Research On The Control Device Of Magnetic Levitation Globe

The magnetic levitation globe is one of typical mechatronics systems, among which the performance of the controller and executing part are very important. So this thesis focuses on the controller and executing part of the magnetic levitation ball system and research for its control and executing system. Initially, introduce the magnetic levitation ball system's working principle, magnetic field law and dynamics model of magnetic force. On the basis of comparing with the traditional permanent magnetic and electromagnetic mix-suspend control mode, describe the system control principle with mathematic model, then a set of magnetic levitation ball experimental device is developed.In the system design, we mostly recommend the power amplifier circuit and the magnetic force controlling circuit.In the the power amplifier circuit, after comparing with the other scheme, we choose the high frequency switch circuit taking IGBT as main switch component. It's driven by the special driver EXB840 circuit, which can contain functions detecting overcurrent, protecting overcurrent and overvoltage, compose the power amplifier. the requires to drive, overcurrent and overvoltage protecting circuit of power amplifier is analyzed.In the the magnetic force controlling circuit, Designed a closed loop control scheme of the system. Use the hall sensor, which is a collection part of the magnetic force, compose the operating amplifier LM324 as comparative amplifier. send the result,which is differently magnified between the sampling signal and collecting signal, to the adjusting circuit as its input. The adjusting circuit and comparative amplify circuit constitute the negative feedback controlling system, and we could restricte the output in the planed area.On the basis of these, debug the power amplifier circuit and the magnetic force controlling circuit , then analyse experiment debuging course and contrast the anticipation with the experiment result, finding out the cause of difference between them. according to the disadvantage, bring forward a improving measure and validate that by the experiment test.