Abstract
This article describes a compact, low-cost, single-board FlexLab/LevLab electromechanical system for use in teaching modeling, dynamics, and control of mechatronic systems. The portable educational platform proposed in this article enables a flipped-lab approach where students can do experimental work outside a dedicated lab facility and so, achieve a better understanding through more extensive hands-on experiences. The system has actuators, sensors, and power electronics implemented on a 70 ×, 100 mm printed circuit board. Mechanical motion in up to three degrees of freedom (DoFs) is implemented using on-board spiral coils as Lorentz actuators to drive moving permanent magnets (PM) with Hall effect position sensing on each magnet. The maximum magnet motion range is 4 and 3 mm in the vertical direction for the FlexLab and LevLab, respectively, and the positioning noise of the Hall effect sensors with an oversampling filter is approximately 0.2 μm RMS. In the FlexLab configuration, up to three PM disk pairs can be mounted on a flexible cantilever beam in locations which interact with three spiral coils. This configuration allows modeling, measurement, and control of second-, fourth-, and sixth-order mass-spring system dynamics. In the LevLab configuration, the board can implement both single-and three-DoF magnetic suspension systems via Lorentz forces on either a spherical PM or three pairs of disk PMs on a triangular backbone.
| Original language | English |
|---|---|
| Article number | 8890908 |
| Pages (from-to) | 305-315 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 25 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2020 Feb |
Bibliographical note
Funding Information:This work was supported in part by the Department of Mechanical Engineering, MIT, in part by the National Instruments Company, and in part by the Yonsei University Research Fund under Grant 2019-22-0016.
Funding Information:
Manuscript received December 13, 2018; revised June 19, 2019 and October 1, 2019; accepted October 30, 2019. Date of publication November 4, 2019; date of current version February 13, 2020. Recommended by Technical Editor G. M. Clayton. This work was supported in part by the Department of Mechanical Engineering, MIT, in part by the National Instruments Company, and in part by the Yonsei University Research Fund under Grant 2019-22-0016. (Lei Zhou and Jun Young Yoon contributed equally to this work.) (Corresponding author: Jun Young Yoon.) L. Zhou and D. L. Trumper are with the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA (e-mail: leizhou@mit.edu; trumper@mit.edu).
Publisher Copyright:
© 2019 IEEE.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering