Zero-Power and Anti-Tilt Control of a 3-DOF Magnetic Levitation System with rotatable HEM

Abstract

With zero-power control, the multiple electromagnets system cannot realize level levitation when an eccentric load is applied, which may reduce the safety of levitation. This paper proposed anti-tilt and zero-power control to improve the performance of the magnetic levitation system with two rotatable magnets and one stable HEM. The moment caused by the eccentric load can be eliminated by an angular drive of the electromagnet. To estimate the rotation angle, this paper focuses on designing the controller based on the system model. The simulation results indicate that the zero-power levitation without tilt can be realized and the system performs similarly well for different load positions