Maglev Assembly Guide

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The Maglev Sketch

Download the sketch for the magnetic levitator, 6310_MAGLEV_24.zip.

Maglev in Action Videos.
Demonstrating Maglev (the setup from LAST TERM!!) using PD control (left), PD control with inversion of the optical sensor nonlinearity (middle), and combining a Lead controller with optical-sensor nonlinearity inversion (right). Notice that the high level of noise in the command for the PD controllers eventually distabilizes the "umbrella", but the noise is much lower (but not zero) for lead controller (which is taking much larger steps).
Maglev Assembly

Attach bilayer steel plastic disk to 3D printed umbrella magnetically.

Calibrating and Testing the Maglev System

Proportion Feedback Induced Oscillation

If your umbrella does not oscillate, try a higher gain (such as Kp=10). If it still does not oscillate, flip the polarities of the drivers starting in line 228 of the sketch:

  • B2L,B1L --> B1L,B2L
  • A2L,A1L --> A1L,A2L
  • A1R,A2R --> A2R,A1R
  • B1R,B2R --> B2R,B1R