Levitation force control of maglev permanent synchronous planar motor based on multivariable feedback linearization method

The whole control system is a strong coupling, nonlinear and multivariable system because the motion of maglev permanent magnet synchronous planar motor has multi-degrees of freedom and the magnetic field produced by the permanent magnet decreases nonlinearly in the vertical direction. The decoupling and linearization of the levitation force is the key part for high-speed and high-precision control. The paper analyzes the mathematical model and the levitation force of the motor. After that, the paper designs a nonlinear controller, which achieves the goal of decoupling and linearizing the multivariable and nonlinear system, by using multivariable feedback linearization method. The simulation result in Matlab/Simulink shows that the whole control system has high-speed response to the given reference and good robustness under disturbance.