The use of pid controller to get the stable floating condition of the objects in magnetic levitation system

Abstract

Magnetic Levitation or maglev is a method to make an object float in open air without any physical support utilizing force created by electromagnetic repulsion surrounding the object to counter the effect of gravitational force of the object. The object can be levitated if the force created by electromagnetic repulsion equalizes the weight of the object. Lately, this method can be found in many applications such as maglev trains, maglev toys, maglev clock, etc. In this research, we want to show how the Proportional Integral Derivative Controller also known as PID Controller can be used to stabilize magnetically levitated objects. The electromagnetic field is generated by using copper wire coil with 15 millihenry inductance while the object consists of two neodymium permanent magnetic button. The weight and the size of the magnet is 22 grams in mass with 0.5 cm in diameter and 0.5 cm thick. An N-Channel MOSFET Transistor is used to adjust the position of the object with the electromagnetic coil. The PID Controller is used to find the characteristics of the system. The system will stabilize objects floating in many different positions. Arduino Uno microcontroller is used to perform the PID Controller processing with the feedback from the Hall Effect sensor of the system. It is found that with PID parameters Kp = 2.1 Ki = 19.5 and Kd = 0.0025, the objects can be floating with stable condition at the position 1.5 cm from effect hall sensor and with Kp = 0.6, Ki = 3.0 and Kd = 0.0006, the objects can be floating with stable condition at the position 2.0 cm from the Hall Effect sensor. The range in which objects can float with stable condition is between 0.5 cm and 2.5 cm from the Hall Effect sensor of the system.