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I.Abstract
This paper is intended to serve as a solution for the problem
posted in the event “Empowered” in Technex-08. It
contains the design of a magnetic ball suspension system
which can stabilize a steel ball in air using an actively
controlled electromagnet. With Cx=diag(c1,c2,c3) where the c1, c2, c3 are gains for
the sensors and ka is the power amplifier gain.
II.Introduction
A. Suspension system parameter identification
The suspension of a steel ball using an electromagnet is a
The values of the steel ball mass m, coil resistance R, and
system which is unstable due to the attractive nature of
inductance L are obtained straightforward. A precision
force. If at all there is any disturbance then the ball departs
balance is used for measuring m. The value of R is
from its position of equilibrium. The purpose of this paper
measured using a multimeter and the value of L is
is to present an actively controlled model which can keep
determined by measuring the time constant of the coil
the ball in equilibrium by adjusting the current in the coil of
current response to a voltage step.
the electromagnet.
The constant parameters a, k1, and k2 are obtained by the
following procedure. An initial low current is applied to the
III.Suspension system dynamic equations coil terminals in order to keep the steel ball on a base near
Consider a steel ball of mass m, placed at a distance z under the operating point where the value of z is taken, which is
an electromagnet as shown in figure 1. The modeling of the called zeq.. With the steel ball at zeq the current is increased
electromagnetic suspension system is based on its until the ball goes upward at t=teq when the value of i is
electrical, mechanical, and electromechanical equations [1], taken, which is called ieq. Fig. 2 illustrates this procedure.
[2] The procedure is repeated several times and the value of ieq
is taken as its mean value. Repeating the same procedure
for different values of z, new values for zeq and ieq are
found, yielding the curve zeq X ieq. Taking two points of the
curve on which the force is equal to the
gravitational force and using (1), it can be written
A. Control Configuration-
A position detector consisting of a 5-V infrared emission
as a light source and a photo transistor MRD-300 as a photo
receiver is used. For measuring the coil current a Hall effect
sensor NW-SC50 is used. In order to control the coil
current, a power amplifier working with an analog pulse
width modulation (PWM) circuit of 5-kHz switching
frequency and a transistorized dc chopper is used. A DSP
board with a 12-bit 12-kHz A/D converter and a digital
Defining the suspension system state variables as x1= zl, input–output (I/O) modules and 12-bit D/A are used for
x2=(d/dt) (z)l and x3=il, we can write state and output computing the control signal and for data acquisition. A
system equations standard 386-CPU-based 25-MHz computer serves as a
terminal. Fig. 3 shows the complete control system
diagram.
VI.Refernces
[1] T. H. Wong, “Design of a magnetic levitation control
system—An undergraduate project,” IEEE Trans. Educ.,
vol. E-29, pp. 196–200,1986.
[2] K. Oguchi and Y. Tomigashi, “Digital control for a
magnetic suspension system as an undergraduate project,”
Int. J. Elect. Eng. Educ., vol. 27, pp. 226–236, 1990.
[3] R. Gayakwad and L. Sokoloff, Analog and Digital
Control Systems. Englewood Cliffs, NJ: Prentice-Hall,
1988.
[4] Optimal Control: Linear Quadratic Methods (Prentice
Hall Information and System Sciences Series) by Brian
D.O. Anderson and John B. Moore.
[5] Digital implementation of a magnetic suspension
control system for laboratory by Vilma A.Oliviera,
Eduardo F. Costa and Jerson B. Vargas.
[6] GASTON, F. M.F ., and IRWING,. w.: 'Linear quadratic
optimal controller
realisation on systolic arrays'. Proc. ITN, Southampton,
England, 1990, pp. 111-116.