Levitation Project

x distance_in between coil and magnet

x_d rate
x_dd accel
m mass_lb
k_s 0.0010 v_per_gauss of sensor
k_c 0.0000297 v per gauss of coil
i 0.0005 amps
R_ 29.8 coil resistance
s_null 2 sensor_null_volts
v_ref 0 reg output with grounded ref pin
v_reg output of regulator
v_s sensor output voltage
B 501 magnet field strength _gauss =N/length*i*u0*ur*10000
L 55.9 Coil Inductunce Henrys =u*N^2*area/length
N 11451 Turns on Coil Assumes #25 wire 106.2 ohms/km , diameter = .7874cm
length 0.0287 Coil Length_m ((((29.8 / 106.2) * 1 000) / (PI * .007874)
area 4.869459E-05 Coil Area_ sqm
u0 1.256637E-06 free space permeability tesla/amp*meter
ur 200 relative permeability
R_series 2000 series resistance

v_s=s_null - B*k_s
i=v_reg/(R_+R_series)
B=i*R_/k_c
v_reg=v_s + v_ref
Steady State Trim Condition vs v_ref
v_s= s_null -i*R/k_c*ks = s_null - v_reg*R_/(R_+R_series)/k_c*k_s
v_s= s_null - (v_s + v_ref)*R_/(R_+R_series)/k_c*k_s
v_s(1 + R_/(R_+R_series)/k_c*k_s) = s_null - v_ref*R_/(R_+R_series)/k_c*k_s

v_ref v_s v_reg B i

0 1.339 1.339 661.3 0.0007 Want to trim at 50% of sensor range
0.5 1.173 1.673 826.7 0.0008
1 1.008 2.008 992.0 0.0010
1.5 0.843 2.343 1157.4 0.0012
2 0.677 2.677 1322.7 0.0013
2.5 0.512 3.012 1488.0 0.0015
3 0.347 3.347 1653.4 0.0016
3.5 0.181 3.681 1818.7 0.0018
4 0.016 4.016 1984.0 0.0020
4.5 -0.149 4.351 2149.4 0.0021
5 -0.315 4.685 2314.7 0.0023

Force equation
p1,p2 are magnetic monopole strengths of solenoid and magnet (amp_meters) respectively
mass*accel = gravity force + magnetic force
x distance between coil and magnet . Positive x implies increasing separation
We know that the pole strength of the coil is proportional to the current
so we can say that p1 /u= C*i We just included the permeablility here , but it is a constant.
Magnetic force between two monopoles F_B = 1/u*(p1*p2)/x^2
Magnetic intensity H = F_B/p2 = 1/u(p1)/x^2= Ci/x^2

m*x_dd=(1/u)* p1*p2/x^2 + g*m = C*i*p2/x^2 +g *m

At balance , x_dd=0 so we can solve for C , x=x0 , i=i0

C =- g*m/i0/p2*x0^2
Coil L*i_d + i*(R _+R_series)= v_reg so i = v_reg/(R_+R_series) *(1/(tau_coil*s +1) where tau_coil = L/(R_+R_series)
B=B0*(i/i0)*(x0/x)^2
x_dd = g*(- i/i0 * (x0/x)^2 + 1 )
dt 0.01 B0 500
tau_coil 0.03 g 386.4 in/sec/sec
i0 0.0002493026 *note, assume the %50 of total gauss is from coil… but really depends on relative p1,p2 strengths
x0 1 *note this assumes the balance point in inches. This can be achieved by adjusting m,p2 and i0.
t i_d i x_dd x_d x B v_s v_reg
0 0.000249 0 1 500 1.5 1.5
0.01 0.0177755154 0.000427 -275.5069 -2.755069 0.972449 905.724 1.094276 1.094276
0.02 0.0040673038 0.000468 -299.1517 -5.746586 0.914983 1120.502 0.879498 0.879498
0.03 -0.001250089 0.000455 -204.3008 -7.789594 0.837088 1302.964 0.697036 0.697036
0.04 -0.004059345 0.000415 -63.9182 -8.428776 0.7528 1467.411 0.532589 0.532589
0.05 -0.005526695 0.000359 70.74663 -7.72131 0.675587 1579.146 0.420854 0.420854
0.06 -0.005518724 0.000304 171.2178 -6.009132 0.615495 1610.377 0.389623 0.389623
0.07 -0.004073955 0.000263 231.7158 -3.691974 0.578576 1578.371 0.421629 0.421629
0.08 -0.002022746 0.000243 260.2111 -1.089863 0.567677 1513.671 0.486329 0.486329
0.09 -0.000131429 0.000242 265.5768 1.565905 0.583336 1425.749 0.574251 0.574251
0.1 0.0014886163 0.000257 250.9681 4.075585 0.624092 1322.268 0.677732 0.677732
0.11 0.0027988601 0.000285 214.4864 6.220449 0.686296 1212.615 0.787385 0.787385
0.12 0.0037438547 0.000322 151.1777 7.732226 0.763619 1108.243 0.891757 0.891757
0.13 0.0042513671 0.000365 56.76575 8.299884 0.846617 1020.558 0.979442 0.979442
0.14 0.0042762321 0.000407 -66.2911 7.636973 0.922987 959.3324 1.040668 1.040668
0.15 0.003818898 0.000446 -202.0696 5.616277 0.97915 932.3247 1.067675 1.067675
0.16 0.0029156356 0.000475 -319.1893 2.424384 1.003394 945.8966 1.054103 1.054103
0.17 0.0016145545 0.000491 -379.7573 -1.373188 0.989662 1005.389 0.994611 0.994611
0.18 -3.54614E-05 0.000491 -358.392 -4.957109 0.940091 1113.409 0.886591 0.886591
0.19 -0.001954344 0.000471 -258.8788 -7.545897 0.864632 1263.8 0.7362 0.7362
0.2 -0.003934429 0.000432 -113.8577 -8.684475 0.777787 1431.34 0.56866 0.56866
0.21 -0.005502434 0.000377 33.18102 -8.352664 0.69426 1567.511 0.432489 0.432489
0.22 -0.005940269 0.000317 149.3493 -6.859172 0.625669 1625.7 0.3743 0.3743
0.23 -0.004824585 0.000269 223.1482 -4.627689 0.579392 1607.523 0.392477 0.392477
0.24 -0.002748195 0.000242 260.7035 -2.020654 0.559185 1549.529 0.450471 0.450471
0.25 -0.000713485 0.000234 272.7759 0.707105 0.566256 1466.444 0.533556 0.533556
0.26 0.0010313514 0.000245 264.7586 3.354691 0.599803 1364.491 0.635509 0.635509
0.27 0.0024802515 0.00027 236.0887 5.715578 0.656959 1252.652 0.747348 0.747348
0.28 0.0035799941 0.000305 182.1292 7.53687 0.732328 1141.962 0.858038 0.858038
0.29 0.0042599783 0.000348 97.16113 8.508481 0.817413 1044.47 0.95553 0.95553
0.3 0.0044571036 0.000393 -20.11097 8.307371 0.900486 970.8864 1.029114 1.029114
0.31 0.0041551134 0.000434 -159.1585 6.715787 0.967644 929.7981 1.070202 1.070202
0.32 0.003381614 0.000468 -292.6435 3.789352 1.005538 928.1166 1.071883 1.071883
0.33 0.0021841679 0.00049 -381.0973 -0.021621 1.005321 971.8589 1.028141 1.028141
0.34 0.0006090572 0.000496 -390.3079 -3.924701 0.966074 1065.515 0.934485 0.934485
0.35 -0.001286923 0.000483 -312.2316 -7.047016 0.895604 1207.613 0.792387 0.792387
0.36 -0.003360964 0.000449 -172.2421 -8.769437 0.80791 1380.729 0.619271 0.619271
0.37 -0.005236856 0.000397 -15.21832 -8.921621 0.718694 1541.462 0.458538 0.458538
0.38 -0.006210353 0.000335 118.3024 -7.738597 0.641308 1633.072 0.366928 0.366928
0.39 -0.005594299 0.000279 208.5899 -5.652697 0.584781 1635.951 0.364049 0.364049
0.4 -0.003615062 0.000243 257.7148 -3.07555 0.554025 1586.414 0.413586 0.413586
0.41 -0.001416911 0.000229 277.6356 -0.299194 0.551033 1510.098 0.489902 0.489902
0.42 0.0004622146 0.000233 276.6319 2.467125 0.575705 1411.413 0.588587 0.588587
0.43 0.0020592499 0.000254 256.0042 5.027167 0.625976 1299.216 0.700784 0.700784
0.44 0.0033182133 0.000287 212.0845 7.148012 0.697456 1183.366 0.816634 0.816634
0.45 0.004185508 0.000329 138.4447 8.53246 0.782781 1076.445 0.923555 0.923555
0.46 0.0045782958 0.000375 30.58511 8.838311 0.871164 990.0945 1.009905 1.009905
0.47 0.0044606219 0.000419 -106.7698 7.770612 0.94887 933.9334 1.066067 1.066067
0.48 0.0038457785 0.000458 -252.3403 5.24721 1.001342 915.5425 1.084457 1.084457
0.49 0.0027786612 0.000486 -368.1205 1.566004 1.017002 941.445 1.058555 1.058555
0.5 0.0013067874 0.000499 -412.8538 -2.562534 0.991377 1017.41 0.98259 0.98259
0.51 -0.000526091 0.000493 -365.0698 -6.213231 0.929245 1145.794 0.854206 0.854206
0.52 -0.002631067 0.000467 -238.6152 -8.599383 0.843251 1317.194 0.682806 0.682806
0.53 -0.004741212 0.00042 -76.03465 -9.359729 0.749654 1497.437 0.502563 0.502563
0.54 -0.006243523 0.000357 75.30749 -8.606655 0.663587 1626.693 0.373307 0.373307
0.55 -0.006288677 0.000294 185.5596 -6.751058 0.596076 1661.056 0.338944 0.338944
0.56 -0.004620436 0.000248 249.7909 -4.253149 0.553545 1623.689 0.376311 0.376311
0.57 -0.002274977 0.000225 279.3944 -1.459205 0.538953 1555.722 0.444278 0.444278
0.58 -0.000233686 0.000223 286.0137 1.400932 0.552962 1462.564 0.537436 0.537436
0.59 0.0015171262 0.000238 273.5372 4.136303 0.594325 1352.212 0.647788 0.647788
er = .7874cm
* 1 000) / (PI * .007874)) / 0.028702) * .200 * 4 * PI * (10^(-7)) = 0.0993285656
 Coil Current vs time
0.0006
e tau_coil = L/(R_+R_series) 0.0005
0.0004
0.0003
i
i

ends on relative p1,p2 strengths 0.0002

eved by adjusting m,p2 and i0. 0.0001
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
time