recordDataZeltomPlus
Data of the plus Zeltom kit
Extends from DataZeltomStd (Data of the standard Zeltom kit).
Information
Parameters of Zeltom's MagLevPlus system, with coil suitable for higher current, i.e. suitable for larger magnet.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| String | Type (from DataZeltomStd) | "ZeltomStd" | |
| Coil and PM | |||
| SI.Resistance | R (from DataZeltomStd) | 2.41 | Resistance of coil |
| SI.Inductance | L (from DataZeltomStd) | 15.03E-3 | Inductance of coil |
| Real | kO (from DataZeltomStd) | 17.31E-9 | Original force per current and distance^pd [N.m^pd/A] |
| SI.Position | d0 (from DataZeltomStd) | -0.02 | Steady-state Position below coil |
| SI.Position | dC (from DataZeltomStd) | -0.01 | Steady-state Position below coil without coil current > d0 |
| Real | k (from DataZeltomStd) | kO*(1 - (abs(dC/d0))^pd) | Equivalent force per current and distance^pd [N.m^pd/A] |
| SI.Current | iC (from DataZeltomStd) | m*g_n/k*abs(dC)^pd | Equivalent current describing force between pm and iron core without coil current |
| Integer | pd (from DataZeltomStd) | 4 | Power of distance to calculate force |
| SI.Mass | m (from DataZeltomStd) | 3.02E-3 | Mass of magnet |
| Hall effect sensor | |||
| SI.Voltage | alfa (from DataZeltomStd) | 2.48 | Coefficient 1 (constant) |
| Real | beta (from DataZeltomStd) | 2.92E-4 | Coefficient 2 (distance) |
| SI.Resistance | gamma (from DataZeltomStd) | 0.48 | Coefficient 3 (current) |
| SI.Position | dNoise (from DataZeltomStd) | 5e-7 | Used to estimate noise on hall sensor output |
| SI.Voltage | eNoise (from DataZeltomStd) | beta/(d0 + dNoise/2)^2 - beta/(d0 - dNoise/2)^2 | Noise on hall sensor output |
| Steady state | |||
| SI.Current | i0 (from DataZeltomStd) | g_n*m*(abs(d0))^pd/k - iC | Current through coil |
| SI.Voltage | v0 (from DataZeltomStd) | R*i0 | Voltage across coil |
| SI.Force | f0 (from DataZeltomStd) | m*g_n | Force on magnet |
| SI.Voltage | e0 (from DataZeltomStd) | alfa + beta/d0^2 + gamma*i0 | Signal of hall effect sensor |
| Steady state › Limits | |||
| SI.Voltage | Vsrc (from DataZeltomStd) | 9 | Source voltage |
| SI.Current | iMax (from DataZeltomStd) | 1.0 | Current limit |
| SI.Force | fMax (from DataZeltomStd) | k/(abs(d0))^pd*(iC + iMax) | Max. force in steady state position |
| SI.Position | dMax (from DataZeltomStd) | -0.001 | Nearest position of magnet below coil |
| SI.Position | dMin (from DataZeltomStd) | -(k/(m*g_n)*(iC + iMax))^(1.0/pd) | Farest position of magnet below coil |
| Control | |||
| SI.Frequency | fSw (from DataZeltomStd) | 2500 | Switching frequency |
| SI.Time | Tds (from DataZeltomStd) | 0.5/fSw | Dead time at sample |
| SI.Time | Tdh (from DataZeltomStd) | 1.0/fSw | Dead time at hold |
| SI.Time | Td (from DataZeltomStd) | Tds + Tdh | Dead time |
| Control › Current controller | |||
| SI.Resistance | kpI (from DataZeltomStd) | L/(2*Td) | Proportional gain |
| SI.Time | TiI (from DataZeltomStd) | L/R | Integral time constant |
| SI.Time | Tsub (from DataZeltomStd) | 2*Td | Substitute time constant |
| Control › Speed controller | |||
| Real | a (from DataZeltomStd) | 2 | Parameter of symmetrical optimum |
| Real | kpv (from DataZeltomStd) | m/(a*Tsub) | Proportional gain |
| SI.Time | Tiv (from DataZeltomStd) | a^2*Tsub | Integral time constant |
| Control › Position controller | |||
| Real | kpP (from DataZeltomStd) | 1/(16*Tsub) | Upper limit of proportional gain |
| Real | ktuneP (from DataZeltomStd) | 0.50 | Tuning factor for proportional gain |