features and limitations of 2d active magnetic levitation ... · design, modelling and simulation...

Features and Limitations of 2D Active Magnetic Levitation Systems Modelingin COMSOL Multiphysics

Adam Piłat

AGH – University of Science and Technology,Department of Automatics,Mickiewicza 30 Ave, 30-059 Kraków, Poland

Presented at the COMSOL Conference 2010 Paris

Agenda

• Interdisciplinary design

• Active Magnetic Suspension

• Active Magnetic Bearing

• Automata for modelling

• Optimisation

• PDE+ODE

• Conclusions

The proposed interdisciplinary Design Approach where virtual prototype is being developed and studied

System specification

Mechanics

Electronics

Control system

Virtual prototype

Validation, Optimization

Prototype

Manufacturing

Knowledge base

Tests, Identification

Interdisciplinary dynamics modelling and simulation

0 0.02 0.04 0.06 0.08 0.1-0.01

-0.008

-0.006

-0.004

-0.002

0

Control ON Control OFF

Time [s]

Displacement [m]

Magnetic levitation system MLS1EM in action.

Cross-section model of the MLS1EM

This figure presents the magnetization and magnetic field in the formof streamlines and arrows respectively. One can find that the levitated object is self centered with respectto the actuator geometryand the iron based components are magnetized.

MLS2EM - upper electromagnet replaced with cylindrical one

Magnetic flux density represented in the wire frame mode.

Active Magnetic Bearing

Geometry generator

Geometry generator

FEM analysis

Manual Automatic (programmable)

With fem do

• select application mode

• assign geometry objects

• assign parameters and equations

• initialize mesh

• solve

• analyze results using post processing functions

Geometry generator

Optimization

Initial

parameters set-up

AMB geometry generator

Solver

Criterion Optimization

Lab algorithms

Linear and nonlinear solvers linear and nonlinear constraints

Optimization

Initial

parameters set-up

COMSOL Toolbox

AMB geometry generator

Solver

Criterion

Optimization, GADS

Toolboxes

MATLAB

Linear and nonlinear solversincluding Genetic Algoritms

linear and nonlinear constraints

Optimization

Initial parameters

set-up

MATLAB + COMSOL Toolbox

AMB geometry generator

Criterion

Optimization, GADS

Toolboxes

Multiphysics model

Embedded Multiphysics

model

Controller

Simulink model

ODE Solver

PDE + ODE Solver

Example

1 2 3 4

x 10-3

20

40

60

80

100

Pole radius [m]

Re

lativ

e F

lux

de

nsi

tya)

2 4 6 8

x 10-3

20

40

60

80

100

Pole width [m]

Re

lativ

e F

orc

e g

ain

b)

Position of the levitated object steeredby the PD controlled – both implemented in COMSOL Multiphysics.

0 0.5 10.009

0.0095

0.01

0.0105

0.011

0.0115

Time [s]

Dis

plac

emen

t [m

]

Conclusions

Design, modelling and simulation

Modelling as is – geometry, materials

PDE + ODE

Optimisation

Computational effort

Controller architecture

Real-time calculation

Simulink data exchange and link

To Do:

Rotor axial motion and rotation in the AMB plane

Thank You for Your Attention