Script for instrumentation:

Introduction:
Maynard: Magnetic Levitation Systems, are systems which are based on electromagnetism. They are
OPEN LOOP, NONLINEAR, and UNSTABLE, making them a great example of a controlled system. Such
applications of these systems are fast maglev trains, space shuttles and magnetic bearings.

Arvin: To control the system, it needs three basic elements; the PLANT which is the dynamics of the
steel ball, the SENSOR which composed of the LED and photo-resistor, and the Proportional-Derivative
(PD) circuit CONTROLLER.

Maynard: The goal of the system is to levitate the steel ball at a desired height by making these two
forces, the TRACTIVE FORCE (Ft) and the WEIGHT (W) of the steel ball equal.

The variation of the light intensity that is being received by the photo-resistor will serve as an
input signal to the controller. And then the CONTROLLER would input a desired amount of current to the
electromagnet in order to adjust the strength of the Tractive Force (Ft).

Derivation of Formula:
Mark: Our system can be model in two mathematical equations; the MECHANICAL and ELECTRICAL
equations. (Write the summation of forces acting on the steel ball)…… This is the Mechanical equation
corresponding to forces that acts on the steel ball. (Write the KVL equation)…… One the other hand, this
is the Electrical Equation corresponding to the summation of voltages across the electromagnet.

Unlike the Electrical equation, the Mechanical equation is nonlinear because of this term (point
the nonlinear term). We need to linearize it using Taylor series expansion for two variables letting the
variable I equals to delta I plus initial current and variable y equals to delta y plus initial displacement
(Derive the Taylor expansion). To solve for k , recall that at equilibrium condition the system’s
equilibrium point, delta I and delta y are zero and the speed of the steel ball is zero, which means that
the second derivative of displacement y is also equal to zero (Solve the final Taylor expansion).

Using these two linear differential equations, we can get the transfer function of the system by
using the state space equation. We let the state variables x1 as the displacement of the steel ball, x2 as
the velocity of the ball, and x3 as the current passing to the electromagnet (Derive the SSE). And by
matrix algebra, we can solve the system transfer function (Solve the transfer function).

Fabrication:
Jessa: To fabricate our system, we need ¾ inch plywood for its housing using these dimensions (Show
the dimensions on the plywood). You need ½ inch by 3 inches PVC pipe and a white LED with 100 ohm
pulldown resistor, and a photo-resistor for the SENSOR MODULE (Show the materials and flash its name
on the video). And for the controller and electromagnet module, you need these following components
(Flash the list of all components in the controller and electromagnet).
A. For the controller:

1 pc 33k ohm resistor 1Watt Heatsink (The bigger the better)

3 pcs 10k ohm resistor 1Watt 12 V power supply (big amp rating is an advantage)

1 pc 500nf Mylar capacitor -12V power supply

2 pcs 500k ohm potentiometer 5V power supply (for the LED)

2 pcs Op amp LM741

2 pcs Op amp IC socket

1 pc IN5407 diode

1 pc 2N3055A transistor

Connecting wires

PCB (any size you want)

B. For the electromagnet:

400 grams copper wire gauge 19

1 pc bolt ½ inch by 6 inches

2 pcs nuts

3 pcs washer

5 inches by 1.5 inches Mylar insulator

Fabricate videos

1. Cutting of the plywood

2. Flashing the casing as well as the dimension of the electromagnet with the PVC pipe

3. Cutting the PVC pipe and flashing the photo-resistor and the LED being inserted inside the PCV pipe

Jasper: The height of these PVC pipe should be adjustable to help during tuning and both pipes should
be align with each other.

4. Winding the electromagnet.

Jasper: Make 1000 turns for your coil.

5. Flashing the Electric diagram and the PCB diagram

6. Flashing the copper coating removal.

7. Flashing the soldering of the PCB board

8. Flashing the assembly as well as the hooking of the connecting wires

Testing:
Arvin: This one is our controller which comprises of two op amps, two potentiometers for adjustments,
a transistor mounted on the heatsink and some resistors. This is our electromagnet which is
perpendicular with the axis of the two PVC pipes.

Sean: And now we are ready to test our system model. Plug the power supply; this power supply is for
the electromagnet alone while this one from the computer mother board is for the controller and the
LED.

Before, turning the power supply “ON”, be sure to turn the knob of these two potentiometers to its
least resistance value. Then, slowly adjust both the voltage and current of the electromagnet as well as
the resistance of the two potentiometers. Adjust this potentiometer which is connected to the base of
the transistor in order to vary the strength of the Tractive force and on the other hand, adjust the other
potentiometer which is parallel to the capacitor in order to stabilize the motion of the steel ball.

9. Show the steel ball levitating

End………………………………………………