Magnetic leviatation CE152

     Laboratory of Cybernetics (L513)

  Model administrator:
     Ing. Jakub Čerkala



Brief model characteristics

  • unstable SISO (single input, single output) non-linear system
  • the system goal is to keep steel ball in levitation state by using electomagnetic force generated by electric current passing throught the coil
  • suitable for study and experiments related to the theory of control of dynamic systems
  • hardware and software support for the real-time identification and control
  • a wide range of usable control algorithms (both linear and non-linear) in the Matlab enviroment in associaton with Real Time Toolbox
  • C language libraries and demo software pack for PID control and state-space algorithms


Video gallery Photo gallery

Mechanical construction

  • Model Magnetic levitation can be decomposed into three subystems - The ball and coil, coil amplifier, position sensor.
  • The voltage entering coil amplifier u is proportional to computer output. The amplifier output is electric current i by which we control position of the ball in a magnetic field. To determine the ball position x is used inductive proximity sensor, whose output is voltage y corresponding to the position of ball in a magnetic field
  • Model's comunication is based on multifunction input/output card MF614 (A/D and D/A converters) that allow to write/read data with the use of Real Time Toolbox functions

Img.1.: Mechanical construction of the model Magnetic Leviataion CE152

System description of the model

  • Control inputs

    • input voltage u fed to coil amplifier from D/A converter
  • Fault input

    • impact of the immeasurable faults d
  • Measured outputs

    • Electric voltage y, that si equivalent to ball's position and is sent to A/D convertor

Img.2.: System description of the model

Using the model in pedagogy

  • courses

  • Optimal and Nonlinear systems (ONS) (1st grade master degree)
  • Control and Artificial Intelligence (CAI) (1st grade master degree)
  • bachelor thesis

  • KUNDRÁT, Štefan: Application of MPT Toolbox in modeling and control of nonlinear systems
      (supervisor: doc. Ing. Anna Jadlovská, PhD., consultant: Ing. Peter Šuster) - 2011
  • diploma (master) thesis

  • BENETIN, Martin: Educational program modules for the analysis and synthesis of physical system models:
      (supervisor: doc. Ing. Anna Jadlovská, PhD., consultant: Ing. Peter Šuster) - 2012

Using the model in research

  • PhD works

  • ŠUSTER, Peter: Design of effective software tools for control and analyze non-linear systems
      (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2012 (in preparation)
  • publications

  • 2013
      ŠUSTER, P. - JADLOVSKÁ, A.:Application Results Identification Based on Genetic Algorithm in Nonlinear Control Design of Magnetic Levitation System. In: Electroscope – online časopis pro elektrotechniku, ročník 2013, číslo I. ISSN 1802-4564.  
  • 2012
      ŠUSTER, P. - BENETIN, M. - JADLOVSKÁ, A.: Návrh a simulácia riadenia pre výukový model Magnetická levitácia. In: Electrical Engineering and Informatics : Proceeding of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice III: September, 2012, Košice, Slovak Republic. - Košice : TU, 2010 S. 250-256. - ISBN 978-80-553-0890-6, (AED)
      ŠUSTER, P. - JADLOVSKÁ, A.: Modeling and Control Design of Magnetic Levitation System, In: Proceedings from 10-th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics SAMI 2012, January 2012 Herľany, Slovak Republic, Óbuda University, Budapest Tech., CD-ROM, pp. 295-299, ISBN 978-1-4577-0195-5