Hope College Department of Physics and Engineering Research Experiences for Undergraduates Summer 2003 Project Summary

Project Title: Control Analysis and Design of Magnetic Levitation Space Launch System
Student Name: Eric Jongekryg
Student’s home institution: Hope College
Research Advisor(s): Dr. Joe Kaloust
Source of Support: Michigan Space Grant
 

This research project focused on a nonlinear robust control design for a 6 degree of freedom (DOF) magnetic levitation (Maglev) system. The 6 DOF were broken down into three translational and three rotational DOF. The goals were threefold: to gain a better understanding of the dynamics and uncertainties associated with Maglev models, to develop a six DOF nonlinear mathematical model for the system, and to design non-linear controllers in the presence of uncertain dynamics including negative damping due to eddy currents. The recursive controller was designed using a combination of a non-linear state transformation and Lyapunov's direct method in order to guarantee global stability for the nonlinear Maglev system. Simulations were conducted using the Matlab/Simulink software package. The simulation results showed good performance of the nonlinear controller.

Slide show of Eric Jongekryg's work (Requires Microsoft PowerPoint or a PowerPoint viewer.