A description of a laboratory model magnetic suspension test fixture with large angular capability

The Large-Angle Magnetic Suspension Test Fixture (LAMSTF) research project is reviewed. In the LAMSTF, a cylindrical element containing a permanent magnet core is levitated above a planar array of electromagnets, permitting demonstration of stability and control in five degrees of freedom, and of controlled rotation of the model in one degree of freedom over a range of 360 degrees. The air-gap is around 0.1 m. The objectives of the research effort and the hardware involved are reviewed, and the control problem and the approaches used are described. Two mathematical models have been developed to assist in the design and evaluation of controllers, a linearized and a full nonlinear model. Control approaches demonstrated so fast have included analog and digital phase-advance compensators with static decoupling and a digital linear-quadratic regulator. A digital linear-quadratic-Gaussian controller is under development