3D Helmholtz Coil-based Hybrid Manipulation for Active Locomotion of Magnetic Micro/Nano Robots

Sung Hoon Kim Korean Magnetics Society 2018 Journal of Magnetics Vol.23 No.4

This study presents hybrid control based on three-axis Helmholtz coil for manipulation of magnetic micro/nano robots. In general, magnetic force and torque control requires both Maxwell and Helmholtz coils. Therefore, the configuration of the magnetic manipulation system is complex and requires many power supplies. The hybrid method controls the three-axis Helmholtz coil and three power supplies through mechanical switch control to generate magnetic force and torque. Magnetic torque is controlled by the three-axis Helmholtz coil with a rotating magnetic field, and magnetic force is controlled by generating gradient magnetic field through the separated coils by the switch control. Three switches separate each Helmholtz coil and six switches control the separated six coil with the three power supplies. The hybrid control can provide simple configuration of coil system, various active locomotion, and precision control in complex environments. To verify the proposed method, we conducted magnetic simulation with various experimental tests.

Modelling and Control of Discrete Halbach Magnetic Screw for Wave Energy Application

Doha Mustafa,Hussain A. Hussain 전력전자학회 2023 ICPE(ISPE)논문집 Vol.2023 No.-

Magnetic screws utilize permanent magnets for a contact-free power conversion between a low-speed, high-force linear motion and a high-speed, low-torque rotational motion. Arranging the permanent magnets in a discrete Halbach structure can increase the power transfer capability. This article proposes control methods for the discrete Halbach magnetic screw. First, a model for the discrete Halbach magnetic screw is developed. Then, the classical control of magnetic screws using PI controller is presented. Finally, two controllers are proposed. These include the proportional resonant controller and the observer-based state feedback with integral action and reference feedforward controller. Simulation results showed that the state feedback controller has improved performance compared to conventional control.

Research on Self‑Learning Fuzzy Control of Controllable Excitation Magnetic Suspension Linear Synchronous Motor

Yunpeng Sun,Yipeng Lan 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.2

This paper studies the problem of diferent parameters adjustment and poor anti-interference capability for the magnetic suspension control system of controllable excitation linear synchronous motor (CELSM). Based on operating mechanism of CELSM, the mathematical model of magnetic suspension system is established. In addition, based on the Takagi–Sugeno fuzzy model-based approach, a self-learning fuzzy controller with parameter adjustment mechanism is designed. The controller includes a reference model that displays the desired characteristics of the magnetic suspension control system, a fuzzy inverse model that adjusts the fuzzy rules in real time and reduces the errors between the reference model output and the system output to zero, the rules and parameters adjustment units that change the adjustment degree of the rules according to the output proportion factor of the fuzzy inverse model, and the errors between the system output and the reference model output. A self-learning mechanism for modifying the output value of a standard fuzzy controller. At last, the simulation model is set up and compared with other control methods, the result shows that the suspension height control system has better anti-interference ability and tracking efect under the self-learning fuzzy control strategy, as well as the ability to deal with the change of the internal parameters of the magnetic suspension system. And the feasibility and the superiority of the modifed control method are verifed.

Study of a Hybrid Magnet Array for an Electrodynamic Maglev Control

Chan Ham,Wonsuk Ko,Kuo-Chi Lin,Younghoon Joo 한국자기학회 2013 Journal of Magnetics Vol.18 No.3

This paper introduces an innovative hybrid array consisting of both permanent and electro magnets. It will enable us to develop an active control mechanism for underdamped electro-dynamic suspension (EDS) Maglev systems. The proposed scheme is based on the Halbach array configuration which takes the major technical advantage from the original Halbach characteristics: a strongly concentrated magnetic field on one side of the array and a cancelled field on the opposite side. In addition, the unique feature of the proposed concept only differs from the Halbach array with permanent magnets. The total magnetic field of the array can be actively controlled through the current of the electro-magnet’s coils. As a result, the magnetic force produced by the proposed hybrid array can also be controlled actively. This study focuses on the magnetic characteristics and capability of the proposed array as compared to the basic Halbach concept. The results show that the proposed array is capable of producing not only an equivalent suspension force of the basic Halbach permanent magnet array but also a controlled mode. Consequently, the effectiveness of the proposed array confirms that this study can be used as a technical framework to develop an active control mechanism for an EDS Maglev system.

고전압 착자기에서의 누전 사고 방지를 위한 광통신 제어시스템의 도입 방안과 경제성 분석

배영우,김우주,홍준석 한국데이터전략학회 2019 Journal of information technology applications & m Vol.26 No.6

Demand for high power motors is rapidly increasing as the 4th industry and convergence technology has recently emerged. In order to produce high-strength permanent magnets, the magnets used for magnetization have been increased from DC 300V in the 1970s to DC 2.5kV in the 2010s, Up to DC 10kV in the 2030s, It is expected that higher voltage will be used to magnetize. However, in the case of a magnetizer using an existing electric signal control device, it is necessary to use a control device with a high-voltage insulation function in case a high voltage used for magnetization is leaked to the control device. If a short circuit accident occurs, the controller must be shut down and serious problems such as excessive repair costs arise. In this study, a control system adopting optical communication method instead of electric signal control method is proposed to prevent leakage currents in high-voltage magnetizer. We design a transmitter(Tx) and a receiver(Rx) device for the optical communication control device and implemented a prototype connecting the optical cable. In order to demonstrate the utility of high-voltage magnetizer using the optical communication control device, we analyzed the initial cost and the yearly cost for the years to analyze the net present value. As a result, In the case of the low-voltage magnetizer, the electric signal control method cost less, As the operating voltage of the magnetizer becomes higher. It is confirmed that it takes less cost when the optical communication control device is used.

선형화 기법을 사용한 자기부유기 모델링과 DSP기반 가변 위치 제어

송승호,김정재 전력전자학회 2004 전력전자학회 논문지 Vol.9 No.2

The magnetic levitator is the device which can float a magnetic material at the midair by electromagnetic force and it's principle can be applied to the high speed magnetic bearing or magnetic levitation train. There are many difficulties to control, because the magnetic levitator is basically a nonlinear and unstable system. In this paper, this system is modeled assuming that it is a linear system nearby an operating point, and a proportional and derivative(PD) position controller is designed to carry out the variable position control. The performance of position control response is shown through simulation and experiment. A prototype magnetic levitator is constructed using PWM converter and DSP(Digital Signal Processor) based control board. 자기부유기는 전자력을 이용해서 자성재료를 공중에 떠있게 할 수 있는 장치로 고속회전기에 사용되는 자기 베어링과 자기 부상 열차의 부상원리 등에 응용될 수 있다. 하지만 자기 부유기는 근본적으로 비선형이며 불안정한 시스템으로서 제어에는 많은 어려움이 따른다. 본 논문에서는 비선형 시스템인 자기부유기를 국부적으로 선형화해서 모델링하고, 가변 위치 제어를 수행할 수 있도록 비례미분 위치제어기를 설계하였다. 또한 PWM 컨버터와 DSP 기반 제어보드를 이용한 자기 부유기를 제작하고, 시뮬레이션과 실험을 통하여 위치제어 응답성능을 검증하였다.

Robust Adaptive Control of Nonlinear Systems with Convex Input Constraints

Yasuyuki Satoh,Hisakazu Nakamura,Nami Nakamura,Hitoshi Katayama,Hirokazu Nishitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

In this paper, we propose a control Lyapunov function(CLF)-based robust nonlinear adaptive controller for the magnetic levitation system. The proposed controller consists of a pre-feedback compensator with an adaptive control mechanism and a robust stabilizing controller. By using this controller, again margin for closed loop system is guaranteed. The effectiveness of the proposed controller is confirmed by experiments.

매입형 영구자석 동기전동기의 속응성 향상을 위한 비특이 터미널 슬라이딩 모드 속도 제어와 벡터제어에 관한 연구

김현우,노영우 대한전기학회 2023 전기학회논문지 Vol.72 No.12

In this paper, the vector control and non-singular terminal sliding mode control (NTSMC) of interior permanent magnet synchronous motor (IPMSM) are proposed to improve the fast dynamic response and robustness. A proportional-integral (PI) control system is usually used as the speed controller of IPMSM since the simple structure. However, since a gain of PI controller is determined by the motor parameters, that have the nonlinearity, the speed control system of IPMSM cannot guaranteed robustness. Therefore, this paper proposes the speed control system using NTSMC and disturbance observer (DO) to improve the dynamic response and guarantee robustness of control system. Furthermore, the vector control algorithm is proposed considering the operating mode. Considering the voltage drop, Newton-Raphson method is used for searching the current reference of optimal vector control. To verify the proposed control system, the simulation is implemented using MATLAB/Simulink. Finally, the effectiveness of the proposed control system is verified compared with the conventional control system.

신경회로망 기반 자동 동조 뉴로-퍼지 PID 제어기 설계

김영식(Kim, Young-Shik),이창구(Lee, Chang-Goo) 한국산학기술학회 2006 한국산학기술학회논문지 Vol.7 No.5

본 논문에서는 기존의 PID 제어기와 퍼지 제어기의 특성을 공통으로 갖는 새로운 형태의 신경회로망 기반 자동 동조 뉴로-퍼지 PID제어기를 제안하였다. 제안된 제어기는 퍼지의 선형성을 이용하여 퍼지 PID 제어기의 퍼지 연산부를 간략화 시키고 일반 PID 제어기와 유사한 입출력 특성을 갖도록 하였으며 비선형 성분 보상을 위하여 제어기 출력에 가장 큰 영향을 미치는 출력측 스케일 계수를 단일 신경 회로망 구조로 변경하고 PID 제어기 구조를 유지 하게 하였다. 또한 단일 신경 회로망 구조를 이용함으로써 신경회로망의 초기 연결강도와 계산량에 대한 문제점을 해결하고 오차의 부호 정보에 따라 학습계수를 변화시키는 가변 학습계수 역전파 알고리즘을 사용하여 오버 슈트가 작으면서도 빠른 수렴 속도를 갖도록 하였다. 제안된 제어기를 비선형성이 강한 시스템으로 알려진 자기 부양(magnetic levitation) 시스템에 실제 적용하여 본 논문에서 제안한 제어기의 우수한 성능을 확인하였다. In this paper described an auto tuning neuro-fuzzy PID controller based neural network. The PID type controller has been widely used in industrial application due to its simply control structure, easy of design, and inexpensive cost. However, control performance of the PID type controller suffers greatly from high uncertainty and nonlinearity of the system, large disturbances and so on. In this paper will design to take advantage of neural network fuzzy theory and pid controller auto tuning technique. The value of initial scaling factors of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods and then they were adjusted by using neural network control techniques. This controller simple structure and computational complexity are less, and also application is easy and performance is excellent in system that is strong and has nonlinearity to system dynamic behaviour change or disturbance. Finally, the proposed auto tuning neuro-fuzzy controller is applied to magnetic levitation. Simulation results demonstrated that the control performance of the proposed controller is better than that of the conventional controller.

Simple Robust PID Tuning for Magnetic Levitation Systems Using Model-free Control and H∞ Control Strategies

Addy Wahyudie,Tri Bagus Susilo,Cuk Supriyadi Ali Nandar,Sameer Fayez,Rachid Errouissi 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12

This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and robust proportional-integral-derivative (PID) control. The proposed MFC does not require a mathematical model. The MFC uses a stabilising local PID controller and a continuous saturation function of a sliding surface. The local stabilising control is achieved through a trial-and-error method, while the other parameters in the sliding surface are tuned to achieve the required tracking and robustness objectives. For robust PID controller, a linear model of MLS is derived. The robustness, tracking, and transient problems are formulated using the H∞ theory and solved using the genetic algorithm. Experimental verifications are conducted to demonstrate the effectiveness of the proposed controllers.