A Fault Tolerant Control Approach to Three Dimensional Magnetic Levitation By James Ballard

Contents Introduction Levitation Concept Fault Tolerant Techniques Prototype Validation of Simulations Conclusions and Recommendations

Introduction Magnetic Levitation Fault Tolerance (Safety) Magnetic Repulsion Feedback Control Fault Tolerance (Safety) Hardware Dynamic

Levitation Concept z Force due to gravity x y Horizontal ring magnet Force component Force from ring magnet Ix Ix

Feedback Control Loop Proportional Gain Pole Placement Proportional, Integral, Differential (PID)

Proportional Gain Feedback Control From mathematical analysis: Positive gain: No negative poles Negative gain: Positive pole Unstable levitation

Pole Placement Feedback Control Stable response achieved (P1=-80, P2=-100) Gain values too high for embedded system

PID Feedback Control Stable levitation achieved 𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69 Stable levitation achieved Gain values suitable for embedded system

Dynamic Redundancy

Hardware Redundancy

The Prototype

Validation of Simulation: Stable Prototype 𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69 Simulation

Validation of Simulation: Unstable Prototype 𝐾𝑝=3 𝐾𝑖=2 𝐾𝑑=1 Simulation

Dynamic Redundancy Test

Conclusions and Recommendations Naturally unstable PID control most suitable Fault tolerant techniques prevent system failure

Future Work Improved hardware redundancy Development of an observer User Interactivity

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