Modelagem, controle e simulação de um sistema de levitação magnética

Abstract

Magnetic Levitation systems are described as nonlinear systems, inherent in the behavior of the magnetic force exerted on the ferromagnetic object to be levitated, and fundamentally unstable in open-loop. The aim of this paper was to make studies on linearization techniques around an operating point, enabling stability analysis and application of classical methods of control for the project of an able controller to stabilze and give good performance for the Magnetic Levitation System . Two models were tested, with purpose to represent the nonlinear behavior of the inductance, found in the technical literature, and chosen the model which showed the smallest error in comparison with the simulated behavior of the inductance. The model chosen was linearized and was designed a controller by root locus method. Simulation results about the voltage and current signals behavior from the system are presented, even as the behavior of the ferromagnetic object levitated in a ideal situation and also with insertion of a disturbances in the position signal. The mathematical model of SLM behaved as expected showing nonlinearity and instability, however the projected controller showed a good performance stabilizing the system.