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Lecture 10: Magnetic Levitation IEE Culminating Lab & Timely Curricular Information 23 May 2017 Introduction to Engineering Electronics K. A. Connor 1 Magnetic Levitation Experiment • Magnets or magnetic materials can be suspended either using magnetic attraction or repulsion and permanent or electromagnets. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 2 Magnetic Levitation • Trains can magnetically fly over a roadbed with position sustained by some kind of control system • Force can either be attractive or repulsive 23 May 2017 Introduction to Engineering Electronics K. A. Connor 3 Some Commercial Products http://www.gadgets4sure.com 23 May 2017 Introduction to Engineering Electronics K. A. Connor 4 The Physics of Levitron • The spinning top keeps itself stabilized vertically while the magnetic base keeps the top suspended. • http://www.levitron.com/ 23 May 2017 Introduction to Engineering Electronics K. A. Connor 5 The Physics of Levitron • The top actually precesses around the vertical axis (like the earth on its axis). • There is a range of stable revolutions per second (20-30). The weight must also be set to exactly balance gravity. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 6 2 Minute Quiz • Specify any design issue for repulsive levitation • Specify any design issue for attractive levitation 23 May 2017 Introduction to Engineering Electronics K. A. Connor 7 Maglev Experiment: How the Globes Are Suspended IR Emitter Electromagnet Control Circuit IR Detector IR Light Beam Ball to be suspended • From Barry’s Coilgun Design Site • Barry’s design is slightly more advanced • http://www.oz.net/~coilgun/levitation/home.htm 23 May 2017 Introduction to Engineering Electronics K. A. Connor 8 Maglev Experiment • Close up photos showing levitation of washer and ball bearing with magnet attached. Some preferred orientation is necessary for stability. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 9 Maglev Experiment Unblocked Beam Blocked Beam • The position of the suspended object (here a ball) is sensed by how much of an IR beam is blocked by the object. • This requires an IR emitter and an IR detector. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 10 Maglev Experiment Blocked Beam • The emitter puts out a constant light intensity. • The detector signal is amplified and compared with a reference voltage. • The output of the comparison drives the electromagnet. • If the ball is too high (detected IR signal too small), the coil current is reduced. • If the ball is too low (detected IR signal too large), the coil current is increased. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 11 Maglev Experiment From Radio Shack Mini-Notebooks • The IR emitter and detector are powered just like the LEDs we used previously. The resistor in series gives us the best operation and also protects the diode. Lab 2 on Diodes has the resistor. Labs 5, 6, and 7 drive the LEDs directly. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 12 Maglev Experiment • The photo emitter and detector circuits to be used in the experiment 23 May 2017 Introduction to Engineering Electronics K. A. Connor 13 Maglev Experiment Inverting Op-amp Buffer • The circuit is constructed of the op-amp configurations we saw in Lab 4. • The actual circuit must also contain some mathematical operation for stable control. • This control in this case is analog. There are many other options. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 14 Maglev Experiment Inverting Op-amp Buffer • For the inverting op-amp VOUT VIN • For the buffer 23 May 2017 Rf R1 VOUT V IN Introduction to Engineering Electronics K. A. Connor 15 Maglev Experiment From Detector Buffer Buffer • First, two buffer circuits are used to isolate the control function (which we will return to). 23 May 2017 Introduction to Engineering Electronics K. A. Connor 16 Maglev Experiment Bias Buffered Input to Summing Inverting Op-amp 23 May 2017 Inverting Op-amp Introduction to Engineering Electronics K. A. Connor 17 Maglev Experiment • Voltage from op-amps drives transistor which provides the current for the electromagnet. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 18 Maglev Experiment Control • How does the control work? • We need to look at different types of control. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 19 Maglev: Types of Control Oven Temp Set Point Temp Power • On-Off Control (also called Bang-Bang) • Commonly used for thermostats. When the temperature is to low (bang) it is on. When the temperature is too high (bang) it is off. • Note the large excursions in temperature and that hysteresis is used to delay turn on and turn off. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 20 Maglev: Types of Control Set Point Temp Oven Temp For 3 gains • Proportional Control W AP (TS TO ) • The power W is proportional to the difference in temperature between the set point and the actual temperature. Note as gain increases, the temperature becomes more unstable but can get closer to the set point. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 21 Maglev: Types of Control Oven Temp Set Point Temp Power • Proportional-Integral-Differential Control (PID) d TS TO W AP TS TO AD AI TS TO dt dt • Works the best but is more mathematically demanding since it is 3rd order. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 22 Maglev: Types of Control • Proportional-Integral Control (PI): In a simple system where noise may be a problem, the derivative term is not used. This is the approach used in the Embedded Control Class. • More on control can be found at Feedback and Temperature Control from the University of Exeter and the Hacker’s Diet (really!) by John Walker. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 23 Maglev Experiment: Controller In Out • For a resistor: • For a capacitor: 23 May 2017 V IR 1 V Idt C Introduction to Engineering Electronics K. A. Connor 24 Controllers • PID Controllers can be implemented many, many different ways. • Analog input can be converted to digital and then processed in the digital domain before being converted back to analog to drive the coil. Digital circuitry can be used. A microcontroller (like in Embedded Control) can be programmed Other options may be discussed in the next lecture. 23 May 2017 Introduction to Engineering Electronics K. A. Connor 25 Some Registration Week Information on Majors Related to IEE • • • • • • • Electrical Engineering Computer and Systems Engineering Electric Power Engineering EE/CSE Dual Degree EE/EPE Dual Degree CSE/CS Dual Degree EE/Applied Physics Dual Degree 23 May 2017 Introduction to Engineering Electronics K. A. Connor 26 ECSE Undergraduate Advisor • David Nichols – Available for advice any time Monday, Wednesday and mornings on Thursday. (JEC 6002) • Email: [email protected] 23 May 2017 Introduction to Engineering Electronics K. A. Connor 27 Electrical Engineering Science, Math, H&SS Core Engineering Core Restricted Electives 23 May 2017 EE Core Concentration Introduction to Engineering Electronics K. A. Connor ECSE Core Free Electives 28 Electrical Engineering Science, Math, H&SS Core • • • • • • • Chem Mat I Calculus I&II Differential Eqns Physics I&II CS I H&SS (5) + PD II Applied Math Elective 23 May 2017 Engineering Core • • • • • • • IEA IEE EG&CAD IED Embedded Control PD I&III Multidisciplinary Elective Introduction to Engineering Electronics K. A. Connor 29 Electrical Engineering ECSE Core EE Core • Electric Circuits • Computer Components and Operations • Signals & Systems • Probability for Engr. Applications 23 May 2017 • Analog Electronics or Digital Electronics • Fields and Waves I • Microelectronics Technology • Lab Elective Introduction to Engineering Electronics K. A. Connor 30 Electrical Engineering Concentration • • • • • • • Specified Electives Automatic Controls Comm & Info Proc Computer Hardware Electromagnetics Electronic Circuits Power Electronics Manufacturing or Entrepreneurship • Microelectronics • Individualized 23 May 2017 • Lab Elective • Design Elective (no longer included in concentration) Introduction to Engineering Electronics K. A. Connor 31 Electrical Engineering Free Electives Restricted Electives • Any ECSE or EPOW • Used to satisfy concentration • Can also include one ENGR course 23 May 2017 • Any course at all • Usually used up for dual degrees • Most students take additional technical courses • See undergrad handbook Introduction to Engineering Electronics K. A. Connor 32 Computer and Systems Engineering Science, Math, H&SS Core Engineering Core Restricted Electives 23 May 2017 CSE Core Concentration Introduction to Engineering Electronics K. A. Connor ECSE Core Free Electives 33 Computer and Systems Engineering Science, Math, H&SS Core • • • • • • • • Chem Mat I Calculus I&II Differential Eqns. Physics I&II CS I&II Data Structures & Alg. H&SS (5) + PD II Applied Math Elective 23 May 2017 Engineering Core • • • • • • • IEA IEE EG&CAD IED Embedded Control PD I&III Multidisciplinary Elective Introduction to Engineering Electronics K. A. Connor 34 Computer and Systems Engineering ECSE Core CSE Core • Electric Circuits • Computer Components and Operations • Signals & Systems • Probability for Engr. Applications 23 May 2017 • Computer Architecture, Networks and Operating Systems • Software Engineering Elective Introduction to Engineering Electronics K. A. Connor 35 Computer and Systems Engineering Concentration • • • • • Specified Electives Automatic Controls Comm & Info Proc Computer Hardware Computer Systems Manufacturing or Entrepreneurship • Individualized 23 May 2017 • Software Engineering Elective • Design Elective (no longer included in concentration) Introduction to Engineering Electronics K. A. Connor 36 Computer and Systems Engineering Free Electives Restricted Electives • Any ECSE or CSCI • Used to satisfy concentration • Can also include one ENGR course 23 May 2017 • Any course at all • Usually used up for dual degrees • Most students take additional technical courses • See undergrad handbook Introduction to Engineering Electronics K. A. Connor 37 Electric Power Engineering Science, Math, H&SS Core Engineering Core Restricted Electives 23 May 2017 EPE Core Concentration Introduction to Engineering Electronics K. A. Connor ECSE Core Free Electives 38 Electric Power Engineering Science, Math, H&SS Core • • • • • • Chem Mat I&II Calculus I&II Differential Eqns Physics I&II C Prog. For Engineers H&SS (5) + PD II 23 May 2017 Engineering Core • • • • • • • • • • • IEA Engr. Proc. Or IEE EG&CAD IED MAU Modeling & Control of Dynamic Systems Embedded Control Electronic Instrumentation PD I&III Thermal & Fluids Engr. Multidisciplinary Elective Introduction to Engineering Electronics K. A. Connor 39 Electric Power Engineering ECSE Core EPE Core • Electric Circuits • Fields & Waves I • Signals & Systems 23 May 2017 • Power Engineering Fundamentals • Electromechanics • Semiconductor Power Electronics • EPE Lab • EPE Design Introduction to Engineering Electronics K. A. Connor 40 Electric Power Engineering Concentration Specified Electives • Not required for EPE degree • Optional Concentration in Power Electronics Systems -- Includes courses from EPOW, ECSE, & MANE 23 May 2017 • Technical Elective – any course in Engineering or Science above the 2000 level Introduction to Engineering Electronics K. A. Connor 41 Electric Power Engineering Free Electives • Any course at all • Usually used up for dual degrees • Most students take additional technical courses • See undergrad handbook 23 May 2017 Introduction to Engineering Electronics K. A. Connor 42 Dual Degrees • EE/CSE – Includes only the CSE concentrations (130 credits) • CSE/CSYS – Includes all CSE concentrations (131 credits) 23 May 2017 • EE/EPE – Includes only the Power Electronics concentration (131 credits) • EE/Applied Physics – Includes only the Microelectronics concentration (132 credits) Introduction to Engineering Electronics K. A. Connor 43 Recent Changes • Check ECSE webpage during registration period • New Undergraduate Handbook • New design course options ECSE Design Control Systems Design Other courses will be changing • Please check advising information on a regular basis 23 May 2017 Introduction to Engineering Electronics K. A. Connor 44