Design and control of a 2-dimensional electro-magnetic suspension actuator

This paper proposed a special framework for positioning control of electro-magnetic suspension actuator (EMSA) system in multiple degrees of freedom (DOFs). A conceptual design of the EMSA system consists of a carrier and three active coils, which are utilized to provide the propulsion and levitation forces. The purpose of this research mainly focuses on stabilizing the positioning problem of the 2-D system with the purely non-contact magnetic forces. In view of the fact that a passive magnetic levitation system is an inherently unstable plant, therefore, in this study, we not only make one´s utmost to reform the configuration but also design a controller to achieve the stability. Due to the magnetic suspension systems are nonlinear and the existed modeling errors, we apply an adaptive sliding mode controller to eliminate the system´s uncertainties and to guarantee the whole system´s performance. Finally, from simulation results, the achievement of the required performance of regulation for guiding-axis and tracking for positioning-axis can be validated.