design of magnetic levitation demonstration appartus

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TEAM 11 WINTER TERM PRESENTATION. DESIGN OF MAGNETIC LEVITATION DEMONSTRATION APPARTUS. Fuyuan Lin, Marlon McCombie , Ajay Puppala Xiaodong Wang Supervisor: Dr. Robert Bauer Dept. of Mechanical Engineering, Dalhousie University. April 4, 2014http://poisson.me.dal.ca/~dp_13_11. - PowerPoint PPT Presentation

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MAGNETIC LEVITATION DEMONSTRATION APPARATUS

DESIGN OF MAGNETIC LEVITATION DEMONSTRATION APPARTUSApril 4, 2014http://poisson.me.dal.ca/~dp_13_11Fuyuan Lin,Marlon McCombie,Ajay PuppalaXiaodong Wang

Supervisor: Dr. Robert BauerDept. of Mechanical Engineering, Dalhousie UniversityTEAM 11 WINTER TERM PRESENTATION

1Presentation OverviewProject DescriptionDesign RequirementsProduct ArchitectureComponent SelectionConceptual DesignDesign AlternativesChassis Design

Control SystemPlant SubsystemCircuit Design: Amplifier & Driver ControllerSystem ImplementationGUIBudgetAssessing RequirementsFuture Considerations

21. Project DescriptionDesign and build a magnetic levitating device To levitate an object magnetically Demonstrate different control theories taught in MECH 4900 Systems II course3

Arduino (MCU) & Circuitry for LevitationObject Levitating

32. Design RequirementsDemonstrative RequirementsLevitate object magneticallyCompare simulated and experimental position of the object being levitatedLag, lead, lag-lead P, PI, and PID controlUser RequirementsGraphical User Interface (GUI) to interact with devicePlug n PlaySafe and Ergonomic42. Design RequirementsVisual RequirementsViewable from 15- 20 ft. (back of the classroom)Levitate the object at least 2-4 cm away from the coilPower RequirementsConventional 120 VAC inputNo potential electrical risk to the userOperating Budget $1,50053. Product Architecture6General Schematic of demonstration device

1 & 2. Electrical output from the electromagnet and the sensor. 3. Power supply to devices through Circuitry. 4. Amplified signal of the sensor for data display. 5. Raw input signal from the Microcontroller. 6.Input commands from MathWorks Simulink. 7. Data display to the command window.

64. Component SelectionLevitation TechniqueObjectMCUSensorMaterialShapeMotionPermanent MagnetsChrome SteelRectangular prismHorizontalArduinoHall EffectElectro-magnetsRegular SteelCircular diskVerticalLEGO Mindstorm NXT 2.0ReflectiveElectro-dynamicsNeodymiumSolid sphereBeagleBoardOptical ProximitySuper-conductorsCompositeHollow sphereAltera DE2Photoelectric7Table shows selected components of the subsystemElectromagnetic LevitationElectromagnetic Levitation8

8

5.1. Design Alternatives9

1.Single Electromagnet with Hall Effect Sensor2. Double Electromagnet Design3. Multiple Coil Parallel Arrangement

5.2. Chassis DesignMaterialMass (kg)Cost Aluminum 10603.95$235ABS Plastic1.50$675Wood (Birch Ply)1.20$126Material options for the chassis10Design evolution of the chassisAjayDisadvantage of aluminum would include electricity conduction$6/ cubic inch for the abs plastic 112 cubic inch total106. Control System+_InputDesired PositionPlantController

ErrorCurrentActualPosition

Unity Feedback System

11Sensor6.1. Plant SubsystemLevitationPositionChange

VoltageOutput

CurrentBreakdown of the Plant System

12Electromagnet Design Requirements13

13Electromagnet Selection

14Assessment of 12 VDC Pneumatic Solenoid based on design requirementsMaximum strength:Setup picture after14Sensor6.1. Plant SubsystemLevitationPositionChange

VoltageOutput

CurrentBreakdown of the Plant System

15

Hall Effect SensorSensor ComponentHall Effect SensorAnalog position sensor(Solid State Type SS49 Series)Size: 30 x 4 x 2 mmRange of Detection: up to 4 cmUnit Cost: $2.50

16Picture Courtesy of Honeywell.

Design Refinement

Addition of new Hall Effect Sensor to differentiate Electromagnet signalInitial Design 17Final Design Sensor Testing18

Sensor Circuit Design19

Circuit for Differential Amplification of Sensor OuputGain allows us to read from 0 to 3 V as supposed to 2.5 to 3 V196.1. Plant SubsystemSensorCalibrationLevitationSensor MeasurementPositionChange

VoltageOutput

ActualPositionCurrent

2 Hall Effect Sensors

20

Position Sensor Calibration216.3. Control System+_InputDesired PositionPlantController

ErrorCurrentActualPosition

Unity Feedback System22

6.3. Controller ComponentMicrocontroller - Arduino Mega 25604 Hardware serial ports for communication with MATLABRuns control algorithmsCost: $55

Picture Courtesy of Arduino23Setup picture after237. System ImplementationSerial

24

Levitation ControlArduino & Real TimeArduino uses feedback data from sensors to manipulate positionMATLAB & ArduinoManipulation of control parametersRetrieval of feedback dataCommunicationReceive Data

248. PID Controller

258. BudgetMaterialsUnit CostAmountCostELECTRONICSArduino$55.093$165.27Hall Effect Sensor$2.6420$42.78Potentiometer$27.402$54.80Operation Amplifier$0.645$3.20Power Supply Unit $77.42-$77.42Neodymium Magnet$4.991$4.99USB Cable$6.002$12.00Electromagnet$14.954$38.97Other Parts--$55.51CHASSISWood (61 x 121 x 2.5 cm )$6.153$18.45Acrylic glass$13.992$27.98Aluminum sheet$15.931$15.93Other Parts--$22.38Sub Total$564.09 Summary of Materials Cost 26Other parts for electronics include Mosfet, Perferated PrOther parts for Chassis Nails, Screw, Acrylic sheet and Angled Aluminum edgesototype Board, capacitor, recitifier, transistor268. BudgetSub Total$564.09Total Shipping$85.11Total Taxes$65.14Contributions-$150.00Total$564.34Summary of Budget 27< $568Approved Budget 9. Assessing RequirementsDemonstrative RequirementsLevitate object magneticallyCompare desired and measured controller variablesLag, lead, lag-lead compensation techniquesP, PI, and PID controlUser RequirementsGraphical User Interface (GUI) to interact with devicePlug n PlaySafe and Ergonomic

289. Assessing RequirementsVisual RequirementsViewable from 15- 20 ft. back of the classroomLevitate the object at least 2-4 cm away from the coilPower RequirementsConventional 120 VAC inputNo potential electrical risk to the userOperating Budget $1,5002910. Future ConsiderationsBuild more powerful electromagnet or add an extra electromagnet to repel the levitated object Might increase the range of levitation.Implementation of lag, lead, and lag-lead compensator.Use different microcontroller capable of serial or other form of communication without effecting the frequency of the feedback signal.Use different interface instead of MATLAB for example LabView30Since Matlab is not effectively equipped as LabView for data acquisition. 30AcknowledgementsDr. Y.J. PanMechanical Dept. Professor

Dr. Timothy LittleElectrical Dept. ProfessorAl-Mokhtar O. MohamedPost-Doctoral Position Mech. Dept.

Jonathan MacDonaldElectrical Technician

Angus MacPhersonMechanical Technician

Reg PetersWood Workshop Technician

3131Thank You & Questions?32

ReferencesArduino UNO webpage. http://arduino.cc/en/Main/arduinoBoardUno. Retrieved Mar. 30, 2014

ATmega238 datasheet. http://www.atmel.com/Images/doc8161.pdf. Retrieved Mar. 30, 2014

Honeywell SS49 datasheet. http://www.wellsve.com/sft503/Counterpoint3_1.pdf. Retrieved Mar. 30, 2014

"RobotShop : The World's Leading Robot Store."RobotShop. N.p., n.d. Sun. Mar. 30, 2014

MathWorks MATLAB/Simulink website. http://www.mathworks.com/products/simulink/. Retrieved Mar. 30, 2014

Mikonikuv Blog, Arduino Magnet Levitation detailed description. http://mekonik.wordpress.com/2009/03/17/arduino-magnet-levitation/. Retrieved Nov. 20, 2013

Williams, Lance. "Electromagnetic Levitation Thesis." N.p., 2005. Web. 28 Oct. 2013.

40Control System QuestionSystem Model

Inverse Square Law!42System Model

Electromagnet ModelElectromagnetic coil driving circuitInductanceReactanceSystem Model

Simplified CircuitControl SystemsPlant(Levitation) BallElectromagnetVoltageInputPositionChangeNote: Negative controller gain is required