A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System

Hasan  Alipour; Mohammad Bagher  Bana Sharifian; Hadi  Afsharirad

doi:10.4236/epe.2012.43022

Hasan Alipour, Mohammad Bagher Bana Sharifian, Hadi Afsharirad

Abstract: In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on application conditions. However, an acceptable controller for ropeless elevator guiding system should guaranty the passengers safety and convenient. Consequently, the response of the system should be fast, robust, and without considerable overshoots and oscillations. These required advantages are compromised in the proposed parallel PID sliding mode controller. The affectivity of the introduced controllers for maglev guiding system is investigated through conducted simulations in MATLAB/Simulink environment. The obtained results illustrate that PID sliding mode controller is a so fast and robust controller for a ropeless elevator maglev guiding system.

Keywords: Guiding System; Linear Ropeless Elevator; Non-Linear Control; PID Sliding Mode Controller

Cite this paper: H. Alipour, M. Bana Sharifian and H. Afsharirad, "A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System," Energy and Power Engineering, Vol. 4 No. 3, 2012, pp. 158-164. doi: 10.4236/epe.2012.43022.

References

[1] J. F. Gieras, Z. J. Piech and B. Tomczuk, “Linear Synchronous Motors, Transportation and Automation Systems,” 5th Edition, CRC Press, Boca Raton, 1999.

[2] D. M. Yu, M. L. Hao and H. Liu, “Fuzzy Control of Maglev Guiding System in Liner Elevator Based on Feedback Linearization,” 30th Chinese Control Conference, 22-24 July 2011, pp. 2899-2902.

[3] K. Davey, “New Electromagnetic Lift Control Method for Magnetic Levitation Systems and Magnetic Bearings,” IEEE Transactions on Magnetics, Vol. 40, No. 3, 2004, pp. 1617-1624. doi:10.1109/TMAG.2004.827189

[4] B. Schmulling, O. Effing and K. Hameyer, “State Control of an Electromagnetic Guiding System for Ropeless Elevators,” European Conference on Power Electronics and Applications, Aalborg, 2-5 September 2007, pp. 1-10. doi:10.1109/EPE.2007.4417287

[5] B. Schmulling, R. Appunn and K. Hameyer, “Electromagnetic Guiding of Vertical Transportation Vehicles: State Control of an Over-Determined System,” 18th International Conference on Electrical Machines, Vilamoura, 6-9 September 2008, pp. 1-6. doi:10.1109/ICELMACH.2008.4800171

[6] R. Appunn, B. Schmulling and K. Hameyer, “Electromagnetic Guiding of Vertical Transportation Vehicles: Experimental Evaluation,” IEEE Transactions on Indus- trial Electronics, Vol. 57, No. 1, 2010, pp. 335-343. doi:10.1109/TIE.2009.2032432

[7] S. M. Yang and M. S. Huang, “Design and Implementation of a Magnetically Levitated Single-Axis Controlled Axial Blood Pump,” IEEE Transactions on Industrial Electronics, Vol. 56, No. 6, 2009, pp. 2213-2219. doi:10.1109/TIE.2009.2017095

[8] Z. V. Despotovic and Z. Stojiljkovic, “Power Converter Control Circuits for Two-Mass Vibratory Conveying System with Electromagnetic Drive: Simulations and Experimental Results,” IEEE Transactions on Industrial Electronics, Vol. 54, No. 1, 2007, pp. 453-466. doi:10.1109/TIE.2006.888798

[9] C. K. Lim, I. M. Chen, L. Yan, G. Yang and K. M. Lee, “Electromechanical Modeling of a Permanent-Magnet Spherical Actuator Based on Magnetic-Dipole-Moment Principle,” IEEE Transactions on Industrial Electronics, Vol. 56, No. 5, 2009, pp. 1640-1648. doi:10.1109/TIE.2008.2009526

[10] H. Qing, H. Mingliang and L. Hao, “Fuzzy PI control of Maglev Guiding System Based on Feedback Linearization,” Chinese Control and Decision Conference, Mianyang, 23-25 May 2011, pp. 1213-1216. doi:10.1109/CCDC.2011.5968372

[11] H. Qing, L. Hao and O. Lisheng, “Fuzzy PID Nonlinear Control of Maglev Guiding System for Linear Elevator Based in Feedback Linearization,” 7th International Conference on Fuzzy Systems and Knowledge Discovery, Yantai, 10-12 August 2010, pp. 1277-1280. doi:10.1109/FSKD.2010.5569119

[12] T. Sakamoto and Y. Noma, “Guidelines for VSS Controller Design of LSM-Driven Ropeless Elevator,” IEEE International Symposium on Industrial Electronics, Seoul, 5-8 July 2009, pp. 1564-1568. doi:10.1109/ISIE.2009.5215938

[13] B. Schmu?lling, P. Laumen and K. Hameyer, “Improvement of a Non-Contact Elevator Guiding System by Implementation of an Additional Torsion Controller,” IEEE Energy Conversion Congress and Exposition, Atlanta, 12-16 September 2010, pp. 2971-2976. doi:10.1109/ECCE.2010.5618232

[14] E. S. Jean-Jacques and W. P. Li, “Applied Nonlinear Control,” Prentice Hall, Upper Saddle River, 1991.

[15] X. Zhang, H. Y. Yu and H. Liu, “A Novel Control for Linear Elevator Based on Reference Model Sliding Model,” IEEE International Conference on Automation and Logistics, Shenyang, 5-7 August 2009, pp. 734-737. doi:10.1109/ICAL.2009.5262828

[16] M. B. B. Sharifian, H. Afsharirad and S. Galvani, “A Particle Swarm Optimization Approach for optimum Design of PID Controller in Linear Elevator,” International Power and Energy Conference, Singapore, 27-29 October 2010, pp. 451-455. doi:10.1109/IPECON.2010.5697038