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INTECO Krakow

Magnetic Levitation System
(MLS)

User’s Manual
version 1.6 for MATLAB 6.5

Kraków, March 2005

Table of contents
INTRODUCTION ..............................................................................................................3 1.1 1.2 1.3 1.4 1.5 2 LABORATORY SET-UP ............................................................................................3HARDWARE AND SOFTWARE REQUIREMENTS.........................................................4 FEATURES OF MLS ................................................................................................5 TYPICAL TEACHING APPLICATIONS ........................................................................5 SOFTWARE INSTALLATION.....................................................................................5

ML MAIN WINDOW ................................................................................................6 2.1 IDENTIFICATION .....................................................................................................7 2.1.1 Sensor ...........................................................................................................7 2.1.2 Actuatorstatic mode...................................................................................11 2.1.3 Minimal control ..........................................................................................14 2.1.4 Actuator dynamic mode ..............................................................................17 2.2 MAGLEV DEVICE DRIVERS...................................................................................19 2.3 SIMULATION MODEL & CONTROLLERS................................................................22 2.3.1 Open Loop ..................................................................................................22 2.3.2 PID..............................................................................................................28 2.3.3 LQ...............................................................................................................31 2.3.4 LQ tracking.................................................................................................34 2.4 LEVITATION .........................................................................................................37 2.4.1PID..............................................................................................................37 2.4.2 LQ ...............................................................................................................39 2.4.3 LQ tracking.................................................................................................41

3

DESCRIPTION OF THE MAGNETIC LEVITATION CLASS PROPERTIES44 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9BASEADDRESS.....................................................................................................45 BITSTREAMVERSION............................................................................................45 PWM...................................................................................................................45 PWMPRESCALER................................................................................................46 STOP ....................................................................................................................46 VOLTAGE .............................................................................................................46 THERMSTATUS....................................................................................................47 TIME ....................................................................................................................47 QUICK REFERENCE TABLE ....................................................................................47

MLS User’s Manual

-2-

Introduction
The Magnetic Levitation System MLS is a complete (after assembling and software installation) control...
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