Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Evaluation of Sliding Mode Control using the Exponential Reaching Law for a Magnetic Levitation System

자기부상 시스템을 위한 가속율도달법칙기반의 슬라이딩 모드 제어 성능 평가

  • Moon, Seok Hwan (Electric Motor Research Center, Korea Electrotehnology Research Institute) ;
  • Lee, Ki Chang (Electric Motor Research Center, Korea Electrotehnology Research Institute) ;
  • Kim, Ji Won (Electric Motor Research Center, Korea Electrotehnology Research Institute) ;
  • Park, Byoung Gun (Electric Motor Research Center, Korea Electrotehnology Research Institute) ;
  • Lee, Min Cheol (School of Mechanical Engineering, Pusan National University)
  • 문석환 (한국전기연구원 전동력 연구센터) ;
  • 이기창 (한국전기연구원 전동력 연구센터) ;
  • 김지원 (한국전기연구원 전동력 연구센터) ;
  • 박병건 (한국전기연구원 전동력 연구센터) ;
  • 이민철 (부산대학교 기계공학부)
  • Received : 2013.10.01
  • Accepted : 2013.11.25
  • Published : 2014.04.01
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Abstract

Magnetic levitation systems using the attraction force of electromagnets have many constraints according to the variation of air gap and the nonlinearity of electromagnetic force and inductances. As a result of these constraints, the nonlinear control of a magnetic levitation system has been improved by the latest advanced processors and accurate measurement system which can overcome problems such as many constraints and nonlinearity. This paper concentrates on the modeling of a nonlinear magnetic levitation system and an application of an exponential reaching law based sliding mode controller using the exponential reaching law which is one of the most robust controllers against external unexpected disturbances or parameter fluctuations. Controllability of a magnetic levitation system using the sliding mode control algorithm and robustness against parameter fluctuations have been verified through the experimental results.

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References

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