ii

ABSTRACT

In our fast-paced world, more and more research about the exploitation of

electromagnetic fields has rapidly emerged. Magnetic levitation exploits the notion of

electromagnetic field. Microcontroller is utilized as a control mechanism of the

electromagnetic field. The mechanics of this system is mainly to levitate at a nominal

distance from the ground and position of the object in air at a given weight depending on

the strength of the electromagnetic field. Microcontroller is used to position the object in

air. This is coupled with light sensor as a source of the analog signal. This

microcontroller must work in real time to synchronize the abrupt change of candela rating

in the medium. As an initial position, electromagnetic force must be equal to the weight

of the object so that it will be in the state of equilibrium. To make way of this, control

feedback system is properly implemented. This feedback uses laser to emit light and

photo detectors combination to exactly locate the height of the object. This sensor also

acts as a control mechanism of current. In this device, the position of the object is

detected by the laser signal and photo detector in combination. Light from the source

striking to the detector creates variation of current. The lesser the light received the

weaker the current since the photo detectors is covered with the silhouette of the object.

The object tends to move downward due to the decrease strength of the electromagnetic

field. And aloft when the sensor receives much light.

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APPROVAL SHEET

The special project attached hereto, entitled “MICROCONTROLLER-BASED

OBJECT POSITIONING UTILIZING MAGNETIC LEVITATION”, prepared and
submitted by Jessie Aya – ay Baul and Ronald Ray Falerion Gilos, in partial
fulfillment for the degree of BACHELOR OF SCIENCE IN ELECTRONICS AND
COMMUNICATIONS ENGINEERING, is hereby recommended for approval:

ENGR. CRES DARYL C. SADERNAS ENGR. JEFFERSON A. HORA

Member Member

__________________ __________________
Date Date

ENGR. MERIAM GAY V. BAUTISTA ENGR. OLGA JOY M. LABAJO

Member Adviser

__________________ ___________________
Date Date

This special project is approved in partial fulfillment of the requirements for the
degree of BACHELOR OF SCIENCE IN ELECTRONICS AND
COMMUNICATIONS ENGINEERING.

ENGR. MERCEDENIA A. LAMBINO

Chairman, EE/ECE/EC Dept.

________________________
Date

ENGR. FELICIANO B. ALAGAO, Ph. D.

Dean, College of Engineering

________________________
Date
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To our Family and Friends

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ACKNOWLEDGMENT

This research would not be possible without the help of some important people.
We would like to extend our heartfelt gratitude to Engr. Olga Joy Labajo, we thank you
maam imparting your knowledge and thoughts that greatly help to the progress of our
thesis. We thank you maam for helping us not only in academics but encouraging us in
hopeless times. To Engr. Mercy Lambino who is our great mentor who unselfishly
shares his expertise in the field of electronics. We acknowledge and thank you maam for
guiding us on 5 years in engineering. To new friend, Mark Victoria, who shares his
experience in microcontrollers and helps us troubleshooting our hardware. To Sir Gilert
Bongcac who shares his time in accompanying us for an overnight session. Thank you
sir. And to my three board mates Jeffry, ArAr and Rod who willingly shares their laptops
in times when we have no internet connection.
To the members of our families: to our parents, Melvin A. Baul and Elsie A. Baul
Lilianita F. Falerion - Gilos and Demetrio I. Gilos Sr., to our brothers and sisters, Jerome,
Jelrymae, Jesselann, Elsie, Yole, Gelyn, Letty, Del2x, Dodong, Boyet, Jun2x, we utterly
express our heartfelt gratitude for your endless support and loving prayers in undertaking
the hardships and success of this project.
To our loving friends and classmates; Gideon, Jann, Daisy, Mycel, Kiar, Sittie,
Yitz, Haifi, Kathy, Jeanita, Keith, Shem, Jessica, Sam, Dong Nick, Dande, Chenny,
Oscar, Adet, Tin2x, Kenn, Mac2x, Camelo, and Ritchel we convey to you our innermost
appreciation for all the fun and sincere encouragement you’ve brought us even at those
times when our hopes were distant.
Most of all, we are thankful for our Almighty God and his son, Jesus Christ Our
Lord. We thank you Lord for giving us a path on our research because without you Lord
this project would not be possible. We thank you Lord for giving us strength and good
health which is very important in our research. We thank you for showing us and
teaching us your ways through your Wisdom, Oh Lord. Amen.
Sincerely,
Jessie A. Baul
Ronald Ray F. Gilos
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TABLE OF CONTENTS

Page

TITLE PAGE …………………………………………………………………. i

ABSTRACT …………………………………………………………………… ii

APPROVAL SHEET …………………………………………………………. iii

DEDICATION ………………………………………………………………... iv

ACKNOWLEDGMENT ……………………………………………………... v

TABLE OF CONTENTS ……………………………………………………... vi

LIST OF TABLES ……………………………………………………………. ix

LIST OF FIGURES ………………………………………………………….. x

CHAPTER

1 INTRODUCTION …………………………………………… 1

1.1 Background of the Study …………………………………. 1

1.2 Statement of the Problem …………………………………. 2
1.3 Objectives of the Study …………………………………… 2
1.4 Significance of the Study …………………………………. 3
1.5 Scope and Limitations ……………………………………. 4
1.6 Definition of Terms ……………………………………… 4
1.7 Theoretical Framework …………………………………… 6
1.7.1 PIC16F877A …………………………………… 6
1.7.2 Digital to Analog Converter (DAC) …………… 8
1.7.2.1 R-2R Ladder Network ……………... 8
1.7.2.2 Resolution and Accuracy …………… 11
1.7.3 Analog to Digital Converter (ADC) …………… 12
1.7.4 Quantizing ……………………………………... 17
1.7.5 Electromagnetism ……………………………… 19
1.7.5.1 Magnetomotive Force (mmf) ……… 19
1.7.5.2 Electromagnet ……………………… 19

2 REVIEW OF RELATED LITERATURE …………………. 22

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2.1 Magnetic Levitation by Guy Marsden ……………………. 22

2.2 Magnetic Levitation ……………………………………….. 23
2.3 Magnetic Levitation over Hard Drive ……………………. 24
2.4 Electromagnet ……………………………………………... 25
2.5 Maglev Trains ……………………………………………... 27

3 RESEARCH DESIGN AND METHODOLOGY …………. 29

3.1 Magnetic Levitation Design ……………………………… 29

3.2 Prototype Design ………………………………………….. 30
3.3 Microcontroller Development Board Design ……………... 32
3.4 Digital to Analog Converter ……………………………… 33
3.5 Conditioning Circuit ……………………………………… 34
3.6 Firmware ………………………………………………….. 36
3.7 Analog to Digital Converter ……………………………… 37
3.8 Electromagnet ……………………………………………... 38
3.8.1 Iron Core ……………………………………….. 39
3.9 Electromagnet’s Dimension and Computation …………… 41
3.10 Pulse Width Modulation …………………………………. 43

4 RESULTS AND DISCUSSIONS …………………………… 45

4.1 Hardware Prototype ……………………………………….. 45

4.2 Microcontroller Development Board ……………………... 46
4.3 Digital to Analog Converter ……………………………… 47
4.4 Power Supply ……………………………………………... 48
4.5 PIC Loader ………………………………………………... 49
4.6 Firmware ………………………………………………….. 49
4.7 Hardware Simulations ……………………………………. 51
4.8 Levitation Results …………………………………………. 52
4.9 Electromagnet ……………………………………………... 54
4.10 Sensors …………………………………………………… 55
4.10.1 Phototransistors ……………………………….. 55
4.10.2 LASERs ……………………………………… 56
4.11 Barry’s Magnetic Levitation Reconstruction ……………. 57

5 CONCLUSIONS AND RECOMMENDATIONS …………. 59

5.1 Conclusions ……………………………………………….. 59

5.2 Recommendations ………………………………………... 60

BIBLIOGRAPHY ……………………………………………………………. 61

APPENDICES ………………………………………………………………... 62

A MANUALS AND DATA SHEETS ………………………... 62

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A.1 PIC16F877 Datasheet ……………………………………. 63

A.2 LM358 Operational Amplifier …………………………… 79
A.3 2M3055 Power Transistor ………………………………... 82

B CIRCUIT LAY-OUTS ……………………………………… 84

B.1 Microcontroller Development Board ……………………... 85

B.2 Digital to Analog converter ……………………………… 85
B.3 PIC Programmer ………………………………………….. 86
B.4 Amplifier …………………………………………………. 86

C COSTS AND PARTS LIST …………………………………. 87

D THEORITICAL SPECIFICATIONS ……………………... 90

E FIRMWARE …………………………………………………. 91

CURRICULUM VITAE ……………………………………………………... 92

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LIST OF TABLES

Page

Table 1-1 DAC output 10

Table 3-1 Loading capacitors 33

Table 3-2 Analog to Digital Conversion 37

Table 3-3 Electromagnet Parameters 42

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LIST OF FIGURES

Page

Figure 1.1 PIC16F877A Pin Diagram 6

Figure 1.2 Ladder Network 8

Figure 1.3 Thevenin Equivalent 9

Figure 1.4 R-2R Network 11

Figure 1.5 (a) Message Spectrum Output of RC Filter 13

Figure 1.5 (b) Message Spectrum After Sampling 13

Figure 1.6 Spectrum of ideally sampled message 14

Figure 1.7 Ideal Reconstruction 17

Figure 1.8 (a) PCM generation System 17

Figure 1.8 (b) Quantization Characteristic 17

Figure 1.9 Magnetic field produce by electromagnet 20

Figure1.10 Newton’s 2nd Law 21

Figure 2.1 Levitation by Guy Marsden 22

Figure 2.2 Meissner effect 23

Figure 2.3 Magnetic Levitation over Hard Drive 24

Figure 2.4 Magnetic Field for a single wire 25

Figure 2.5 Maglev Trains 28

Figure 3.1 Block Diagram 29

Figure 3.2 Prototype Design 31

Figure 3.3 Microcontroller Development Board Schematic 32

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Figure 3.4 Digital to Analog Converter Schematic 34

Figure 3.5 Conditioning Circuit 35

Figure 3.6 MikroC IDE 36

Figure 3.7 Magnetic Fields for an Electromagnet 38

Figure 3.8 Saturation Level for Iron core 40

Figure 3.9 Hysteresis Loop 40

Figure 3.10 Dimensions of an Electromagnet 41

Figure 3.11 (a) 10% PWM Duty Cycle 44

Figure 3.11 (b) 50% PWM Duty Cycle 44

Figure 3.11 (c) 90% PWM Duty Cycle 44

Figure 4.1 Prototype 45

Figure 4.2 Microcontroller Development Board 46

Figure 4.3 Digital to Analog Converter 47

Figure 4.4 Power Supply 48

Figure 4.5 PIC16F877A Loader 49

Figure 4.6 ADC register 50

Figure 4.7 ISIS Professional IDE 52

Figure 4.8 Actual Result 1 53

Figure 4.9 Actual Result 2 54

Figure 4.10 Actual Electromagnet 54

Figure 4.11 VBPW77 55

Figure 4.12 LASER pointer’s internal construction 56

Figure 4.13 Barry’s Magnetic Levitation 57