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