The realization of an educational thyristor-driven magnetic levitation control system is described. The multiloop control includes the inner loop current dynamic control of the electrical subsystem and the outer loop ball position control of the mechanical subsystem. The proportional-integral (PI) and proportional-derivative (PD) compensations are exploited to implement the controllers for the subsystems. Robustness analysis for the effect ripple guarantees and shows the capability of the thyristor D.C. driver in the magnetic suspension system. Real-time control of the experimental setup demonstrates the feasibility of this mechatronic design architecture.
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