Team Lifted

Andrew CoberDan CroweSujan GautamAnthony SchubertRyan Yeash

Magnetic Levitation

Use electromagnets to lift and control a ferromagnetic object

Control xyz position Control yaw, pitch,

and roll of specialized object

Goals

Effectively control the object with 1cm accuracyXYZ control

Control orientation within 90 degrees in all axes

Design

Four electromagnets mounted on an overhead platform

Cyclone II FPGA used to control the current to the electromagnets

Control based on IR distance sensing of the object

Specifics

DC buck converter used to control current flow to electromagnets

Software control loop used to connect IR sensors and magnets via converters

User controls object position with buttons Wood apparatus initially, convert to

aluminum at a later date

Approach

Breakup design as much as possibleHardware/Power

Construction of apparatus, PCB, and developing reliable power converters

Control Mathematical control algorithm

Software Build framework that allows control specifics to be

implemented later

Functional Block Diagram

Hardware Block Diagram

NiosII Softcore

Software Flow Diagram

Cost Estimate

Qt. Part Attained From Ea. Cost6 Electromagnets www.solenoidcity.com $40.00 $240.004 IR Sensors www.Sparkfun.com $12.00 $48.004 Buck Converters www.solenoidcity.com $80.00 $320.004 Photo Diode DigiKey $1.00 $4.004 Photo Detectors DigiKey $1.00 $4.002 PCB-Parts and Fab. Advanced Circuits, Digikey, Mouser $70.00 $140.001 Cyclone II Dev. Board Altera $150.00 $150.00

Misc.Resistors, Capacitors, IC's Digikey $30.00Apparatus Home Depot $30.00

Total $966.00

Division of Labor

Andrew Cober

Dan CroweAnthony Schubert

Ryan YeashSujan

Gautam

Mechanical X X X

PCB X X

Power Control

X

System Modeling

X X X

Control Algorithm

X X X X

Firmware X X

Timeline Estimate

Milestones

One week: Complete research, finalize feasibility CDR: Obtain all parts, PCB design completed,

develop software framework M1: Get an object to hover in the middle of 1sqft.

area M2: Control xyz coordinates of the object Expo: Control orientation and completion of

project

Risks

Power limitations into the magnets may limit object size and levitation height

Control complexity may be too difficult to implement

FPGA may be too complex

Contingency Plans

Scale back to control over only the spatial coordinate, not the orientation

Control an object on a surface rather than mid air

Use photo diodes rather than IR sensors for object position

Rescale from FPGA to MSP

Possible Extensions

Addition of LCD to display object dataTouchscreen for user controlTrackball control

Wireless communication between apparatus and user interface

Implement multi-core processing on Cyclone II

Questions

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