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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