Abstract
We present two models for a specific class of magnetic levitation system, a type of planar magnetic motor, designed for magnetic levitation of a single permanent magnet using a combination of permanent magnets and electromagnets. The first model is based on established semi-analytical solutions for magnetic fields generated by ideal solenoids, while the second model employs a novel discretization that is well suited for real-time control. Simulations show that the models have comparable accuracy to a standard filament model, but with a reduction in computational time of up to 98 %, for the discretized model. A simulation study demonstrates the models’ applicability for advanced control, using a linear-quadratic regulator (LQR) for stable levitation, and a nonlinear model predictive controller (NMPC) to showcase novel control behavior.
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