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Experiment - 2: Magnetic Levitation

The document describes an experiment using a magnetic levitation system to control the motion of a steel ball with a PID controller. It explains the apparatus, theory, procedure, precautions and results of testing different PID parameters for step, sine and square input trajectories.

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THORAT SATISH PRAKASH
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43 views7 pages

Experiment - 2: Magnetic Levitation

The document describes an experiment using a magnetic levitation system to control the motion of a steel ball with a PID controller. It explains the apparatus, theory, procedure, precautions and results of testing different PID parameters for step, sine and square input trajectories.

Uploaded by

THORAT SATISH PRAKASH
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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EXPERIMENT 2

MAGNETIC
LEVITATION

JOBIN T
MATHEWS
ME16MTECH11
032
AI
M
Motion control of a steel ball with the help of PID (Proportional diferential and
integral ) controller using magnetic levitation principle.

APPARAT
US
Magnetic levitation system, magnetic ball, PID (Proportional Diferential

Integral) controller etc. The maglev system can be decomposed into two

subsystems, a mechanical subsystem and an


electrical subsystem. The ball position in mechanical subsystem can be
controlled by adjusting the current through the electromagnet whereas the
current through the electromagnet in electrical subsystem can be controlled
by applying controlled voltage across the electro-magnetic terminal. Thus the
voltage applied across the electromagnet terminal provides an indirect
control of ball position.

THEO
RY
The physical system consists of ball which is under the
influence of three forces

The magnetic feld produced by inductive coil


The gravitational force acting downwards
A damping force which acts in direction opposite to motion of ball

Magnetic levitation, maglev is a method by which an object is suspended


with no support other than magnetic felds. Magnetic force is used to
counteract the efects of the gravitational acceleration and any other
accelerations.
The two primary issues involved in magnetic levitation are lifting forces
providing an upward force sufcient to counteract gravity, and stability:
ensuring that the system does not spontaneously slide or flip into a
configuration where the lift is neutralized.

The parameters which are used for controlling these forces are Kp , Kd , Ki .
K : A proportional controller will have the efect of reducing the rise time
p will reduce but
and
never eliminate the steady-
state error.
K i : An integral control will have the efect of eliminating the steady-state

error for a constant or


step input, but it may make the transient
response slower.
K d : A derivative control will have the efect of increasing the stability of

the system, reducing


the overshoot, and improving the transient
response.
Stand by mode : inbuilt control in which steel ball is maintained at
particular height in air and there is no motion of ball.

Real time control : Can be assigned motion

PROCEDURE
Start matlab and matlab >> Simulink models >> real time models >>
maglev PID

Getting in PID controller mode there are 3 modes of trajectory to work


upon , step sin and square mode. Use toggle switch to change from one
mode to another.
Double click on

PID dialog box we will see a new window with 3 parameters K p , K d , K i


where K is influencing steady state error , K to increase damping
i
and K prevents p
d
overshoot.
Keep on changing K p , K d , K i (as trial and error ) to match the output

signal with input


trajectory.

PRECAUTIONS
After changing the value of ( Kp ,Ki, Kd) we must stop the program.
While placing the ball between the magnetic feld, ball should be
stationary and there
shouldnt be any wobbling.
Close the circuit before starting the experiment.

RESUL
T Sine Kp Ki Kd

3 3 .2
Kp Ki Square
Kd

3. .58 .2
4

Step
Kp Ki Kd

3. .58 .2
4

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