Graduation Semester and Year

2007

Language

English

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Panayiotis S Shiakolas

Abstract

The principal investigation undertaken in this research is the development and subsequent implementation of a feedback linearizing nonlinear controller and extended Kalman filter for a laboratory-based Magnetic Levitation (Maglev) device. The Maglev hardware is both highly nonlinear and open-loop unstable in its dynamic response. The control and estimation scheme proposed in this work is first validated using an increasingly sophisticated level of simulations. The control and estimation algorithm had the sensor noise identified using hardware data. Then, the plant noise covariance is tuned using both on-line and off-line hardware data. Additionally, the output of the nonlinear controller is then mapped to hardware-suitable levels using a digital lead-lag controller. Experimental results are included where the system is given a set of reference trajectories to track.

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

Comments

Degree granted by The University of Texas at Arlington

Download

Share

COinS