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 singleand three-DoF magnetic suspension systems via Lorentz forces on either a spherical PM or three pairs of disk PMs on a triangular backbone.

中文翻译：

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FlexLab和LevLab：便携式控制和机电一体化教育系统

本文介绍了一种紧凑，低成本的单板FlexLab / LevLab机电系统，可用于机电系统的建模，动力学和控制。本文提出的便携式教育平台支持翻转实验室方法，学生可以在专用实验室设施之外进行实验工作，因此可以通过更广泛的动手经验获得更好的理解。该系统在70×100 mm印刷电路板上实现了执行器，传感器和电力电子设备。使用板载螺旋线圈作为洛伦兹执行器，可实现高达三个自由度（DoF）的机械运动，以驱动移动的永磁体（PM），并对每个磁体进行霍尔效应位置感测。FlexLab和LevLab在垂直方向上的最大磁铁运动范围分别为4和3 mm，带有过采样滤波器的霍尔效应传感器的定位噪声约为0.2μmRMS。在FlexLab配置中，最多可将三个PM磁盘对安装在与三个螺旋线圈相互作用的位置的柔性悬臂梁上。这种配置允许对第二，第四和第六阶质量弹簧系统动力学进行建模，测量和控制。在LevLab配置中，该板可通过Lorentz力在球形PM上或三对磁盘PM上的三角骨架上的Lorentz力实现单自由度和三自由度磁悬浮系统。这种配置允许对第二，第四和第六阶质量弹簧系统动力学进行建模，测量和控制。在LevLab配置中，该板可通过球形PM或三角形骨架上的三对磁盘PM的洛伦兹力实现单自由度和三自由度磁悬浮系统。这种配置允许对第二，第四和第六阶质量弹簧系统动力学进行建模，测量和控制。在LevLab配置中，该板可通过球形PM或三角形骨架上的三对磁盘PM的洛伦兹力来实现单自由度和三自由度磁悬浮系统。