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Project9 Levitation

This document summarizes a magnetic levitation model apparatus used to demonstrate control problems for nonlinear unstable systems. The apparatus uses a copper coil, position sensor, and data acquisition card to levitate a steel ball and control its position. Mathematical models of the system's dynamics are presented to simplify derivation and control design. A PID demonstration program is included to allow basic experiments with the model.

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gundemzuhal
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21 views6 pages

Project9 Levitation

This document summarizes a magnetic levitation model apparatus used to demonstrate control problems for nonlinear unstable systems. The apparatus uses a copper coil, position sensor, and data acquisition card to levitate a steel ball and control its position. Mathematical models of the system's dynamics are presented to simplify derivation and control design. A PID demonstration program is included to allow basic experiments with the model.

Uploaded by

gundemzuhal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

(double-click on orange itens for definition)

MAGNETIC LEVITATION MODEL (CE 152)


1. SUMMARY
This text is based on HUMUSOFT user's manual for CE 152 - MAGNETIC
LEVITATION MODEL including several passages from that. The aim of this page is to
present to student only the basic information concerning about the model. Further
information can be found on the manual by itself and control theory textbooks.

The apparatus is composed by a copper coil driven by power voltage/current


conversor, an inductive linear position sensor and a MF614 data acquisition card.
This is a standart PCI card with 8 single ended 12 bit A/D convertors channels, 2 12
bit D/A convertors, 8 digital TTL inputs and 8 digital TTL outputs.

Two input channels used for ball position and coil current measurement . One
analog output used for coil power amplifier driving. The power amplifier is built-in
current/voltage power convertor with coil overheat protection and Input: 0-5 V and
Output 0-1.5 A and 0.3 A/V( figure 1).

figure 1- Block Diagrams and Cabling

'The scale model demonstrates control problems associeted with nonlinear


unstable systems. The system consists of a coil levitating a steel ball in magnetic
field. Position of the steel ball is sensed by inductive linear position sensor
connected to A/D convertor. The coil is driven by power amplifier connected to D/A
convertor. The basic control task is to control the position of the ball freely levitating
in the magnetic field of the coil. The levitation system is a nonlinear dynamic
system with one input and one output. The system is designed to be controlled by
digital controllers.(figure 2 and 3)'

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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

figure 2- Photo of Levitation Model

figure 3- Interface to the CE152 Magnetic Levitation Model

2. MODELING
Now it is presented one mathematical model not considering all of the dynamical
properties of the device attempting to simplify the derivation of the model. It is a
systematic modelling method whose approach is a direct derivation of the model by
computing the force balance.

2.2 Ball & Coil subsystem

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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

figure 4- Force balance scheme for the coil and ball subsystem

The motion equation is based on the balance of all forces acting on the ball, i.e.
gravity force (Fg), electromagnetic force (Fm) and the acceleration force (Fa) as
seen above.

2.3 The power amplifier


The power amplifier is designed as a source of constant current with the
feedback current stabilisation (figure 5).

I
figure 5- The power amplifier and its internal structure

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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

Because neither amplifier gain (Kam) nor the coil resistence (R) and inductance
(L) are directly measurable, the amplifier and coil subsystem has to be modelled
with the transfer function of 1st order with aggregated coefficients Ki - gain and Ta
- time constant.

The amplifier is designed so that its time constant is negligible with respects to
system dynamics and the current limits are not reached under standart operating
conditions. Then the subsystem can be modelled just as a constant gain:

2.4 D/A converter


This block includes the influence of the D/A acquisition card plus the software
used for the data acquisition:

2.6 Position Sensor


An inductive position sensor is used to measure the ball position. The sensor can
be approximated with a linear function:

2.7 A/D converter


This block includes the influence of the A/D acquisition card plus the software
used for the data acquisition. If the influence of limits is neglected, this relationship
is described by a linear function:

2.8 Complete system dynamics


The simplified motion equation for the system is:

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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

After substitution of (4.7) and (4.9) into (4.11):

Because is not directly measurable, the therm is substituted by a


current/force constant

2.9 Detailed Model


The detailed model is based on the simple model, but in addition to this the
influence of input amplifier dynamics, limits of the ball movements and ball
damping is taken into account. To model the damping, the term Kfv is introduced
into the equation (4.11)

To model the limits, model constants have to vary according the ball position

2.10 PID Demonstration Program


The PID demonstration program is intended for the basic experiments only and
for quick start with using the model. For advanced experiments the student are
supposed to use MATLAB software.

2.10.1 Running the program

In Windows you can run the demonstration program by double-clicking the-


shortcut to CE152 Magnetic Levitation Model

After running the program you'll see main control panel window.

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LEVITATION http://www.352.vsb.cz/english/laboratories/advanced-models-laborator...

figure6 - Main control panel window

You can see buttons labeled Start, Stop, Plot and Reset at the down right
corner of the screen. In the working area there is a filled green circle representing
the actual position of the metal ball and an empty red circle showing the setpoint.

By clicking the Start button you start the control process. Pressing Stop button
stops the experiment. You can change the setpoint by pointing the mouse cursor to
the working area and clicking the mouse at the position of the new setpoint . The
cursor changes its shape to indicate that the setpoint setting is active. The red
circle changes its position and controller immediatelly accepts the new value of set
point. You can also change the PID coefficients by dragging the button to change
the mantissa. Another possibility for changing the PID coefficients is to use the
Controller menu item. The Reset button reverts the original coefficients of the PID
controller. You can exit the demonstration program by closing the main control
panel window.

By clicking the Plot button you open a new screen to see history plots. Similarly
to the main control panel, the red lines represent the setpoints and the green lines
represent the actual position. You can hold the updating by clicking the Hold button
and clear the plots by clicking the Clear button. By clicking the close button you
close this window. The range of the time axis can be set from the Range menu.

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