Table of Contents

Abstract .................................................................................................................................................. 2
Introduction ............................................................................................................................................ 3
Problem Definition .............................................................................................................................. 3
System Description .................................................................................................................................. 3
Main components of magnetic levitation system are ........................................................................... 3
Operation and Working ....................................................................................................................... 3
Transfer function of magnetic levitation system ...................................................................................... 3
State Space modeling .......................................................................................................................... 4
Determination of Transfer function from state space........................................................................... 5
Actuator and sensor transfer functions ................................................................................................ 6
Open Loop transfer function of overall system .................................................................................... 6
Block diagram.......................................................................................................................................... 6
Root Locus of system ............................................................................................................................... 7
Open loop step response ..................................................................................................................... 7
Controller Design..................................................................................................................................... 8
Specifications ...................................................................................................................................... 8
Loop Transfer function with Controller .................................................................................................... 8
Bode plot showing Frequency response ............................................................................................... 9
Closed loop step response ................................................................................................................... 9
Hardware Implementation .................................................................................................................... 10
Circuit diagram .................................................................................................................................. 10

Abstract
The aim of this lab is to model and control a laboratory-scale magnetic levitation system using
analog controller. The objective is to keep a ferromagnetic object suspended, without contact,
beneath an electromagnet. The electromagnetic force must be adjusted to counteract the weight
of the object and account for disturbances. This is accomplished by measuring the location of the
object using a non-contact sensor, and adjusting the current in the electromagnet based on this
measurement in order to keep the object at a predetermined location. The system is inherently
nonlinear and open-loop unstable. Negative feedback and phase-lead controllers are designed to
stabilize this system. The controllers are designed using MATLAB and tested in Proteus
software. Analog controllers are implemented using operational amplifiers, resistors and
capacitors.

Introduction
Magnetic levitation systems (also called maglev) are electromechanical devices that suspend
ferromagnetic materials using electromagnetism. Maglev technology has been receiving
increasing attention since it eliminates energy losses due to friction. Centered on friction
reduction, maglev systems have wide engineering applications such as magnetic bearings, highprecision positioning platforms, aerospace shuttles, and fast maglev trains.

Problem Definition
Maglev systems are characterized by open loop instability and nonlinear dynamics that suggest
the need of stabilizing controllers. The objectives of this lab are:1) Modeling of magnetic levitation system.
2) Design and implementation of Phase Lead controller that stabilizes a 40 gram steel ball
suspended in the air.

System Description
Main components of magnetic levitation system are

Electromagnet
Circuit board.
Actuator (current amplifier)
Levitated object( ferromagnetic mass)
Array of IR transmitter and a receiver.

Operation and Working

Position sensor generates an electrical signal related to the relative position of the levitated
object. Circuit board receives the signal from sensor and generates an output to drive the
electromagnet, which generate the magnetic field, to keep the mass stable. Mass can be a ball,
rectangle or any other shape.

Transfer function of magnetic levitation system

ci 2
x2

Mass
m))

mg

Fnet

ci 2
mg 2 bx
x

.. (1)

Where:

bx

= upward drag force (air friction)

ci 2
x2

= upward electromagnetic force

If air drag is neglected then

ci 2
mx mg 2
x

... (1)

ci 2
x g
mx 2

..(2)

From eq. (2) we see that the dynamics of maglev are nonlinear due to presence of

State Space modeling

Let us define the state variables as,

x1 x
x2 x

Using (2)
The state equations are:

x1 x 2
ci 2
x2 g
mx 12
Where

x (t ) = Position of the ball (continuous feedback of it)

i (t ) u (t ) = Current (control input)

x 2 term.

Representation of state space model in Matrix form as,

x 2

x 1
2
x g cu . (3)
2
mx 12

Linearizing the above system (3) about the quiescent point say

(x 0 ,u 0 ) .Using Jacobean linearization

method:

f 1
x
A 1
f 2
x
1

f 1
0
x 2
2cu 2
0
f 2

mx 03

x 2

f 1 0
u
B
2cu 0
f 2 mx 2
0
u

.(4)

C = [1 0]
D=0

Determination of Transfer function from state space

G p (s )

X (s )
C (sI A )1 B D
U (s )

Put the values from (4) to the above equation, after simplification we get the following plant transfer
function in s-domain:

G p (s )

Kp
s 2
2

. (5)

Where

Kp

2cu 0
mx 0 2

2cu 0 2
mx 03

In our case
m = 40g
i=uo=1A
Whereas 'c' is found using equilibrium condition on eq (1a); that is

ci 2
0 mg 2
x
mgx 0 2
c
i 02
Using the above values the final plant transfer function is

Actuator and sensor transfer functions

Actuator:

Ga (s ) 0.6A / v

Sensor:

G s (s ) 2v / mm

Open Loop transfer function of overall system

As the system has a root in RHP so G( s) is unstable, hence, we need a controller Gc ( s) to

stabilize and control the performance of the system.

Block diagram

Root Locus of system

Root locus shows that system is unstable.
Root Locus
15

10

Imaginary Axis

-5

-10

-15
-150

-100

-50

50

100

150

Real Axis

Open loop step response

Step response of open loop system is shown below:

x 10

Step Response

-1

Amplitude

-2

-3

-4

-5

-6

-7

0.05

0.1

0.15

0.2

0.25

Time (sec)

0.3

0.35

0.4

0.45

Controller Design
Specifications
Phase margin >= 50 degree
Settling time < 0.5 sec
Quiescent point: mass=40 g and coil current 1A
And compensator type is Phase lead Compensator.
The general form Phase lead controller is:

Using classical controller design technique (from ogata) the pole (b), zero (a) and gain (Kc) of
controller are found to be:

K c = 20
T=0.0286
=0.0333
So final shape of controller is:

Loop Transfer function with Controller

Bode plot showing Frequency response

Bode Diagram
40

Magnitude (dB)

20
System: Gf
Gain Margin (dB): -22.1
At frequency (rad/sec): 0
Closed Loop Stable? Yes

0
-20
-40
-60

System: Gf
Phase Margin (deg): 63.6
Delay Margin (sec): 0.00267
At frequency (rad/sec): 415
Closed Loop Stable? Yes

Phase (deg)

-80
-90

-120

-150

-180
0
10

10

10

10

10

10

Frequency (rad/sec)

Closed loop step response

Step Response
1.4

System: Gcl
Peak amplitude: 1.11
Overshoot (%): 2.24
At time (sec): 0.00752

1.2

System: Gcl
Settling Time (sec): 0.00829

Amplitude

0.8

0.6

0.4

0.2

0.002

0.004

0.006
Time (sec)

0.008

0.01

0.012

Hardware Implementation
1
RC
R1C 1
G c (s ) 4 1
R 3C 2 s 1
R 2C 2
s

Where

C 1 = 2.2F
R 1 = 13k
C 2 = 0.47 F
R 2 = 2k
R 3 = 1k

R 4 =4.3k

Circuit diagram
Magnetic Levitation system
Phase Lead Compensator
Simulation test

C2
0.47uF

R4
C1
S1

2.2uF

OP : SUBTRACT
S1(IN+)

R1

R2

4.7k

2000

U1
R3

U2

13000

G
K.

1k

N2.p + N1.p + N0
D2.p + D1.p + D0

OPAMP
OPAMP

2 ORD : POLY

G(OUT)