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Magnetic Manipulator

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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  1. Magnetic Manipulator Team 125

  2. 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)

  3. 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

  4. 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

  5. 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

  6. 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

  7. Hardware Overview • Arduino • Computer(GUI) • Transistor Circuit • System state LEDS

  8. Hardware Overview • Electromagnet • Levitating Object • Bottom Hall sensor • Top Hall sensor

  9. Hardware Overview • Hall Processing Circuit • data to Arduino • Enable switch

  10. Computer/Graphical User Interface • Why a GUI? • Arduino can levitate magnet without computer • Processing Code • User Interface • Debug • Data Display

  11. Computer/GUI - Functional vs OOP • Why OOP over functional programming? • Contained variables (avoid conflicts) • Blueprints • Hierarchy

  12. Computer/GUI – Functional vs OOP

  13. Computer/GUI – Humble Beginnings • Text Fields • Buttons

  14. Computer/GUI - Layout • Text Fields • Text Input/Console • Buttons • Graph

  15. Computer/GUI – Final Layout

  16. 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

  17. 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

  18. Challenges - Noise • Power Sources • Filter Capacitors • Signal Wires • Grounded Shield Wires • Lead Lengths • Power Transistor Circuit Isolation • Separate, more Robust board

  19. Challenges - Field Calculations • The magnetic field of the coil • Educated “guesses” • Real Time measurements • Second Hall Effect Sensor • New op amp circuit addition

  20. Conclusion Success! • “Eyes were bigger than our stomachs” • A few setbacks • Digital feedback control system • PID • PWM • Interesting and Interactive GUI Success!!! 

  21. 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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