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Modeling and Control of A Magnetic Levitation System: Bradley University

This document describes a magnetic levitation system project that involves modeling and controlling a lab-scale system to levitate a steel sphere using electromagnetism. The system uses a position sensor to measure the ball's position and generate an error signal based on the set point and reference input. This error signal is sent to a microcontroller through amplifiers and protective circuitry. The microcontroller then computes a control signal that is amplified and sent to an electromagnet coil driver to adjust the coil current and electromagnetic force to position the ball at the set point. There are six subsystems that make up the overall closed-loop control system.

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Asma Adeel
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64 views4 pages

Modeling and Control of A Magnetic Levitation System: Bradley University

This document describes a magnetic levitation system project that involves modeling and controlling a lab-scale system to levitate a steel sphere using electromagnetism. The system uses a position sensor to measure the ball's position and generate an error signal based on the set point and reference input. This error signal is sent to a microcontroller through amplifiers and protective circuitry. The microcontroller then computes a control signal that is amplified and sent to an electromagnet coil driver to adjust the coil current and electromagnetic force to position the ball at the set point. There are six subsystems that make up the overall closed-loop control system.

Uploaded by

Asma Adeel
Copyright
© Attribution Non-Commercial (BY-NC)
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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Bradley University

Modeling and Control of a Magnetic Levitation System


Name: Marwan Karrar Abbadi Advisor: Dr. Winfred Anakwa

Functional Description
Date: October 31, 2002

Overview: The objectives of this project are modeling and control of a laboratory scale magnetic levitation system. The magnetic levitation system facilitates the suspension of a hollow steel sphere with the aid of electromagnetism. Figure 1 displays a picture of such a system.

Figure1: Magnetic levitation system

Set point Reference input Magnetic Levitation System and Controller Actual Ball position

Figure 2: General System Block Diagram Figure 2 shows a high-level block diagram of the system. The user adjusts the set point potentiometer on the maglev to place the ball at the equilibrium point. A reference input signal is applied at maglev input. An position error signal is generated from the maglev corresponding to the difference between the reference, set point and actual ball position. This error signal is fed into a microcontroller that generates a control signal to place the ball at the desired vertical position. Disturbances act on the system such as power supply fluctuation, coil temperature changes that change the set point value. There are six major subsystems in this project. These subsystems are as follows: I. Error Generator Subsystem

Reference Signal

Error Generator

Error signal

Set point

Signal corresponding to actual ball position (fed from output)

Figure 3: Subsystem I The first subsystem generates an error signal for the microcontroller. This subsystem, shown in figure 3, accepts three inputs: set point, reference input signal and actual ball position to produce the error signal.

II. Amplifier and Protective Circuitry This subsystem amplifies the error signal and provides any protective circuitry needed for the microcontroller. This subsystem includes a level shifter circuitry to correspond to the microcontroller voltage range. Figure 4 shows the block diagram.

Error signal from Subsystem I

Amplifier and Protective Circuitry

Amplified error signal

Figure 4: Subsystem II III. Microcontroller The position error signal is sent to a microcontroller through a multiplexed A/D converter. A PC is used to develop, debug and compile the control algorithm code. The compiled code will be downloaded to an 8051 microcontroller for execution. The microcontroller computes the control signal and sends it through the D/A, as shown in figure 5.

Microcontroller
D/A

Control signal

Position error signal


A/D

Controller w/discrete time Equations

PC containing controller code

Figure 5: Subsystem III

IV. Coil driver and electromagnet The control signal, produced by the microcontroller, is amplified and fed to a coil driver to produce a current. This current is fed to an electromagnet, which produces the required force to suspend the ball at the desired position. A subsystem block diagram is shown in figure 6. Coil Driver & Electromagnet Figure 6: Subsystem IV V. Sensor The photo-emitter/detector sensor is used for detecting the vertical position of the ball. It generates an analog signal, corresponding to the actual ball position; which gets fed back for closed-loop control. A block diagram for this subsystem is shown below in figure 7. Actual ball position Ball Position Sensor Analog signal corresponding to ball position

Control signal

Electromagnetic force

Figure 7: Ball position sensor The overall closed-loop system block diagram with subsystems is shown in figure 8:
Disturbances

PC Reference input

Set point

Error Generator

Amplifier & Protective Circuitry

Microcontroller

Coil Driver & Electromagnet

Ball position

Ball Position Sensor

Figure 8: Overall system

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