01*1.2;
k=0.001*1.2;
g=9.81;
a=0.05*1.2;
L0=0.01*1.2;
L1=0.02*1.2;
R=10*1.2;
r=0.02;
x0=0.05;


eig(A)
% Place Poles
p1= -20+20i;
p2= -20-20i;
p3= -300;
% Pole placement
26
% Scale Factor
s = size(A,1);
Z = [zeros([1,s]) 1];
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;
% Simulate Model
data=sim('Model3');
% Plot Result
figure
subplot(131)
plot(data.position)
grid on
subplot(132)
plot(data.voltage)
grid on
subplot(133)
plot(data.current)
grid on
ylabel('Current (A)')
title('Current Vs time')
sgtitle('With Activation of Current Protection')
ans =
15.5229
-15.8073
-363.4519
27
The above result shows the response of the nonlinear system for the effect of 20% of
variation from the nominal values of all the parameters, we also design the current protection
circuit which will makes the current values to zero if the current goes beyond the 5A, from
the result we can see that the system is able to get the steady state with reference value of
2cm and the current and voltage values are also within the limits.
4. Discussion
We design and model the magnetic suspension system for controlling the position of the ball
by adjusting the voltage and current in circuit. From the designed and modelled state
feedback controller we can see that we are able to maintain the desired position of ball at
various position as described in the problem statement, we design the feedback controller
using the pole placement and lqr method, we found that the given pole placement values give
the faster response than the lqr gains values, so we can consider the pole placement gain
values for your further investigation which gives the better response as we desired. The
model we use is the state space model which has three states and three outputs and one input
which is the voltage in the circuit, we can convert the state space system into the transfer
function model which has single input and multiple output which is the position, velocity of
ball and current flowing through the circuit. We found that the position of ball is getting into
the stable state within 0.5 seconds. We can also use the PID controller instead of the state
feedback control law to control the position of ball, for such type of controller maintain the
transfer function gains for the transfer function magnetic suspension system will be the
challenging part of the designing, We also study the model for the variation from the nominal
28
values from that we can see that we also get the stable response and we get the response as
we desired.
5. Conclusions
We derived the state space representation for the magnetic suspension system using the
differential equation that we derived in the theory section, form that state space matrix we
design the state feedback controller with the help of pole placement and lqr controller using
the place and lqr command in MATLAB, we simulate the model for different desired position
of ball from the result we can say that the pole placement method gives the better and faster
response than the lqr approach. For the further study we select the pole placement approach
for designing and nonlinear modelling of the system by providing the current protection
circuit. We can see that by adding the initial disturbance the system is able to get the
equilibrium position, adding the current protection circuit in the nonlinear model gives the
real-life scenario from that we can study the effect of over current and voltage is in the
described limits for the position of ball is limited from 0 to 10cm and voltage is from 0 to
50V.
29
References
[1] Nonlinear control of a rigid rotor magnetic bearing system: modeling and simulation with full
state feedback. “Nonlinear Control of a Rigid Rotor Magnetic Bearing System: Modeling and
Simulation with Full State Feedback.” ieeexplore.ieee.org. Accessed March 30, 2022.
[2] Design and analysis of the nonlinear feedback linearizing control for an electromagnetic
suspension system. “Design and Analysis of the Nonlinear Feedback Linearizing Control for an
Electromagnetic Suspension System.” ieeexplore.ieee.org. Accessed March 30, 2022.
[3] Improving Operational Performance of Active Magnetic Bearings Using Kalman Filter and State
Feedback Control. “Improving Operational Performance of Active Magnetic Bearings Using Kalman
Filter and State Feedback Control.” ieeexplore.ieee.org. Accessed March 30, 2022.
[4] Modeling and control of the magnetic suspension system - ScienceDirect. “Modeling and Control
of the Magnetic Suspension System - ScienceDirect.” www.sciencedirect.com, January 17, 2007.
[5] PID Control to Maglev Train System. “PID Control to Maglev Train System.” ieeexplore.ieee.org.
Accessed March 30, 2022.
[6] Application of composite fuzzy-PID algorithm to suspension system of Maglev train. “Application
of Composite Fuzzy-PID Algorithm to Suspension System of Maglev Train.” ieeexplore.ieee.org.
Accessed March 30, 2022.
30

Control of A Magnetic Suspension System: Module Code: Module Name

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Control of A Magnetic Suspension System: Module Code: Module Name

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Control of a Magnetic Suspension System

Figure 1. Magnetic suspension system

Figure. State space model

|sI−( A−BK )|=0

J=x ( t 1 ) F ( t 1) x ( t 1 ) +∫ ( x Qx+u Ru+ 2 x Nu ) dt

Figure 3. state feedback model

Rearranging the above terms, we get

We have given the magnetic suspension parameters which is given as

Using the lqr approach for R=1∧Q=C ' C , we get

Figure 4. magnetic suspension model

Figure 4. magnetic suspension model with current protection circuit

% Checking the stablility at u=Vss

% Compute Poles of the System

(L0*(u - R*x3 + (L0*a*x2*x3)/(a + x1)^2))/(a*(L1 + L0/(x1/a + 1))^2*(x1/a + 1)^2) -

(L0*a*x3)/((a + x1)^2*(L1 + L0/(x1/a + 1)))

Poles of the system

For Desired position of ball at 1cm

% Define Numerical Data

% Call function SS_para

% Controller using LQR method

Eigen value of System

For Desired position of ball at 5cm

% Call function SS_para

% Compute eigen values

% Controller using LQR method

Eigen value of System

For Desired position of ball at 8cm

% Call function SS_para

% Compute eigen values

% Controller using LQR method

Eigen value of System

State Feedback controller simulation to determine largest range of

% Define Global variables

% Define Numerical Data

% Call function SS_para

% Compute eigen values

Eigen value of System

% Define Global variables

% Define Numerical Data

% Compute eigen values

Eigen value of System

% Call function SS_para

% Compute eigen values

Eigen value of System

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