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EEE499
SENIOR CAPSTONE PROJECT
Project Report on
Advanced Modelling and Control of
Magnetic Levitation System using Metal Sphere
Submitted by
Mohammed Abrar Jahin
ID: 1130070543
Arman Rahman Khan
ID: 1130308043
Samee Al Haque
ID: 1130008045
Supervised by
Mr. Saad Azmeen-Ur-Rahman
Lecturer
Department of Electrical and Computer Engineering
North South University
Declaration
We hereby declare that the project report entitled Advance Modelling and Control of Magnetic Levitation
System using Metal Sphere is based on original work done by us under the supervision of Mr. Saad
Azmeen-ur Rahman, Lecturer, Department of Electrical and Computer Engineering, North South
University, Dhaka, Bangladesh. External sources consulted have been properly cited and referenced to
the best of our knowledge. The project was done as part of the Senior Design of Capstone Project in
order to fulfil the requirements for the degree of Bachelor of Science. We request you to accept the report.
Samee Al Haque
ID: 113 0008 045
II
Approval
This project report has been submitted by Mohammed Abrar Jahin (ID: 113 0070 543), Arman Rahman
Khan (ID: 113 0308 043) and Samee Al Haque (ID: 113 0008 045) to the Department of Electrical and
Computer Engineering (ECE) of North South University as the Senior Design of the Capstone Project in
order to fulfil the requirements for the degree of Bachelor of Science. To the best of my knowledge, this
project report is based on their work, is original in nature and has been prepared by them. I wish them
every success in life.
Approved By:
Course Instructor:
III
Abstract
The magnetic levitation technology, popularly known as maglev, is one that uses magnetic fields to lift an
object as required. The fields of the magnet counteract the gravity and causes the object to be suspended
in air without any physical support. The technology is friction-less, thus efficient.
In this paper, we will discuss our project where we worked with the magnetic levitation technology to
design a low cost ball bearing system that can be completely controlled. The system is able to elevate or
lower an object, which is a neodymium ball in this case, and also controls the desired height (stable
position) of the object at any given point. The major force that implements this is the electromagnetic
force created by the current through the systems electromagnet. The neodymium ball levitates stably
without any disturbances, and can recover from disturbances from external forces quickly. The ball
levitates continually until the power source is discontinued or removed. The system is divided into two
subsystems, namely electrical and mechanical subsystems. The input to our system is a normal DC
voltage (V) which generates a current (I) in the electromagnet which eventually levitates the object at a
height (h) from the electromagnet. The vertical position of the levitating ball is measured using an Infrared
Diode and Photo-detector and the current in the electromagnet is controlled using an Arduino
microcontroller. This controller mainly generates a PWM signal, which supplies a frequency to the
electromagnet through an N-channel Power MOSFET.
From the project it can be concluded that the distance of the ball from the electromagnet is inversely
proportional to the applied voltage. The feedback using the IRED and photo-detectors, ensures complete
stability of the system.
IV
Acknowledgement
We would like to thank our course instructor Mr. Saad Azmeen-ur Rahman for constantly pushing and
supporting us throughout the entire length of the Capstone Project, for guiding us and for never losing his
patience. Without his motivation, we would not be able to complete the project in due time.
We are grateful to Dr. Lamia Iftekhar for sharing her control engineering expertise with us, thus helping us
with the modelling and design of the system.
We are deeply thankful to the Department of Electrical and Computer Engineering of North South
University for providing us with the necessary logistics for testing the prototype. A special note of gratitude
goes to Dr. Arshad M. Chowdhury, Chair, Department of Electrical and Computer Engineering, North
South University for facilitating the project. We thank all our teachers, lab facilitators and support staff of
the department as well.
Our heartfelt gratitude to Mr. Taki Uddin for helping us during the testing of the system, and to Orange
Educational Institution for letting us borrow their rooms for testing purposes.
We would also like to thank our parents and family members for their unconditional support all throughout
our undergraduate years, especially during the Capstone Project.
Last but not the least, we extend our gratitude to our fellow students of the Capstone Project who helped
us by questioning our methods, thus allowing us to find our mistakes. We hope that all of us achieve
success in the project and later on in life.
Contents
1 Introduction
1
1.1Magnetic Levitation Ball Bearing
System..1
1.2Alternative
Solutions
2
1.3Applications
..3
1.4Motivation
..3
1.5Estimated
Budget
..4
1.6Gantt
Chart
.5
1.7Division of
Labor
....7
2 Magnetic Levitation
2.1MAGLEV
Trains.
....8
2.2Related Works on Electromagnetic Suspension.
.9
2.2.1 MAGLEV Ball Bearing System .
..10
VI
2.3Component
Specification
..11
2.3.1 Power ratings of
components.
12
2.4 Working Principle of Arduino Uno..13
3 Design of the MAGLEV Ball Bearing System
14
3.1Degrees of
Freedom
..16
3.2System
Model
.16
3.3State Space Representation at Equilibrium
Position..17
3.4Linearization of the system using Jacobian
Theorem...19
3.5State Space Derivation and Transfer
Matrix...20
3.6Block
Diagram
..23
3.7Circuit
Schematic
...24
VII
3.8Maglev Features and
Operation.
.26
3.9Simulation &
Algorithm
..27
4 Implementation
34
4.1System
Assembly
.34
4.2Testing and
Troubleshooting
..36
5 Compliance with Standards
xx
5.1Compliance with IEEE
Standards
xx
5.2Compliance with US
Standards
xx
5.3Compliance with European
Standardsxx
6 Design Impact
XX
7 Conclusion
38
7.1Final Budget .
.39
7.1.1 Comparison between Estimated and Final
Budgets..40
VIII
7.2Limitations and Problems
...41
7.3Future Recommendation
.41
Bibliography
42
Appendix
44
IX
List of Abbreviations
MAGLEV Magnetic Levitation
DC Direct Current
AC Alternating Current
PIC Programmable Interface Controller
ADC Analog to Digital Converter
PWM Pulse Width Modulation
LED Light Emitting Diode
EM Electromagnet
MOSFET Metal-Oxide-Semiconductor Field-Effect Transistor
IRED Infrared Light Emitting Diode
VDD Voltage Drain Drain
VSS Voltage Source Source
PCB Printed Circuit Board
MATLAB MATrix LABoratory
IEEE Institute of Electrical and Electronics Engineers
ANSI American National Standards Institute
CEN European Committee for Standardization
BSI British Standards Institution