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当对线圈进行通电以后就能够形成电磁力,而且电磁力的作用很重要,普通的钢质小球能够在某种程度上形成作用力。另外按照电磁力和小球之间存在的重力平衡的这种关系,可以形成具体的数学关系。然后根据具体的数学模型,在选择的数学模型中能够对小球是否是稳定的进行判断。根据PID的内模控制方法可以对磁悬浮小球所存在的这种滞后进行处理,而且还能够使得系统形成一种闭环反馈控制系统,从而将稳定性得到了很大的提高。然后就可以根据运算放大器所形成的控制电路,达到小球悬浮的目的。
Electromagnetic force can be formed when the coil is energized, and the effect of the electromagnetic force is very important. Ordinary steel balls can exert a force to some extent. In addition, according to the relationship between the electromagnetic force and the gravity balance existing between the balls, specific mathematical relationships can be formed. Then according to the specific mathematical model, in the choice of mathematical model can determine whether the ball is stable. According to the internal model control method of PID, this kind of hysteresis of magnetic levitation ball can be dealt with, and it can also make the system form a closed-loop feedback control system, so the stability is greatly improved. Then the control circuit formed by the operational amplifier can achieve the purpose of ball suspension.