Magnetic manipulator
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Magnetic Manipulator. Team 125. Meet Team 125!. Chad Perkins (Spring Team Lead) John Olennikov(Web Master ) Ben Younce Marley Rutkowski(Fall Team Lead) Professor Robert J. Albright (Faculty Advisor) Andy McConnell (In dustry Advisor). What We Did. Magnetic Levitation!

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Magnetic Manipulator

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Magnetic manipulator

Magnetic Manipulator

Team 125


Meet team 125

Meet Team 125!

Chad Perkins (Spring Team Lead)

John Olennikov(Web Master)

Ben Younce

Marley Rutkowski(Fall Team Lead)

Professor Robert J. Albright (Faculty Advisor)

Andy McConnell (Industry Advisor)


What we did

What We Did...

  • Magnetic Levitation!

    • Has been implemented with control interface that allows a user to raise and lower a neodymium magnet suspended below a solenoid

    • The magnet can be suspended indefinitely


How we did it

How We Did It...

  • Electromagnet controlled by a microcomputer

  • 2 Hall sensors sense magnetic fields

  • Adjust electromagnetic strength

    • Pulse width modulation (PWM) defines strength

    • Power transistor turn power on/off at high frequency

  • PID algorithm for control


State machine arduino code

State Machine (Arduino code)

  • This runs on the Arduino

  • Start at System Initialize

  • Calibrate Mode gets necessary values

  • Idle Mode means the solenoid is waiting for a magnet to come within range of the Hall sensors


State machine arduino code1

State Machine (Arduino code)

  • PID Control Mode means that the system is executing algorithm to levitate object in range

  • Off Mode means that the magnet is too close and the solenoid shuts off

  • The lights on the top of the Mag-Lev tell us what state it is in


Hardware overview

Hardware Overview

  • Arduino

    • Computer(GUI)

    • Transistor Circuit

    • System state LEDS


Hardware overview1

Hardware Overview

  • Electromagnet

    • Levitating Object

    • Bottom Hall sensor

    • Top Hall sensor


Hardware overview2

Hardware Overview

  • Hall Processing Circuit

    • data to Arduino

  • Enable switch


Computer graphical user interface

Computer/Graphical User Interface

  • Why a GUI?

  • Arduino can levitate magnet without computer

  • Processing Code

    • User Interface

    • Debug

    • Data Display


Computer gui functional vs oop

Computer/GUI - Functional vs OOP

  • Why OOP over functional programming?

    • Contained variables (avoid conflicts)

    • Blueprints

    • Hierarchy


Computer gui functional vs oop1

Computer/GUI – Functional vs OOP


Computer gui humble beginnings

Computer/GUI – Humble Beginnings

  • Text Fields

  • Buttons


Computer gui layout

Computer/GUI - Layout

  • Text Fields

  • Text Input/Console

  • Buttons

  • Graph


Computer gui final layout

Computer/GUI – Final Layout


Software challenges

Software Challenges

  • Analog to Digital Converter (ADC)

    • Problems

      • Unstable values

      • analogRead() not fast enough

    • Solution; average over space & time

      • Moving Mean

      • 8 timer triggered synchronous ADCs

        • No support for Arduino Due, required reading CPU manual


Software challenges1

Software Challenges

  • Pulse Width Modulation (PWM)

    • Problems

      • analogWrite()

        • uncustomizable low frequency

        • not precise (only 256 values)

      • Software interrupt PWM

        • too much CPU load

    • Solution

      • Utilize Atmel PWM module


Challenges noise

Challenges - Noise

  • Power Sources

    • Filter Capacitors

  • Signal Wires

    • Grounded Shield Wires

    • Lead Lengths

  • Power Transistor Circuit Isolation

    • Separate, more Robust board


Challenges field calculations

Challenges - Field Calculations

  • The magnetic field of the coil

    • Educated “guesses”

  • Real Time measurements

    • Second Hall Effect Sensor

    • New op amp circuit addition


Conclusion

Conclusion

Success!

  • “Eyes were bigger than our stomachs”

  • A few setbacks

  • Digital feedback control system

    • PID

    • PWM

  • Interesting and Interactive GUI

    Success!!! 


That s all folks

That’s All, Folks!

Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions?Questions? Questions? Questions?


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