A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system

This paper proposes a nonlinear adaptive control method integrated with finite element approximation to obtain the model of the magnetic levitation system of 6 degrees of freedom. Since a magnetically levitated stage is free from friction, it is useful not only to position precisely, but also to mea...

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Autor principal:	Takashi ANDO
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2018
Materias:	magnetic levitation system adaptive control nonlinear motion system motion control finite element approximation Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/3615b34df5b24021840eccaae0c8930e
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spelling	oai:doaj.org-article:3615b34df5b24021840eccaae0c8930e2021-11-26T07:24:19ZA nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system2187-974510.1299/mej.18-00311https://doaj.org/article/3615b34df5b24021840eccaae0c8930e2018-11-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/5/6/5_18-00311/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper proposes a nonlinear adaptive control method integrated with finite element approximation to obtain the model of the magnetic levitation system of 6 degrees of freedom. Since a magnetically levitated stage is free from friction, it is useful not only to position precisely, but also to measure small force applying to the stage. However, inherent nonlinear characteristics of electromagnetic force make it difficult to measure force correctly. Therefore in this study, with the aim to overcome this difficulty, a control method is proposed to obtain the model of the magnetic levitation system by adopting the manner of model reference adaptive control integrated with finite element approximation for the nonlinear characteristics of electromagnetic force. The controller can compensate the nonlinear characteristics by adjusting PD feedback gains using the obtained model. The parameters of inertia and the center of gravity are also identified to be reflected on a linear reference model. By compensating the nonlinear characteristics of electromagnetic force, the magnetic levitation system behaves as a linear system, which facilitates the position control and the force measurement. The efficiency of this method is shown in an experiment of improving the tracking trajectory control performance.Takashi ANDOThe Japan Society of Mechanical Engineersarticlemagnetic levitation systemadaptive controlnonlinear motion systemmotion controlfinite element approximationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 5, Iss 6, Pp 18-00311-18-00311 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	magnetic levitation system adaptive control nonlinear motion system motion control finite element approximation Mechanical engineering and machinery TJ1-1570
spellingShingle	magnetic levitation system adaptive control nonlinear motion system motion control finite element approximation Mechanical engineering and machinery TJ1-1570 Takashi ANDO A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
description	This paper proposes a nonlinear adaptive control method integrated with finite element approximation to obtain the model of the magnetic levitation system of 6 degrees of freedom. Since a magnetically levitated stage is free from friction, it is useful not only to position precisely, but also to measure small force applying to the stage. However, inherent nonlinear characteristics of electromagnetic force make it difficult to measure force correctly. Therefore in this study, with the aim to overcome this difficulty, a control method is proposed to obtain the model of the magnetic levitation system by adopting the manner of model reference adaptive control integrated with finite element approximation for the nonlinear characteristics of electromagnetic force. The controller can compensate the nonlinear characteristics by adjusting PD feedback gains using the obtained model. The parameters of inertia and the center of gravity are also identified to be reflected on a linear reference model. By compensating the nonlinear characteristics of electromagnetic force, the magnetic levitation system behaves as a linear system, which facilitates the position control and the force measurement. The efficiency of this method is shown in an experiment of improving the tracking trajectory control performance.
format	article
author	Takashi ANDO
author_facet	Takashi ANDO
author_sort	Takashi ANDO
title	A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
title_short	A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
title_full	A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
title_fullStr	A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
title_full_unstemmed	A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system
title_sort	nonlinear adaptive control method integrated with finite element approximation and its application to 6 dof magnetic levitation system
publisher	The Japan Society of Mechanical Engineers
publishDate	2018
url	https://doaj.org/article/3615b34df5b24021840eccaae0c8930e
work_keys_str_mv	AT takashiando anonlinearadaptivecontrolmethodintegratedwithfiniteelementapproximationanditsapplicationto6dofmagneticlevitationsystem AT takashiando nonlinearadaptivecontrolmethodintegratedwithfiniteelementapproximationanditsapplicationto6dofmagneticlevitationsystem
_version_	1718409649831542784

A nonlinear adaptive control method integrated with finite element approximation and its application to 6 DOF magnetic levitation system

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