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Fuzzy PID Control of an Electromagnetic Suspension System - revised

# Fuzzy PID Control of an Electromagnetic Suspension System - revised

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John Barnes ME697Y Intelligent Systems April 8, 2010

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System Description y Steel ball suspended below an electromagnet by a distance Z. y The current through the electromagnet, I, induces an upward force, F, that counteracts gravity. y U is the controlled voltage.
System Model y Newton’s Second Law: y The force is linearized around the set point F 0 ,Z 0 ,I 0 : y If the resistance in the wire is R, then the control voltage is:

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Input Output Equation y The I/O equation can be solved for: y P1 is the stable pole, and P2 is the unstable pole. Also: y P1 = 1/T e and P2 = y Because the system is inherently unstable (P2 in right half plane), the mass must be kept near the operating point. / me KT
Fuzzy Control Structure (1) y Traditional Fuzzy PID control requires N MF ^ 3 rules, since there are 3 inputs (P, I, & D). y N MF is the number of membership functions per input. y Three input membership functions, N, Z, & P, were chosen for each input variable.

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Fuzzy PID Control of an Electromagnetic Suspension System - revised

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