MAGNETIC LEVITATION DEMONSTRATION APPARATUS TEAM 11 FALL TERM PRESENTATION Fuyuan Lin, Marlon McCombie, Ajay Puppala, Xiaodong Wang Project Supervisor : Dr. Robert Bauer Project Coordinator : Dr. Clifton Johnston 11/30/2013 Website: http://poisson.me.dal.ca/~dp_13_11/index.tml
OVERVIEW 2 Project Description Requirements Product Architecture Subsystems Alternative Design Concepts Design Selection Literature Review Circuit Design Current Progress Demonstration Future Considerations Testing &Verification Plan Budget Project Management Questions
Project Description 3 Design and build a magnetic levitating device Demonstrate different control theories taught in MECH 4900 Systems II course Project focuses on the control systems
Requirements 4 Demonstrative Requirements Levitate object magnetically Compare desired, simulated, manipulated and measured controller variables Lag, lead, lag- lead compensation techniques P, PI, and PID control Nyquist plots and Root Locus and Bode diagrams
Requirements 5 User Requirements: Implement the control methods in MathWorks Simulink Graphical User Interface (GUI) to interact with the device Plug n Play Safe and Ergonomic
Requirements 6 Visual Requirements: Viewable from back of the classroom 15 20 ft. Levitate object 2 4 cm away from coil Power Requirements: Conventional 120 VAC input No potential electrical risk to the user Operating Budget $1,500
Product Architecture 7 INPUT PROCESS OUTPUT Simulink Control Methods Current to electromagnet Execute Simulink Control Methods Object Levitation and Location Display Data Graphically Object Position Feedback Data from Sensor Functional black diagram for the magnetic levitation apparatus
Product Architecture 8 General Schematic of demonstration device
Subsystems 9 Electromagnetic Levitation: Pseudo Levitation Rotational Stabilization Electromagnetic Electrodynamic (Eddy Currents) Diamagnetic (Meissner Effect) Rotational Stabilization (picture courtesy of futuristicnews.com) Transrapid Monorail (picture courtesy of maglev.net) Electrodynamic Levitation (picture courtesy of microwavesoft.com)
Subsystems 10 Electromagnetic Levitation: Type of Levitation Active or Passive Stability of Levitation Availability of Materials Range of Levitation Ease to Build Pseudo Levitation Passive N/A N/A N/A N/A - Rotational Active 2 3 5 3 13 Stabilization Electromagnetic Active 3 5 4 5 17 Electrodynamic Active 5 4 4 3 16 Diamagnetic Passive N/A N/A N/A N/A - Total
Subsystems 11 Levitated Object: Material: Chrome steel, Regular steel, Neodymium, or Composite materials Shape: Rectangular prism, Circular disk, Solid sphere, or Hollow sphere Motion: Horizontal, Vertical, or Angled
Subsystems 12 Sensors: Magnetic sensor Hall Effect sensor Electric sensor Inductive Proximity sensor Capacitive Displacement sensor Optical sensor Optical Proximity sensor Photoelectric sensor Frequency based Sensor Ultrasonic sensor Hall Effect sensor (picture courtesy of micropac.com) Photoelectric sensor (picture courtesy of directindustry.com) Inductive Proximity sensor (picture courtesy of asi-ez.com) Ultrasonic sensor (picture courtesy of letsmakerobots.com)
Subsystems 13 Sensors: Sensor Range of Detection Unit Cost Resistance to Interference Microcontroller Compatibility Size Testing & Configuration Hall effect 4 4 4 4 4 5 25 Ultrasonic 4 1 2 3 3 3 16 Inductive proximity 1 3 2 3 3 3 15 Capacitive displacement 1 2 2 3 3 3 14 Photoelectric 3 3 4 4 3 5 22 Optical proximity 4 3 3 3 3 3 22 Reflective 4 4 3 3 3 3 20
Subsystems 14 Microcontrollers: LEGO Mindstorms NXT 2.0 Arduino Altera DE2 BeagleBoard Raspberry Pi LEGO Mindstorms NXT 2.0 (picture courtesy of arstechnica.com) Arduino (picture courtesy of arduino.cc)
Subsystems Summary 15 Levitation Technique Permanent Magnets Object Material Shape Motion Chrome Steel Rectangular prism Electromagnetic Regular Steel Circular disk Vertical Microcontroller Sensor Horizontal Arduino Hall Effect LEGO Mindstorm NXT 2.0 Reflective Electrodynamics Neodymium Solid sphere Angled BeagleBoard Optical Proximity Superconducting Composite Hollow sphere Altera DE2 Photoelectric Diamagnetic Raspberry Pi Capacitive Displacement Inductive Proximity Ultrasonic
Alternative Design Concepts 16 Concept 1 Electromagnetic Suspension Single Electromagnet with Hall Effect Sensor PRONS Simple and easy to build CONS Small variations in position of the levitating object is possible Position and field strength comparison table
Alternative Design Concepts 17 Concept 2 Electromagnetic Suspension Single Electromagnet with Photoelectric Sensor PRONS Accurate sensing of the object position CONS Small variations in position of the levitating object is possible
Alternative Design Concepts 18 Concept 3 Electromagnetic Suspension Double Electromagnet Design PRONS Extends the range of magnetic field CONS Stability of levitation Building and testing for functionality
Alternative Design Concepts 19 Concept 4 Electrodynamic Replusion Multiple coil parallel arrangement PRONS Levitating object attains stability easier compared to suspension Higher range for levitation CONS Difficult to build and test the device Display problems
Alternative Design Concepts 20 Concept 5 Vertical Maglev Track PRONS Motion of the levitating disk is properly constrained CONS May look like disk is supported by the tracks May cost more to build the device
Alternative Design Concepts 21 Concept 6 Torodial Design PRONS Higher efficiency required for sensitive circuitry Dynamic system CONS Limited power capacity to distribute to 4 coils Requires molding of transparent plastic Cost to build is very high compared to other systems
Design Selection 22 Criteria for Selection Project Requirements (60% weightage) Viewability & Stability of the levitating object Power input MATLAB Simulation General Requirement (20% weightage) Electromagnet, sensor, and microprocessor Total displacement levitating object Apparatus chassis
Design Selection 23 Criteria for Selection Design Assessment (10% weightage) Complexity and ease to build Holistic judgment Cost Assessment (10% weightage) Cost of parts Cost to build the frame
Design Selection 24 1. Single Electromagnet with Hall Effect Sensor 3. Double Electromagnet Design 5. Maglev Track Design 2. Single Electromagnet with Photoelectric Sensor 4. Multiple Coil Parallel Arrangement 6. Torodial Design
Literature Review 25 Electromagnetic Levitation: Magnetic field needed to levitate the object B = 2 μ o F object A Magnetizing force in the air gap Magnetic field generated by the current carrying coil (picture courtesy of superconductor.solidchem.net) Thus, current I = mmf N H = B μ o = H l N
Literature Review 26 Electromagnet Design Considerations: Few assumptions for the air gap, length, and diameter of the solenoid and the levitating object. Excel optimization gives: B = 0.003 wb/m 2 I = 0.143 A L = 12.29 m = 40 ft Gage 30 wire was selected. 0.32 Ω wire resistance and atleast 0.23 V needed for given air gap.
How It Works 27 Circuit Design Electromagnetic coil driving circuit Sensor with amplifier circuit (Mekonikuv)
How It Works 28 Coil Driver Circuit
How It Works 29 Sensor Amplifier Circuit
Current Progress 30 Finished circuit building
Current Progress 31 Testing of Ardunio: LED blinking
Demonstration 32 Upload code Plot Data Receive Data Schematic for demonstration
Future Considerations 33 Simulink Block diagram for Electromagnetic Levitation Simulink block diagram for Arduino support
Future Considerations 34 Final Apparatus
Testing & Verification Plan 35 1. Different materials and shapes for levitating object 2. Electromagnets made from wire and different core materials 3. Simulink block diagram and communication with the Arduino 4. Control levitation using Arduino and Simulink
Budget 36 Materials Main Components Arduino, Hall Effect sensor, Electromagnet Circuit Resistor, Capacitors, Power supply Chassis Raw Materials Wood, Nails, Sheet Metal, etc Cost $ 200.00 $ 100.00 $ 100.00 SubTotal $400.00 Tax (15%) $ 60.00 Shipping cost $ 150.00 10% Contingency $ 61.00 Total $ 671.00
Project Management 37 Task Name Duration Finish Responsibility Gather Parts 2 days 1 st week January Marlon & Ajay 15% Review Fall Report 1 day 1 st week January Group task 0% Building Phase Prototype Testing 3 days 1 st -2 nd week January Marlon & Xiadong 30% Complete Simulink Block Diagram 7 days 2 nd -3 rd week January Fuyuan & Ajay 25% Implement Control Theories 4 days 3 rd week January Group 0% Build GUI using Simulink 4 days 4 th week January Fuyuan & Ajay 0% Build Stand & Electromagnet 3 days 4 th week January Xiadong 5% Rebuild circuitry 1 day 4 th week January Marlon 45% System Integration 5 days 2 nd week February Group task 0% Testing Phase Set up System in Lab 3 days 2 nd week February Group task 0% Testing system 15 days 3 rd 4 th wk. February Group task 0% Collect and Sample data 10 days 1 st -3 rd week March Scheduling 0% Test completion 2 days 4 th week March Marlon & Ajay 0% Deliverables Build Report 4 days February Group task 20% Website 2 days 1 st week April Ajay 15% Final Report 4 days 1 st week April Group task 15% Final Presentations 2 days 1 st week April Group task 10% Summary of project tasks for winter term 2014 % Work Completed
Acknowledgements 38 Dr. Y.J. Pan Mechanical Dept. Professor Dr. Timothy Little Electrical Dept. Professor Al-Mokhtar O. Mohamed Post-Doctoral Position Mech. Dept. Jonathan MacDonald Electrical Technician Angus MacPherson Mechanical Technician
References 39 Arduino UNO webpage. http://arduino.cc/en/main/arduinoboarduno. Retrieved Nov. 20, 2013 ATmega238 datasheet. http://www.atmel.com/images/doc8161.pdf. Retrieved Nov. 20, 2013 Honeywell SS49 datasheet. http://www.wellsve.com/sft503/counterpoint3_1.pdf. Retrieved Nov. 20, 2013 "RobotShop : The World's Leading Robot Store." RobotShop. N.p., n.d. Sat. 03 Nov. 2013 MathWorks MATLAB/Simulink website. http://www.mathworks.com/products/simulink/. Retrieved Nov. 20, 2013 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.
END OF PRESENTATION Thank you. Questions? Website: http://poisson.me.dal.ca/~dp_13_11/index.tml