Professional Documents
Culture Documents
Abbadi
Advisor: Dr. Winfred Anakwa
Outline
• Introduction
– Problem definition
– Objectives
• Functional Description
• System Block Diagram
• System Identification
• Control Algorithm
• Software Implementation
• Hardware Interface
• Results
• Conclusions
• Future work
Introduction
• What are Magnetic levitation systems?
Maglev. are devices that suspend
ferromagnetic materials with the aid of
electromagnetism. It has wide number
of applications such as high-speed
trains, aerospace shuttles, magnetic
bearings and high-precision platforms.
Introduction
• Problem definition
• Output
Actual ball position
System Block Diagram
S e t p ot I ni n t e l m i c r c o n t
+ T s
R e f e r I e n n t e c re f a D c ei g z i t I a n l t e M r af ag c n
i n p + u E t ( C s )i r c u i C t o o n t Cr o i rl L l c e e u r v i ti t
E * ( s )h U S ( sy )s t
-
M a g l e v F r o n t P a n e l
A c t u a l B a l l p o s i
System Identification
• Importance of modeling the system.
Current= i
systems.
This is the general
1) Electrical: electrical circuit for
δi i δx magnetic levitation
Where
δt x δt by an active circuit for the
coil that adds further non-
e = Coil input voltage R= Coil resistance linearity since I is a non-
linear function of e.
i = Coil current L= Coil inductance
t = Time L0= Nominal point inductance
x0= Nominal point pos.
System Identification
2) Mechanical equation Electromagnetic
Using Newton 2nd law of force
motion: EF= C (i/x)2
2
i
F = GF − EF = m⋅ g − C ⋅
x
Where
F= Resultant force Gravitation forc
m= Mass of the steel ball= 0.021 Kg GF = m*g
g= gravitational acceleration = 9.82 m/s2
C= Magnetic plant constant
System Identification
• The previous equation contained non-linear elements, so
linearization is needed.
Series2
297
Poly. (Se
296
295.5
17
19
21
23
25
27
29
39
11
13
15
31
33
35
37
1
9
• Sensor gain Ks was
Ball distance fromthe coil (mm)
determined to be
450.3 volts/meter.
System Identification
• Combining the previous equations:
0.0013
Gp( s ) analytical =
(s + 1)( s − 1)( s + 1)
29.14 29.14 70.15
System Identification
• The analog controller of the manufacturer
was connected to the plant to obtain
frequency response data.
PM=30.5 degrees
System Identification
• The analog controller from manufacturer was
converted to discrete domain using bilinear
(Tustin) transformation with Ts= 5 ms.
s
+1 1 − 0.7904 ⋅ z −1
Gc _ man (s) = 15π Gc (z) = 8.3
(
s
+ 1) 1 − 0.7521 ⋅ z −1
900π
Software Implementation
• The digital controller was implemented
using assembly language program on an
Intel-80515 microcontroller.
M A I N
T i m e r 0
S - a m p l e A / D i n
C a l l C o n t r o l l e r
P r o d u c e v i a D /
U p d a t e v a r i a b l e s
e ( n ) , e ( n - 1 ) , u ( n - 1 )
P r e p a r e PE r ( en p) a r e U P ( r n e - p 1 a) r e E ( n - 1 )
- S e t s ig n b i t - i f S - ev et s i g n b i t -i f S - v e e t . s i g n b i t i f - v e
- M u l t ip ly b y c- o M e u f f l i t c i p i e l y n t b y c - o M e fu f il ct i ip e l ny t b y c o e f f ic i e n t
M u l t ip le x o p e r a t i o n 1
M u l t ip le x o p e r a t i o n 2
Hardware Interface
• Hardware interface circuitry is needed to
level shift and scale the error to the range
of the microcontroller A/D.
3
E2(t) = 0 ~ +5V Antialiasing
Ready to be filter
interfaced to the
EMAC
1
Error signal E(t) = ±5V EMAC
Error to A/D
Hardware Interface
2
Shifted signal -2.5 ~ 2.5V
Controller gain
maglev
1 3
D/A signal 0 ~ 5V Control signal
U
D/A to Maglev
Results
• The ball was stabilized at the equilibrium point however
it was oscillating due to:
Control signal
Ball position
Results
Thank you