| Device mass | 3.8 kg |
| Dimensions (H x W x L) | 15.1 cm x 15.1cm x 27.6 cm |
| Ball position sensor sensitivity | 0.28 cm/V |
| Coil inductance | 412.5 mH |
| Coil resistance | 10 Ω |
| Number of turns in the coil wire (approximate) | 2450 |
| Coil length | 8.25 cm |
| Coil steel core radius | 0.8 cm |
| Electromagnet force constant | 6.53 x 10–5 N.m²/A² |
| Current sense resistance | 1 Ω |
| Steel ball radius | 1.27 cm |
| Steel ball mass | 0.068 kg |
| Steel ball travel | 1.4 cm |
| Magnetic permeability constant | 4π x 10-7 H/m |
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Overview
The force between electromagnet and ball is highly nonlinear. Further, the electromagnet itself has its own dynamics that must be compensated for. The challenging dynamics of the system make it perfect for teaching modeling, linearization, current control, position control, and using multiple loops (i.e. cascade control). It could also be used to test and implement more advanced control strategies, such as multi-variable, gain scheduling, and nonlinear control.
One degree of freedom
Electromagnet made up of a solenoid coil and steel core
Photo-sensitive ball position sensor
Ball position sensor can be calibrated according to lighting conditions
Analog coil current sensor
Additional information
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