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A novel fractional-order enhanced model reference adaptive controller (FOEMRAC) approach for magnetic end effectors

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Abstract

In this work, the practical implementation of magnetic end effector is presented using magnetic levitation (Maglev) system as a working prototype, due to their similar functionality. Maglev refers to a method by which an object can be suspended with the aid of a magnetic field. The motive of this research is to propose a novel fractional-order enhanced model reference adaptive controller (FOEMRAC)-based approach for controlling the stability of the levitating magnetic objects. FOEMRAC uses modified MIT rule as the adaptation mechanism in this system. The stability analysis of Maglev system has been conducted using Matignon theorem. The simulation is carried out using Quanser Maglev system, and a comparative study is conducted with other existing state-of-the-art approaches. The integral error criterion including integral absolute error, integral square error, and integral time absolute error, and other performance metrics such as rise time, settling time, overshoot, and undershoot have been used to compare the robustness of the controllers under nominal, load disturbance, and parametric uncertain environments. Further, the results are verified on the hardware in real time which reveal that FOEMRAC shows efficient results than other controllers and thus can be used to enhance the performance of the magnetic end effector in real-time environment.

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Data Availability

No datasets were generated or analyzed during the current study.

Abbreviations

\(V_\textrm{c}\) :

Maximum coil voltage

\(V_\textrm{s}\) :

Voltage sense

\(I_\textrm{c}\) :

Coil current

\(R_\textrm{c}\) :

Coil resistance

\(L_\textrm{c}\) :

Coil inductance

\(R_\textrm{s}\) :

Current sense resistance

\(T_\textrm{b}\) :

Ball travel

\(x_b\) :

Air gap

\(r_\textrm{b}\) :

Radius of steel ball

\(M_\textrm{b}\) :

Mass of steel ball

\(F_c\) :

Attractive force

\(F_\textrm{g}\) :

Gravitational force

\(V_\textrm{b}\) :

Ball position sensor voltage

\(K_c\) :

DC gain

\(\tau _\textrm{c}\) :

Time constant

\(K_m\) :

Electromagnetic force constant

\(M_\textrm{b}\) :

Mass of ball

g :

Gravitational constant

\(K_b\) :

Steady-state gain

\(\omega _b\) :

Oscillation natural frequency

\(k_{\textrm{pc}}\) :

Proportional gain for coil current control

\(k_{\textrm{ic}}\) :

Integral gain for coil current control

\(I_\textrm{r}\) :

Reference current

I :

Measured coil current

V :

Applied coil voltage

\(K_c\) :

DC gain

\(k_{\textrm{pb}}\) :

Proportional gain for ball position control

\(k_{\textrm{ib}}\) :

Integral gain for ball position control

\(k_{\textrm{vb}}\) :

Velocity gain for ball position control

\(k_{\textrm{ffb}}\) :

Feedforward gain for ball position control

\(X_\textrm{r}\) :

Reference ball position

X :

Measured ball position

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Acknowledgements

The authors thank Thapar Institute of Engineering and Technology, Patiala, India, for providing the necessary infrastructure for completing this research.

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Authors and Affiliations

  1. Department of Electrical and Instrumentation Engineering, Thapar Institute of Engineering and Technology, Patiala, Punjab, 147004, India

    Manpreet Kaur, Swati Sondhi & Venkata Karteek Yanumula

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  1. Manpreet Kaur
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  2. Swati Sondhi
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  3. Venkata Karteek Yanumula
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Contributions

MK was involved in exploring and implementation of the proposed approach, and manuscript writing. SS contributed in conceptualization, finalizing the proposed approach, and prepared the draft of manuscript. VKY helped in editing and improving the manuscript text. All authors have read and approved the final manuscript.

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Correspondence to Manpreet Kaur.

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Kaur, M., Sondhi, S. & Yanumula, V.K. A novel fractional-order enhanced model reference adaptive controller (FOEMRAC) approach for magnetic end effectors. Electr Eng (2024). https://doi.org/10.1007/s00202-023-02236-0

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