![elevators is well-known. Usually, slideways or roller guides
are used. However, compared with non-contact solutions,
the conventional lead frame has many disadvantages. Since
more and more high- rise buildings occur in world, the
efficiency of passenger transport become more important.
The higher the speed is, the more deteriorated the effect is.
Conventional rail require lubrication and regular
maintenance. The improved non-contact rail can get higher
comfort through subtractive the audible noise and
controlling the oriented stiffness[1][2].
The conventional elevator guide shoes prone to car
vibration when the elevator is running at high-speed. The
elevator vibration is one of the concerns in engineering
circles, it should be said that mechanical and electrical
reasons can be individually or jointly caused the vibration of
elevator system. Suspension technologies has brought the
technological innovations, the planform and stereogram of
placement for the maglev guiding device can been seen as in](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
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- 1. Abstract— This paper describes the design of feedback linearization and fuzzy PI controllers for the maglev guiding system of linear elevator. The controllers so designed based on the nonlinear control techniques are applied to control the gap of permanent magnet synchronous linear motor (PMLSM) with the aim of improving the vertical thrust and control the horizontal vibration and noise in the process of elevator operation. Matlab modeling of this system is used in this paper. The simulation result of the entire system are presented in this paper. Key words: Maglev Guiding System, Fuzzy PI Control, Nonlinear control, Linear Elevator, Feedback Linearization I. INTRODUCTION ONIENTIONAL elevators consist of an elevator car in a shaft operated by a rope, which is mounted on a traction sheave. The mechanical guiding of such
- 2. elevators is well-known. Usually, slideways or roller guides are used. However, compared with non-contact solutions, the conventional lead frame has many disadvantages. Since more and more high- rise buildings occur in world, the efficiency of passenger transport become more important. The higher the speed is, the more deteriorated the effect is. Conventional rail require lubrication and regular maintenance. The improved non-contact rail can get higher comfort through subtractive the audible noise and controlling the oriented stiffness[1][2]. The conventional elevator guide shoes prone to car vibration when the elevator is running at high-speed. The elevator vibration is one of the concerns in engineering circles, it should be said that mechanical and electrical reasons can be individually or jointly caused the vibration of elevator system. Suspension technologies has brought the technological innovations, the planform and stereogram of placement for the maglev guiding device can been seen as in
- 3. Fig.1and Fig.2. The elevator external disturbances and non-linear friction for elevator guide shoes has a larger impact, such as, when the elevator is running at low speed, such as leveling or maintenance parking, a slow-fast phenomena will be occur This work is supported by Liaoning Province Education Department Fund #L2010404. Qing Hu is with the School of Electrical Engineering, Shenyang University of Technology, China (e-mail: [email protected]). Mingliang Hao is with the School of Electrical Engineering, Shenyang University of Technology, China (e-mail: [email protected]). Hao Liu is with the School of Electrical Engineering, Shenyang University of Technology, China (e-mail: [email protected]). sometimes, in severe cases, even a high-frequency vibration and vibration noise will appear, this time it has led to elevator car panels resonance in fact, which the comfort of the elevator riding is seriously affected. Therefore, magnetic levitation technology is applied to elevator guide shoes to
- 4. restrain the car disturbance and vibration problems. In the elevator is running, the stability of air gap for liner motor is particularly important, it can be affects the magnitude of the propulsion force, using magnetic levitation guide shoes, by controlling its current, the air gap of the magnetic levitation (also called the air gap of linear motor) is controlled[3-6]. II. SYSTEM DESCRIPTION AND MODELING According to Newton's second law, suppose the gravity and the linear motor thrust balance with each other and obtain the equations of motion: ( ) ( ) ( ) ( )tFiFtFtm DK , +−= δδ (1) Fuzzy PI Control of Maglev Guiding System based on Feedback Linearization Qing Hu , Mingliang Hao , Hao Liu, C Fig. 1: Linear elevator with maglev guiding system Fig. 2: Stereogram of linear elevator with maglev guiding system 1213978-1-4244-8738-7/11/$26.00 c©2011 IEEE
- 5. where , )(tδ , F(i, ), and FK(t)and FD(t) is the air gap length, differential of air gap, electromagnetic force, another electromagnetic force, and external disturbance force, respectively. Due to the resistance in the electromagnet and the rail has been ignored, the reluctance of magnetic circuit composed of electromagnets and maglev rail focused on the air gap between the two, the effective air-gap reluctance as follows: A R 0μ δ = (2) where 0 and A is permeability of the vacuum and cross-section of the air gap respectively. The pulling force of the electromagnetic force is given by ( ) ( ) ( )t
- 6. tiAN iF 2 22 0 4 , δ μ δ −= (3) which N and ( )ti is the number of winding turns and the current of single maglev device. ( ) ( ) ( ) ( ) ( ) ( ) ( )t t tiAN ti t AN
- 7. tRitu δ δ μ δ μ 2 2 0 2 0 22 −+= (4) Math model of a single electromagnetic device is obtained as follow: ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
- 10. k μ = and [ ]T321 xxx=x , the state variable δ=1x , δ=2x ix =3 , and output of system 1xy == δ are chosen, then nonlinear state function is obtained ( ) ( ) = +++−= 1 KD 1 2 2 3 2 3 2 1
- 12. x x (6) where ( ) m tFK can be seen as the disturbance as ( ) m tFD . III. CONTROLLER DESIGN A. Feedback Linearization State variable vector is chosen as follow, [ ] T 1 3 21 T 321 −==
- 13. x x m k xxzzzz (7) then the state function of system can be derived[7] [ ] == +=+= Cz BAzzz 001 1 0 0 000 100 010 y
- 14. vv (8) Nonlinear voltage feedback control principle is given by ( ) ( ) v x mx Rxvxxu 3 1 3 −=+= βα (9) B. PI State feedback Controller Design The definition of deviation e(t) is given by ( ) expyyte −= (10) where y is the actual output of the system. From the state space function (8), yexp is defined as expected output of the system. By integration of the system deviation p can be derived ( )= t ttep 0
- 15. d . (11) then derivative of p is obtained ( ) ( ) expytetp −== Cz (12) By equation (8) and (12) together form the augmented system, its open-loop state equation is derived [ ]= − ++= p y y v p z C Bz C Az 0 0
- 16. 000 0 exp (13) 1214 2011 Chinese Control and Decision Conference (CCDC) where augmented system is controllable. In order to achieve arbitrary pole placement, the following state feedback control law is chosen as follow: [ ]= p Kv z K I (14) where the state feedback gain vector K is defined [ ]210 KKK=K (15) and KI is the integral coefficient is set as follow: ( )+++= t tteKzKzKzKv 0
- 17. I322110 d (16) C. Fuzzy PI Controller Design After linearization in order to eliminate the ignored factors, which impact on the system, this paper adopts the fuzzy PI control method to design controller. Fuzzy control principle and membership function is seen as Tab.1 and Fig.3, respectively. IV. SIMULATION Reference maglev model and fuzzy PI control are proposed, the entire system is comprised of the above two parts. Matlab Simulink of system is seen as Fig.4 to Fig.6, respectively. The parameters of the magnetic levitation system for single maglev device are: A = 0.50×0.50m2, N = 400 turns, = 0.003m, FK = 5000N, M = 500kg. The simulation results are shown in Fig.7, 8, 9, 10 and 11. Fig.7 is given and sensed air gap of single maglev device without external disturbance; the air gap error of maglev system can be
- 18. reduced rapidly. TAB. 1: FUZZY CONTROL LAW EC E NB NM NS ZO PS PM PB NB NM NS ZO PS PM PB PB PB PM PM PS PS
- 21. ZO NS NS NM NM NB NB Fig. 3: Membership function Fig. 4: Maglev device model Fig. 5: Fuzzy PI control model Fig. 6: Single maglev system model Fig. 7: The air gap of single maglev device (without external disturbance) 2011 Chinese Control and Decision Conference (CCDC) 1215 Fig.8 and Fig.9 are external disturbance force and response of the maglev force, respectively. The disturbance force at 350N is added to the single maglev device started at
- 22. t = 0.45s, and ended at t = 0.5s, respectively. Fig.10 is the acceleration of maglev device.Fig.11 is the air gap of single maglev device added the external disturbance. V. CONCLUSION This paper deals with control design of the maglev guiding system in linear elevator. Based on the control requirements that is robustness and following behaviors of maglev device. Feedback linearization is used in maglev device. Meanwhile, the fuzzy PI controller is designed. Simulation results have shown that the built controller achieves good performance with robustness. REFERENCES [1] Morishita M, Akashi M.Electromagnetic Non-contact Guide System for Elevator Cars [C]. The Third International Symposium on Linear Drives for Industry Applications, Nagano, Japan, October 2001, pp. 416-419.
- 23. [2] Inaba H, Shigeta M.,Ando T, ect. Attitude control system of a super-high speed elevator car based on magnetic guides [J]. Industrial Electronics, Control and Instrumentation, 1994, 2, pp. 1028 – 1033. [3] M. Miyatake, T. Koseki, S. Sone. Evaluation of Operational Performance in Ropeless Elevator Systems[J].Journal of The Japan Society of Applied Electromagnetic and Mechanics, 1997,Vol. 5, No. 3, pp. 49-55. [4] Benedikt Schmülling, Oliver Effing, Kay Hameyer. State Control of an Electromagnetic Guiding System for Ropeless Elevators [C]. Power Electronics and Applications, 2007 European Conference , 2007, pp. 1-10. [5] Benedikt Schmulling, Rudiger Appunn, and Kay Hameyer. Electromagnetic guiding of vertical transportation vehicles: state control of an over-determined system [C]. Proceeding of the 2008 International Conference on Electrical Machines, 2008, pp.1-6. [6] K. Yoshida, S. Moriyama, X. Zhang. Contactless Elevator Motion
- 24. Control in Ropeless Linear Elevator [J].2003 National Convention Record, IEE Japan, 5-084, pp.130. [7] R. Appunn, B. Schmulling and K. Hameyer. Electromagnetic Guiding of Vertical Transportation Vehicles: Experimental Evaluation [J]. IEEE Transactions on Industrial Electronics, 2009, pp.1109- 1117. Fig. 8: External disturbance force Fig. 9: Response of maglev force Fig. 10: Acceleration of maglev device Fig. 11: The air gap of single maglev device (added the external disturbance) 1216 2011 Chinese Control and Decision Conference (CCDC) << /ASCII85EncodePages false /AllowTransparency false /AutoPositionEPSFiles true /AutoRotatePages /None /Binding /Left /CalGrayProfile (Gray Gamma 2.2) /CalRGBProfile (sRGB IEC61966-2.1) /CalCMYKProfile (U.S. Web Coated 050SWOP051 v2) /sRGBProfile (sRGB IEC61966-2.1) /CannotEmbedFontPolicy /Error /CompatibilityLevel 1.6 /CompressObjects /Off
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