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Design of Disturbance Rejection Controllers for a Magnetic Suspension System

Design of Disturbance Rejection Controllers for a Magnetic Suspension System. By: Jon Dunlap Advisor: Dr. Winfred K.N. Anakwa Bradley University December 6, 2005. Multiple Controllers for Multiple Disturbances Created In Simulink xPC Target Box Serving as “Controller Container”. Summary.

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Design of Disturbance Rejection Controllers for a Magnetic Suspension System

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  1. Design of Disturbance Rejection Controllers for a Magnetic Suspension System By: Jon Dunlap Advisor: Dr. Winfred K.N. Anakwa Bradley University December 6, 2005

  2. Multiple Controllers for Multiple Disturbances Created In Simulink xPC Target Box Serving as “Controller Container” Summary • Minimize Steady-State Error, Overshoot and Setting Time • Develop Controller Switching Method

  3. Summary • Goals • Functional Description • Block Diagram • Datasheet • Preliminary Lab Work • Schedule of Tasks • Additional Goals

  4. Previous Work Classical Controller Without Rejection Works With Step To Do Multiple Controllers For Various Inputs Use Internal Model Principle Automatic Controller Selection Goals

  5. Functional Description • Host PC using Simulink and xPC software • xPC Target Box with Controllers • Magnetic Suspension System

  6. Block Diagram • Magnetic Suspension System • xPC Target Box

  7. Control and Disturbance Drives Current Current Induces Magnetic Field Field Suspends Ball Sensor Translates Location into Voltage Magnetic Suspension System

  8. xPC Target Box and Host PC • Using ±10 V ADC and DAC • Download Controllers, Upload Commands • Process Position Data and Passes Control

  9. Disturbance Classes Step Ramp Sinusoidal Square – Triangular Steady-State Error 50mv % Overshoot 18% Settling Time 60ms Datasheet Previous Work Shows “Useable” Values

  10. Preliminary Lab Work • Disturbance Classes with Plant SS Equations • Using Controller Canonical Form

  11. Preliminary Lab Work • Tested Classical Controller With Disturbance • Researched Internal Model Principle with Disturbance Rejection Focus

  12. Major Tasks List • Utilize Internal Model Principle To Design Controllers • Implement Controllers In Simulink • Process Simulink Controllers On xPC Target Box • Fine Tune Controllers To Optimize Stability Specifications

  13. 12/8/2005 - 1/15/2006 Develop Paper Controllers Implement Controllers In Simulink 1/19/2006 - 2/9/2006 Research xPC Implementation Test Controllers on MSS Fine Tune Controllers 2/16/2006 - 3/9/2006 Continue Development of Additional Controllers Documentation of Controller Methods Research Disturbance Detection Methods 3/11/2006 - 3/19/2006 Spring Break Begin Final Presentation Schedule Of Tasks

  14. Additional Goals • Design Disturbance Detection Hardware/Software For Automation Of Controller Usage • Simulink using FFT • Determine Maximum Time Delay Allowable for Stability • Implement on xPC?

  15. Questions?

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