FPGA fuzzy controller design for magnetic ball levitation

this paper presents a fuzzy controller design for nonlinear system using FPGA. A magnetic levitation system is considered as a case study and the fuzzy controller is designed to keep a magnetic object suspended in the air counteracting the weight of the object. Fuzzy controller will be implemented using FPGA chip. The design will use a high-level programming language HDL for implementing the fuzzy logic controller using the Xfuzzy tools to implement the fuzzy logic controller into HDL code. This paper, advocates a novel approach to implement the fuzzy logic controller for magnetic ball levitation system by using FPGA

Design and Implementation of Modern Controls for Drive and Suspension of a High Speed Double Conical Bearingless Motor on a Real-Time System

In this work, modern control approaches for drive and suspension of a high speed double conical bearingless motor are designed. Firstly, the air gap flux density and the forces acting on the rotor are analytically calculated. Subsequently, an elaborate model of the magnetically levitated rotor is developed, which considers the non-collocation of position sensors and levitation windings as well as the presence of angular motion. Three different control approaches are designed and simulated. The first approach comprises a state controller augmented with integral action, with which the closed loop dynamics are freely defined after pole placement. The other two approaches concern Linear Quadratic Gaussian and Model Predictive control. The pole placement control approach is tested successfully on the test bench with the real motor. Sinusoidal disturbance forces, with the rotational frequency, can cause large rotor orbits and may drive the inverters to their limits. For this reason, two synchronous filtering control strategies are developed. Using Imbalance Force Compensation, the rotor can be driven with low orbits at relatively low speed and using Imbalance Force Rejection, the rotor can be driven with low levitation currents at high speed. The control performance is evaluated by measurements and the measured frequency response of the closed loop system is presented

Development of FPGA-based Controllers for a Laboratory Model of a Spherical Inertial Reference Sensor with Optical Readout

Field Programmable Gate Arrays (FPGAs) are powerful and flexible instruments, particularly suited for the implementation of servo loops for experimental setups since they allow to frequently change the system without hardware modifications, thus resulting in a time and cost effective solution. Two FPGA-based controllers are presented in this thesis, developed in the frame of the construction of a laboratory model to investigate a novel inertial sensor concept for laser ranging space missions. The specific context of this work is the study of an alternative opto-mechanical architecture for the eLISA mission payload, for which an inertial reference sensor with a spherical test mass and optical readout has been proposed. Thanks to the possibility to operate the system in a full drag-free mode offered by the geometry of the test mass and to the high accuracy of the interferometric measurement of its center of mass, an advantage in terms of noise sensitivity of the sensor should be achieved with respect to the current baseline design. To validate this concept, a proof of its feasibility and an assessment of its performance need to be obtained with an earthbound laboratory model, whose success also relies, among other things, on the possibility to have stable laser signals for interferometric detection and a free-flying test mass kept in a steady position by a levitation system. Both these targets can be achieved through the implementation of an active control system stabilizing laser intensity via acousto-optic modulation in one case, and test mass height by means of a current modulated magnetic field in the other. The used servo loops, based on PID control scheme and implemented on a National Instruments FPGA board, are here described, focusing on the experimental characterization of the sensing and actuation hardware and on the controllers’ design through LabVIEW programming. Finally, the experimental trials carried out are illustrated, presenting the achieved results in terms of laser RIN reduction, the issues encountered for the test mass levitation and possible strategies for overcoming them in the continuation of the project

Levitation and control of particles with internal degrees of freedom

Levitodynamics is a fast growing field that studies the levitation and manipulation of micro- and nanoobjects, fuelled by both fundamental physics questions and technological applications. Due to the isolated nature of trapped particles, levitated systems are highly decoupled from the environment, and offer experimental possibilities that are absent in clamped nanomechanical oscillators. In particular, a central question in quantum physics is how the transition between the classical and quantum world materializes, and levitated objects represent a promising avenue to study this intermediate regime. In the last years, most levitation experiments have been restricted to optically trapped silica nanoparticles in vacuum, controlling the particle's position with intensity modulated laser beams. However, the use of optical traps severely constrains the experiments that can be performed, because few particle materials can withstand the optical absorption and resulting heating in vacuum. This completely prevents the use of objects with internal degrees of freedom, which---coupled to mechanical variables---offer a clear path towards the study of quantum phenomena at the macroscale. In this thesis, we address these issues by considering other types of trap and feedback schemes, achieving excellent control on the dynamics of optically active nanoparticles. With stochastic calculus, simulations and experiments, we study the dynamics of trapped particles in different regimes, considering also a hybrid quadrupole-optical trapping scheme. Then, using a Paul trap of our own design, we demonstrate the trapping, interrogation and feedback cooling of a nanodiamond hosting a single NV center in vacuum, a clear candidate to perform quantum physics experiments at the single spin level. Finally, we discuss and implement an optimal controller to cool the center of mass motion of an optically levitated nanoparticle. The feedback is realized by exerting a Coulomb force on a charged particle with a pair of electrodes, and thus requires no optics.La levitodinàmica és un camp de la física en ràpida expansió que estudia la levitació i manipulació de micro- i nano-objectes, empesa per la possibilitat de solucionar trencaclosques de física fonamental i de desenvolupar noves aplicacions tecnològiques. Gràcies al gran aïllament de les partícules en levitació, l’evolució dels sistemes levitodinàmics està molt desacoplada del seu entorn. Per consegüent, permeten fer experiments que no serien possibles en nanooscil·ladors mecànics sobre substrat. En particular, una qüestió central en física consisteix en entendre com es produeix la transició entre els mons clàssic i quàntic; els objectes en levitació permeten estudiar aquest règim intermedi de manera innovadora. En els últims anys, la majoria d’experiments de levitodinàmica s’han limitat a atrapar òpticament partícules de sílice en el buit, tot controlant la posició de la partícula amb feixos làser modulats. Tot i així, l’ús de trampes òptiques suposa un obstacle a l’hora d’exportar aquests experiments a règims més diversos perquè, a baixes pressions, pocs materials són capaços de suportar les altes temperatures resultants de l’absorció de llum làser. Això impedeix l’ús d’objectes amb graus de llibertat interns, que –acoplats a variables mecàniques– suposen un full de ruta clar per estudiar fenòmens quàntics a escala macroscòpica En aquesta tesi, adrecem aquestes qüestions tot considerant altres tipus de trampa i tècniques de feedback, i assolim un control excel·lent de la dinàmica de nanopartícules òpticament actives en levitació. Mitjançant càlcul estocàstic, simulacions i experiments, estudiem la dinàmica de les partícules en règims diversos, àdhuc considerant un esquema híbrid de trampa de Paul-òptica. A continuació, utilitzant una trampa de Paul, demostrem experimentalment l’atrapament, interrogació i feedback-cooling en el buit d’un nanodiamant que conté un únic NV− center, un clar candidat per a la realització d’experiments de física quàntica amb un únic spin. Finalment, estudiem i implementem un controlador òptim per a refredar el centre de massa d’una partícula òpticament levitada. El feedback es realitza exercint una força de Coulomb sobre una partícula carregada positivament mitjançant un parell d’elèctrodes, i per tant no requereix elements òptic

A Hybrid Controller for Stability Robustness, Performance Robustness, and Disturbance Attenuation of a Maglev System

Devices using magnetic levitation (maglev) offer the potential for friction-free, high-speed, and high-precision operation. Applications include frictionless bearings, high-speed ground transportation systems, wafer distribution systems, high-precision positioning stages, and vibration isolation tables. Maglev systems rely on feedback controllers to maintain stable levitation. Designing such feedback controllers is challenging since mathematically the electromagnetic force is nonlinear and there is no local minimum point on the levitating force function. As a result, maglev systems are open-loop unstable. Additionally, maglev systems experience disturbances and system parameter variations (uncertainties) during operation. A successful controller design for maglev system guarantees stability during levitating despite system nonlinearity, and desirable system performance despite disturbances and system uncertainties. This research investigates five controllers that can achieve stable levitation: PD, PID, lead, model reference control, and LQR/LQG. It proposes an acceleration feedback controller (AFC) design that attenuates disturbance on a maglev system with a PD controller. This research proposes three robust controllers, QFT, Hinf , and QFT/Hinf , followed by a novel AFC-enhanced QFT/Hinf (AQH) controller. The AQH controller allows system robustness and disturbance attenuation to be achieved in one controller design. The controller designs are validated through simulations and experiments. In this research, the disturbances are represented by force disturbances on the levitated object, and the system uncertainties are represented by parameter variations. The experiments are conducted on a 1 DOF maglev testbed, with system performance including stability, disturbance rejection, and robustness being evaluated. Experiments show that the tested controllers can maintain stable levitation. Disturbance attenuation is achieved with the AFC. The robust controllers, QFT, Hinf , QFT/ Hinf, and AQH successfully guarantee system robustness. In addition, AQH controller provides the maglev system with a disturbance attenuation feature. The contributions of this research are the design and implementation of the acceleration feedback controller, the QFT/ Hinf , and the AQH controller. Disturbance attenuation and system robustness are achieved with these controllers. The controllers developed in this research are applicable to similar maglev systems

NASA Tech Briefs, September 2011

Topics covered include: Fused Reality for Enhanced Flight Test Capabilities; Thermography to Inspect Insulation of Large Cryogenic Tanks; Crush Test Abuse Stand; Test Generator for MATLAB Simulations; Dynamic Monitoring of Cleanroom Fallout Using an Air Particle Counter; Enhancement to Non-Contacting Stress Measurement of Blade Vibration Frequency; Positively Verifying Mating of Previously Unverifiable Flight Connectors; Radiation-Tolerant Intelligent Memory Stack - RTIMS; Ultra-Low-Dropout Linear Regulator; Excitation of a Parallel Plate Waveguide by an Array of Rectangular Waveguides; FPGA for Power Control of MSL Avionics; UAVSAR Active Electronically Scanned Array; Lockout/Tagout (LOTO) Simulator; Silicon Carbide Mounts for Fabry-Perot Interferometers; Measuring the In-Process Figure, Final Prescription, and System Alignment of Large; Optics and Segmented Mirrors Using Lidar Metrology; Fiber-Reinforced Reactive Nano-Epoxy Composites; Polymerization Initiated at the Sidewalls of Carbon Nanotubes; Metal-Matrix/Hollow-Ceramic-Sphere Composites; Piezoelectrically Enhanced Photocathodes; Iridium-Doped Ruthenium Oxide Catalyst for Oxygen Evolution; Improved Mo-Re VPS Alloys for High-Temperature Uses; Data Service Provider Cost Estimation Tool; Hybrid Power Management-Based Vehicle Architecture; Force Limit System; Levitated Duct Fan (LDF) Aircraft Auxiliary Generator; Compact, Two-Sided Structural Cold Plate Configuration; AN Fitting Reconditioning Tool; Active Response Gravity Offload System; Method and Apparatus for Forming Nanodroplets; Rapid Detection of the Varicella Zoster Virus in Saliva; Improved Devices for Collecting Sweat for Chemical Analysis; Phase-Controlled Magnetic Mirror for Wavefront Correction; and Frame-Transfer Gating Raman Spectroscopy for Time-Resolved Multiscalar Combustion Diagnostics

High performance control of a multiple-DOF motion platform for driver seat vibration test in laboratory

Dynamic testing plays an important part in the vehicle seat suspension study. However, a large amount of research work on vibration control of vehicle seat suspension to date has been limited to simulations because the use of a full-size vehicle to test the device is an expensive and dangerous task. In order to decrease the product development time and cost as well as to improve the design quality, in this research, a vibration generation platform is developed for simulating the road induced vehicle vibration in laboratory. Different from existing driving simulation platforms, this research focuses on the vehicle chassis vibration simulation and the control of motion platform to make sure the platform can more accurately generate the actual vehicle vibration movement. A seven degree-of-freedom (DOF) full-vehicle model with varying road inputs is used to simulate the real vehicle vibration. Moreover, because the output vibration data of the vehicle model is all about the absolute heave, pitch and roll velocities of the sprung mass, in order to simulate the vibration in all dimensions, a Stewart multiple-DOF motion platform is designed to generate the required vibration. As a result, the whole vibration simulator becomes a hardware-in-the-loop (HIL) system. The hardware consists of a computer used to calculate the required vibration signals, a Stewart platform used to generate the real movement, and a controller used to control the movement of the platform and implemented by a National Instruments (NI) CompactRIO board. The data, which is from the vehicle model, can be converted into the length of the six legs of the Stewart platform. Therefore, the platform can transfer into the same posture as the real vehicle chassis at that moment. The success of the developed platform is demonstrated by HIL experiments of actuators. As there are six actuators installed in the motion platform, the signals from six encoders are used as the feedback signals for the control of the length of the actuators, and advanced control strategies are developed to control the movement of the platform to make sure the platform can accurately generate the required motion even in heavy load situations. Theoretical study is conducted on how to generate the reasonable vibration signals suitable for vehicle seat vibration tests in different situations and how to develop advanced control strategies for accurate control of the motion platform. Both simulation and experimental studies are conducted to validate the proposed approaches