Magnetic Suspension Experiment II: 10 foot long beam
Final Experimental Setup
The final experimental setup for the magnetic suspension consists of
8 sensors and 8 actuators. The hardware and electronics are completed.
The experimental setup can be used to study the sensor/actuator positioning,
and controller design.
Beam Dynamics
Magnetic suspension of an elongated beam is difficult because of its
lightly-damped vibration modes. The Bode plots of the system plant is shown in the following graph, it includs the dynamics of
the beam, sensor, actuator and time delay.
Clamped-Free Ends Suspension
This magnetic suspension experiment uses 8 sensor and 8 actuator to
suspend the 10 foot long tube, while one end is free and the other end is clamped.
The suspension control is implemented by using a multiple-lead compensator on X axis, and
another multiple-lead compensator on Y axis; X and Y direction dynamics are assumed
uncoupled and are controlled independently. The closed loop bandwidth covers
about 8 to 10 vibration modes.
