Two-actuator-based DC attraction-type levitation system for the suspension of a cylindrical rod

This study describes the design, implementation and testing of a DC attraction-type levitation system where a ferromagnetic cylindrical rod of around 0.122 kg mass is made to remain suspended at the desired operating gap under two I-core electromagnets. For a single-actuator-based system it has been observed that the rod gets tilted on one side that exerts more levitating force because of non-uniformity of the distributed field flux. Moreover, for some specific industrial applications, it is required to levitate such cylindrical rod with better pitching control where both ends may be controlled independently. Obviously, for controlling the degrees-of-freedom movement of the cylindrical rod, at least two electromagnets are necessary. The two actuators have been controlled simultaneously by two similar single input single output (SISO) controllers utilising the cascade lead-lag compensation control scheme. The design and implementation of a controller for such an unstable and a non-linear system was the main aim of this study.