A New Type of the Linear Magnetic Actuator

Using Online Tuning Fuzzy PID for Position Control

Thanh Quoc Truong (*), Kyoung Kwan Ahn (**) and Truong Quang Dinh (**)

(*) Department of Manufacturing Engineering, Faculty of Mechanical Engineering, HCMUT, Vietnam

(**) School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea

International Seminar on Manufacturing and Automation Control

HCMUT, Vietnam – 8/2009
 Contents

1) The aim of the research

2) Linear Magnetic Actuator (LMA)

3) Position Controller Design

4) Experimental results

5) Conclusion

Faculty of Mechanical Engineering - HCMUT

 THE AIM OF THIS RESEARCH

 A novel LMA is proposed, investigated and fabricated.

The controller is designed and applied to control the position of the actuator.

Faculty of Mechanical Engineering - HCMUT

 LINEAR MAGNETIC ACTUATOR (LMA)
What is the lma ?
• A LMA comprising a pair of stator windings arranged to carry N S

currents providing magnetic fields of opposed polarity. The direction

of magnetic flux is arranged as a line substantially perpendicular to
the directions of the current flow in the windings
Same poles:
PUSH

• Then, a permanent magnet mounted on another actuator’s S N N S

part with a predetermined spacing, the magnetic effect

reacts between electro-magnet and permanent magnet Opposite poles:
PULL
leading to the motion of actuators.
N S N S

• There are three basic configurations of the magnetic actuators

as moving-coil, moving-iron and moving-magnet to classify the
magnetic actuators.

Faculty of Mechanical Engineering - HCMUT

 LINEAR MAGNETIC ACTUATOR (LMA)

configurations of the MAGNETIC ACTUATORs /LMAs

Soft iron
Magnet N S Soft iron
Shell Magnet Shell N S

Soft iron

Configuration of the N
Plate

moving-coil actuators Coil

Holder
Soft iron Core
Coil
Holder
Soft iron Core
S

(Mover) (Mover)

Coil N S
Coil N S

(a) Conventional moving actuator (b) Flux focusing actuator

Permanent

Benefits of magnetic
Magnet

Configuration of the Actuator

Spring

Coil

moving-iron actuators
Housing

- Fast responses
Armature

- Simple structure
Air gap Coil A
A
- Reliability
N N

Configuration of the
Moving

- Long duration service

Core
Magnetic
S S

moving-magnet actuators Air gap

B Coil B
- Flexibility

Faculty of Mechanical Engineering - HCMUT

 LINEAR MAGNETIC ACTUATOR (LMA)

configurations of the MAGNETIC ACTUATORs /LMAs

Upper
Spring
Permanent
Magnet Coil Air gap Coil A
A
Coil Coil A
housing
N N Permanent
Magnet
Housing Moving Core
Magnetic
Coil S S
Armature Holder Coil B
Air gap
B Coil B
Bush
Lower
Spring

a) Positioning magnetic head b) Configuration of the c) The mechanical construction

using on a disc memory system. moving-magnet actuators. of the EMV

Coil 1 Coil 2
Optical Top
Top
Gap
Surface Surface
sensor

Permanent Motion Pad

N S S N
Magnet 1 Permanent
Magnet 2
z

Linear Guide

d) The conformation of EMA

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 LINEAR MAGNETIC ACTUATOR (LMA)

The operating principle of the LMA

l 0
l

Middle
FPM N S S N

(l+x) x (l-x)

B*
Without applied current N
B*
S
N S S N Right
Bp Bp
+ -
FPM

FEM FTotal B* B*
- + S N Left
FPM N S S N
Bp Bp

FEM FTotal 0

With applied current Relationship between the direction of magnetic flux and
the moving direction

Faculty of Mechanical Engineering - HCMUT

 LINEAR MAGNETIC ACTUATOR (LMA)

The operating principle of the LMA

Wire Coils

The Mover

Current carrying coil / Permanent magnet

Permanent
Magnets

U_Shape

Wire Coil Permanent

magnets
0 10 20 30 40 50
SCALE

U_shpape

Sliding
Retaining bearing
spring N S S N

3-D plot model

The mover

Mechanical model of LMA

Faculty of Mechanical Engineering - HCMUT
 LINEAR MAGNETIC ACTUATOR (LMA)

Assembly of the REAL MODEL (LMA)

Faculty of Mechanical Engineering - HCMUT

 LINEAR MAGNETIC ACTUATOR (LMA)

The videos used to prove the working ability in laboratory

Open-loop sine Open-loop sine output

output (1.0 Hz)
(0.5 Hz)

Faculty of Mechanical Engineering - HCMUT

 POSITION CONTROLLER DESIGN
Control analysis
t
de  t 
PID controller u PID  t   K p e  t   K i  e  t  dt  K d
0 dt

Online learning +
-
Mechanism
e(t)
Neural Fuzzy- PID Linear
r Magnetic
Output
Reference +- Controller
de y
Actuator

Structure of the proposed control algorithm for LMA

Faculty of Mechanical Engineering - HCMUT

 POSITION CONTROLLER DESIGN

CONFIGURATION OF SELF TUNING FUZZY- PID

CONTROLLER
NB NS ZE PS PB

e(t)/de(t)
-1.5 -1 -0.5 0 0.5 1 1.5

Membership functions for inputs: e(t), de(t)

VS S M B VB

Ua=g(u)
0 0.25 0.5 0.75 1

Membership functions for output: Ua

The configuration of the controller.
Membership functions of the self tuning
fuzzy inputs and output.

Faculty of Mechanical Engineering - HCMUT

 POSITION CONTROLLER DESIGN
Experimental apparatus

Schematic control diagram of

Photograph of the LMA system
the LMA system.

Faculty of Mechanical Engineering - HCMUT

 POSITION CONTROLLER DESIGN
MATLAB SIMULINK

The control diagram for LMA

using online self tuning fuzzy-
PID controller.

The structure of online self tuning

fuzzy PID regulator block

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 EXPERIMENTAL RESULTS
4 4
4

Position (mm)
2 2
2

Position (mm)
Position (mm)

0 0
0

-2 -2 -2

-4 -4 -4
Reference Position Reference Position Reference Position
Conventional PID Controller Conventional PID Controller -6 Conventional PID Controller
-6 -6
Online Self Tuning Fuzzy-PID Online Self Tuning Fuzzy-PID Online Self Tuning Fuzzy-PID
0.4 0.6

Error (mm)
1.0 0.4

Error (mm)
Error (mm)

0.2
0.5 0.2
0.0 0.0 0.0

-0.5 -0.2
-0.2
-0.4
-1.0
-0.4 -0.6
2 3

Control Signal (A)

Control Signal (A)

2 2
1
Control Signal (A)

1 1
0 0
0
-1 -1 -1
-2
-2 -2
Conventional PID Controller -3 Conventional PID Controller
-3 Conventional PID Controller -3
3 3

Control Signal (A)

3
2 2
Control Signal (A)

2
Control Signal (A)

1 1
1 0 0
0 -1
-1
-1 -2
-2
-2 -3
-4 Online Self Tuning Fuzzy-PID -3 Online Self Tuning Fuzzy-PID
-3 Online Self Tuning Fuzzy-PID
0 2 4 6 8 10 12 0 2 4 6 8 10 12
0 1 2 3 4 5 6
Time (s) Time (s)
Time (s)

Sine reference input Multi-Step input Saw reference input

Faculty of Mechanical Engineering - HCMUT
 CONCLUSIONS

 A novel Linear Magnetic Actuator (LMA) is investigated.

 The online self tuning fuzzy PID controller is successfully applied to

the control position of the LMA leading to control exactly the position of
the position of the LMA

The research have proved that the proposed actuator has the benefit,
efficiency, and reliability for the future applications

Fluid Power Control & Machine Intelligent Control Lab

Thank for your attention !