Mechatronics examples for teaching modeling, dynamics, and control
Author(s)
Xie, Yi, 1980-
DownloadFull printable version (10.07Mb)
Other Contributors
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Advisor
David L/ Trumper.
Terms of use
Metadata
Show full item recordAbstract
This thesis presents the development of a single-axis magnetic suspension. The intention is to use this system as a classroom demo for an introductory course on modeling, dynamics, and control. We solve this classic nonlinear controls problem with feedback linearization; the main advantage with this technique is operating point independency. However, it is highly sensitive to modeling errors and unpredicted plant behavior. We overcome these barriers by using a model based on both theory and experimentally determined behavior. This paper details the theory, modeling, and implementation, concluding with performance analysis.
Description
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003. Includes bibliographical references (leaves 109-110).
Date issued
2003Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer SciencePublisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.