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A Fault Tolerant Control Approach to Three Dimensional Magnetic Levitation
By James Ballard
Contents
•Introduction•Levitation Concept•Fault Tolerant Techniques•Prototype•Validation of Simulations•Conclusions and Recommendations
Introduction
•Magnetic Levitation▫Magnetic Repulsion ▫Feedback Control
•Fault Tolerance (Safety)▫Hardware▫Dynamic
Levitation ConceptForce due to gravity
Force from ring magnetIx
Ix
Horizontal ring magnetForce component
xy
z
Feedback Control Loop
•Proportional Gain•Pole Placement•Proportional, Integral, Differential (PID)
Proportional Gain Feedback Control
From mathematical analysis:
•Positive gain: No negative poles
•Negative gain: Positive pole
•Unstable levitation
Pole Placement Feedback Control
•Stable response achieved (P1=-80, P2=-100)•Gain values too high for embedded system
PID Feedback Control
•Stable levitation achieved•Gain values suitable for embedded system
𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69
Dynamic Redundancy
Hardware Redundancy
The Prototype
Validation of Simulation: Stable
Simulation
Prototype
𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69
Validation of Simulation: Unstable
Simulation
Prototype
𝐾𝑝=3 𝐾𝑖=2 𝐾𝑑=1
Dynamic Redundancy Test
Conclusions and Recommendations
•Naturally unstable
•PID control most suitable
•Fault tolerant techniques prevent system failure
Future Work
•Improved hardware redundancy
•Development of an observer
•User Interactivity
Thank you for listening