Zero-Power Control of Hybrid Magnetic Levitation System
Authors
Bentsen, Fredrik ; Nørgaard, Johan Kjep
Term
4. term
Education
Publication year
2015
Submitted on
2015-06-03
Pages
108
Abstract
Transportsystemet har i store træk været det samme i over 100 år, selv om de enkelte transportmidler er blevet markant forbedret. Det skaber interesse for nye, smartere løsninger. En af idéerne er General Transport System (GTS): små kapsler, der svæver magnetisk over en føringsskinne (guide rail) og koordineres af computerstyret regulering. Dette projekt undersøger, hvordan kapslerne kan svæves stabilt, og hvordan svævningen styres. Vi byggede en lille forsøgsopstilling baseret på zero-power-regulering: Permanente magneter leverer en konstant forspændings- og løftekraft, og en spole som aktuator laver små korrektioner. Regulatoren sigter mod at holde den svævende masse i ligevægt og samtidig minimere strømforbruget. Vi designede og testede fem positionsregulatorer (lead, lag-lead, lead-PI, PD og PID). I vores forsøg gav lag-lead-regulatoren den bedste ydeevne.
The transport system has remained broadly the same for more than 100 years, even as individual vehicles have advanced. This motivates interest in smarter systems. One concept is the General Transport System (GTS): small magnetically levitating pods that move along a guideway, coordinated by computer control. This project examines how to achieve stable levitation and how to control it. We built a small-scale test rig using zero-power control: permanent magnets provide a constant bias (lift) force, and a coil actuator makes small corrections. The controller aims to hold the levitated mass at its equilibrium position while minimizing electrical current. We designed and tested five position controllers (lead, lag-lead, lead-PI, PD, PID). In our experiments, the lag-lead controller performed best.
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