Vision based magnetic levitation system

In this study, control of a vision based magnetic levitation system was explored. The system which is known as magnetic levitation or magnetic suspension constitutes the fundamental of the high speed maglev trains. The system levitates a ferro-magnetic object in the space using electromagnetic force against to gravity. The system consists of a coil, a controller, a position sensor, a ferro-magnetic object and a camera. The object is levitated at a desired position relative to coil core. In general, the position of the object is measured by light based sensors. However, light based sensors have some disadvantages such as calibration requirement, non-linearity, not being robust, etc. Thus, instead of light based sensors, a new vision based position sensor was developed. Position data obtained by the image processing algorithm was sent to the controller which adjusts the coil current according to position error creating a force on the object.