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Magnetic Levitation Experiment NYU Tandon （磁悬浮实验纽约大学经脉）
Magnetic Levitation Experiment
Magnetic Levitation Experiment
Quanser Consulting Inc.
1 Description
The “maglev” experiment consists of an electromagnet encased in a
rectangular enclosure. One electromagnet pole faces a black post
upon which a 2.54 cm steel ball rests. The ball elevation from the
post is measured using a sensor embedded in the post. The post is
designed such that with the ball at rest on its surface it is 14mm
from the face of the electromagnet. The purpose of the experiment
is to design a controller that levitates the ball from the post and the
ball position tracks a desired trajectory.
2 Mathematical Model
2.1 Electrical system
The coil used in the electromagnet has an inductance and a resistance. The voltage
applied to the coil results in a current governed by the differential equation:
di
V i R % L
l
dt
The actual system is equipped with resistor Rs in series with the coil whose voltage
Vs can be measured using the A/D. The measured voltage can be used to compute the
current in the coil. The sense resistor in the circuit results in the equation :
di
V i (R %R ) % L
l s
dt
The state space equations for the current is given by:
R %R 1
l s
0
i 0 i
L % L V
0
.i 1 0 . 0
Maglev 1
0
we have introduced an integrator for the current ( . i )for reasons which shall become
i
clearer in the control system design section.
Note that the sense resistor is only 1 S compared to
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