Name - Aryan Garg

Roll No. - B19EE015

Magnetic Levitation
Lab-4

Objective :
The objective of this experiment is to model the magnetic levitation (MAGLEV) plant and to
design a controller that levitates the ball from post and ball position and tracks a desired
trajectory .

Apparatus :
MATLAB, Magnetic levitation kit, Q8-USB, UPM-2405 amplifier.
Theory-

1. Electrical System-
2. Mechanical System-
3. Electromechanical System-
4. Coil Current Controller Design-

We know Ki_c/s and Kp_c are in parallel Therefore, they will be added The result of the addition
and Gc(s) are in series Therefore, they will be multiplied . The final result will be :

G’(s) = Gc(s)(Ki_c/s + Kp_c)

Transfer function of above block diagram is

Tc(s) = G’(s)/(1 + G’(s)) - eq(3)

s2 + (-pc1 – pc2)s + pc1pc2 = 0 - eq(4)
s2 + 2(Tau)ws + w2 = 0

5. Ball Position Control Design-

On calculating characteristics equation for Tb(s), We get :

Calculations-
Results-

Kp_c 182.875 V/A

Ki_c 24801.5625 V/s/A

Kff_b 142.9291 A/m

Kp_b -252.613 A/m

Ki_b -248.0935 A/s/m

Kv_b -4.2879 A.s/m

Observations-
1. Response with target as a steady value :

2. Response with reference signal as sine wave :

3. Response with reference signal as square wave :

Conclusion-
The ball has levieted and all required results/plots are obtained.