Investigation of a Quasi-Integral Sliding Mode Control for a nonlinear Maglev experimental system

IF 2.5 3区材料科学 Q3 MATERIALS SCIENCE, MULTIDISCIPLINARY

Journal of Magnetism and Magnetic Materials Pub Date : 2025-06-14 DOI:10.1016/j.jmmm.2025.173301

Hamna Malik , Sarvat M. Ahmad

{"title":"Investigation of a Quasi-Integral Sliding Mode Control for a nonlinear Maglev experimental system","authors":"Hamna Malik , Sarvat M. Ahmad","doi":"10.1016/j.jmmm.2025.173301","DOIUrl":null,"url":null,"abstract":"<div><div>This paper investigates a robust control technique for a magnetic levitation (Maglev) system designed for practical use, addressing common failures of payload-specific systems that operate only under ideal lab conditions. A payload-agnostic maglev system is developed to handle external perturbations and noise. A high-fidelity non-linear electromechanical-coupled model of a ferromagnetic beam and electromagnets is developed by empirically determining key model parameters. Due to the intrinsic instability and nonlinearity of maglev systems, high sampling frequencies are necessary for effective stabilization, making complex controllers impractical. A Quasi-Integral Sliding Mode Controller (QISMC) is proposed, balancing simplicity and robustness while addressing chattering and steady-state error issues typical of conventional Sliding Mode Controllers (SMC). The QISMC’s performance is compared to a linear PIDN controller, which, despite its effectiveness in limited ranges, underperforms in dynamic environments whereas the QISMC excels. The control algorithms are implemented on a dedicated embedded system using Simulink Desktop Real-Time software, and experimental results confirm the simulations’ accuracy, showing strong consistency between theoretical predictions and real-world performance.</div></div>","PeriodicalId":366,"journal":{"name":"Journal of Magnetism and Magnetic Materials","volume":"629 ","pages":"Article 173301"},"PeriodicalIF":2.5000,"publicationDate":"2025-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Magnetism and Magnetic Materials","FirstCategoryId":"88","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0304885325005335","RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"MATERIALS SCIENCE, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

This paper investigates a robust control technique for a magnetic levitation (Maglev) system designed for practical use, addressing common failures of payload-specific systems that operate only under ideal lab conditions. A payload-agnostic maglev system is developed to handle external perturbations and noise. A high-fidelity non-linear electromechanical-coupled model of a ferromagnetic beam and electromagnets is developed by empirically determining key model parameters. Due to the intrinsic instability and nonlinearity of maglev systems, high sampling frequencies are necessary for effective stabilization, making complex controllers impractical. A Quasi-Integral Sliding Mode Controller (QISMC) is proposed, balancing simplicity and robustness while addressing chattering and steady-state error issues typical of conventional Sliding Mode Controllers (SMC). The QISMC’s performance is compared to a linear PIDN controller, which, despite its effectiveness in limited ranges, underperforms in dynamic environments whereas the QISMC excels. The control algorithms are implemented on a dedicated embedded system using Simulink Desktop Real-Time software, and experimental results confirm the simulations’ accuracy, showing strong consistency between theoretical predictions and real-world performance.

查看原文本刊更多论文

非线性磁悬浮实验系统的准积分滑模控制研究

本文研究了为实际使用而设计的磁悬浮系统的鲁棒控制技术，解决了仅在理想实验室条件下运行的有效载荷特定系统的常见故障。提出了一种有效载荷不可知的磁悬浮系统来处理外部扰动和噪声。通过经验确定模型关键参数，建立了铁磁束流与电磁铁的高保真非线性机电耦合模型。由于磁悬浮系统固有的不稳定性和非线性，高采样频率是有效稳定所必需的，这使得复杂的控制器不切实际。提出了一种准积分滑模控制器（QISMC），平衡了简单性和鲁棒性，同时解决了传统滑模控制器（SMC）典型的抖振和稳态误差问题。QISMC的性能与线性PIDN控制器进行了比较，后者尽管在有限范围内有效，但在动态环境中表现不佳，而QISMC则表现出色。利用Simulink Desktop Real-Time软件在专用嵌入式系统上实现了控制算法，实验结果证实了仿真的准确性，表明理论预测与实际性能具有较强的一致性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Journal of Magnetism and Magnetic Materials 物理-材料科学：综合

CiteScore

5.30

自引率

11.10%

发文量

1149

审稿时长

59 days

期刊介绍： The Journal of Magnetism and Magnetic Materials provides an important forum for the disclosure and discussion of original contributions covering the whole spectrum of topics, from basic magnetism to the technology and applications of magnetic materials. The journal encourages greater interaction between the basic and applied sub-disciplines of magnetism with comprehensive review articles, in addition to full-length contributions. In addition, other categories of contributions are welcome, including Critical Focused issues, Current Perspectives and Outreach to the General Public. Main Categories: Full-length articles: Technically original research documents that report results of value to the communities that comprise the journal audience. The link between chemical, structural and microstructural properties on the one hand and magnetic properties on the other hand are encouraged. In addition to general topics covering all areas of magnetism and magnetic materials, the full-length articles also include three sub-sections, focusing on Nanomagnetism, Spintronics and Applications. The sub-section on Nanomagnetism contains articles on magnetic nanoparticles, nanowires, thin films, 2D materials and other nanoscale magnetic materials and their applications. The sub-section on Spintronics contains articles on magnetoresistance, magnetoimpedance, magneto-optical phenomena, Micro-Electro-Mechanical Systems (MEMS), and other topics related to spin current control and magneto-transport phenomena. The sub-section on Applications display papers that focus on applications of magnetic materials. The applications need to show a connection to magnetism. Review articles: Review articles organize, clarify, and summarize existing major works in the areas covered by the Journal and provide comprehensive citations to the full spectrum of relevant literature.