Sunil Jamil 15103122-018

Mansoor Kashif 15103122-024

Design Course Work

Design and Implementation of Digital Controller for Magnetic Levitation
System.
Task : Method of designing controller with all mathematical details

Method Selected:
We use following method for designing Digital Controller for Magnetic Levitation system:
“Digital Control Design via Continuous Design”
And use “bilinear transformation” for discretizing continuous time signal. For this purpose, we
use following command in MATLAB code:
c2d(sys,Ts,'tustin')

Mathematical Modeling:
The mathematical modeling of the system is divided in two parts which are:
 Electrical subsystem modeling
 Mechanical subsystem modeling
Electrical subsystem modeling:
A schematic representation of the maglev ideal electrical subsystem is shown in figure 1. The
voltage V applied to the coil results in a current i governed by the differential equation.
di
V  iRl  L ----- 1
dt
In order to determine the current in the coil, the maglev actual electrical subsystem (shown in
figure 2) is equipped with a resistor Rs in series with coil.
di
V  i ( Rl  Rs )  L ----- 2
dt

Finally, taking Laplace transform of eq 2, we get

V ( s)  ( Rl  Rs ) I(s)  LsI (s)

I(s) 1

V ( s ) Ls  ( Rl  Rs )

Let,

I(s) 1
Ge (s)  
V ( s) Ls  ( Rl  Rs )

Mechanical subsystem modeling:

The force experienced by a ball under the influence of electromagnet is given as:
2
i
F  mg  K f   ----- 3
x
where,

i = current in electromagnet
x = distance of ball from electromagnet face
g = gravitational acceleration
Kf = magnetic force constant for electromagnet ball pair
m = mass of steel ball
By using Newton second law:
2
d 2x i
m 2  mg  K f   ----- 5
dt  x
Using eq 5 , we can compute steady state coil current iss, that produce desired steady state
d 2x
constant ball position xss. For this  0 , eq 5 become:
dt 2
2
i
0  mg  K f  
x
2
i
K f    mg
x
2
 i  mg
  
x Kf

i mg

x Kf

mg
iss  xss ----- 6
Kf

Eq 6 is use to regulate ball position. However, external disturbance, system parameter

uncertainty / variation etc necessitate a feedback controller to improve the mechanical subsystem
performance.
Now, defining set of shifted variables,

x(t )  x(t )  xss ----- 7


i (t )  i (t )  iss ----- 8

We can write eq 5 as:

2
  
d 2x i i
m 2  mg  K f   ss  ----- 9
dt  x x 
 ss 
  
Now, linearizing eq 9 about x  0 , i  0

  2
  2
 
    
d x 1  
2
 i  iss       i  iss   
  mg  K f x    mg  K f i ----- 10
dt 2 m   x   x  x  
  i   x  x  
  
 ss   ss 
   x 0, i 0   x 0, i 0 

d 2x 1  iss 2   2i  
2
 
 f 3
K ( 2) x    K f ss2 i 
dt m xss  xss 
2
d 2 x 2 K f iss  2 K f iss 
 x 2 i ----- 11
dt 2 xss 3m xss m

Taking Laplace transform,

2 K f iss 2  2 K f iss 
s X ( s) 
2
X (s) I ( s)
xss 3m xss 2 m

 2 2 K f iss 2   
 s   X (s)   I ( s)
 xss 3m 

2 K f iss

X (s) xss 2 m

 ----- 12
2 K f iss 2
I (s) s2 
xss 3 m

Let,

2 K f iss 2 K f iss 2
a and b 
xss 2 m xss 3 m

So,

X (s) a

 ------ 13
I ( s) s b
2

The numerical values of electrical and mechanical subsystem parameters for maglev model are
given in table:
In addition, the variables a and b are computed with xss  7mm and iss  1Amp .

MATLAB code to convert subsystems from s-domain to z-domain:

clc;
clear all;
close all;
L=0.4125;
Rl=10;
Rs=1;
Kf=32654;
g=9810;
m=0.068;
xs=7;
is=1;
Ts=0.015;
% electrical subsystem
num1=[1];
den1=[L Rl+Rs];
sys1=tf(num1,den1) %s-doamin
ss(sys1)
figure(1)
subplot(1,2,1)
step(sys1)
Ge = c2d(sys1,Ts,'tustin') %z-domain
ss(Ge)
subplot(1,2,2)
step(Ge)
% mechanical subsystem
a=(2*Kf*is)/(xs*xs*m);
b=(2*Kf*is*is)/(xs*xs*xs*m);
num2=[-a];
den2=[1 0 -b];
sys2=tf(num2,den2) %s-doamin
ss(sys2)
figure(2)
subplot(1,2,1)
step(sys2)
Gm = c2d(sys2,Ts,'tustin') %z-domain
ss(Gm)
subplot(1,2,2)
step(Gm)

Output:
sys1 =
1
-------------
0.4125 s + 11
Continuous-time transfer function.

ans =
A =
x1
x1 -26.67
B =
u1
x1 2
C =
x1
y1 1.212
D =
u1
y1 0
Continuous-time state-space model.

Ge =
0.01515 z + 0.01515
-------------------
z - 0.6667
Sample time: 0.015 seconds
Discrete-time transfer function.

ans =
A =
x1
x1 0.6667
B =
u1
x1 0.125
C =
x1
y1 0.202
D =
u1
y1 0.01515
Sample time: 0.015 seconds
Discrete-time state-space model.

sys2 =
-1.96e04
----------
s^2 - 2800
Continuous-time transfer function.

ans =
A =
x1 x2
x1 0 43.75
x2 64 0
 B =
u1
x1 16
x2 0
C =
x1 x2
y1 0 -19.14
D =
u1
y1 0
Continuous-time state-space model.

Gm =
-1.309 z^2 - 2.617 z - 1.309
----------------------------
z^2 - 2.748 z + 1
Sample time: 0.015 seconds
Discrete-time transfer function.

ans =
A =
x1 x2
x1 2.748 -1
x2 1 0
B =
u1
x1 2
x2 0
C =
 x1 x2
y1 -3.107 -1.11e-16
D =
u1
y1 -1.309
Sample time: 0.015 seconds
Discrete-time state-space model.

 Step response for electrical subsystem

 Step response for mechanical subsystem