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.