Magnetic Levitation

 Curriculum topics provided:

• Derivation of dynamic model from first-principles
• Transfer function representation
• Linearization
• Current control
• Position control
• PID
• Feed-forward
• Control parameter tuning

Specifications:

• Device mass: 3.8 kg
• Dimensions - H × W × L: 15.1 cm × 15.1 cm × 27.6 cm
• Ball position sensor sensitivity: 0.28 cm/V
• Coil inductance: 412.5 mH
• Coil resistance: 10 Ω
• Number of turns in the coil wire (approximate): 2450
• Coil length: 8.25 cm
• Coil steel core radius: 0.8 cm
• Electromagnet force constant: 6.53 x 10-5 N.m² / A²
• Current sense resistance: 1 Ω
• Steel ball radius: 1.27 cm
• Steel ball mass: 0.068 kg
• Steel ball travel: 1.4 cm
• Magnetic permeability constant: 4π × 10-7 H/m