Modeling, Identification, Validation and Control of a Hybrid Maglev Ball

In this paper theoretical modeling, identification and model validation of a hybrid magnetic ball suspension system incorporating both permanent and electric magnets are investigated. Furthermore, the deviation of the theoretical model has been investigated using Comsol Multiphysics® modeling. Simple PD, PID and PID with pre-filter controllers have been designed based on the linearized model of the system. A nonlinear simulation using Simulink® has been carried out using the derived model and has been verified by experimental results. The suggested controller has been applied to the nonlinear simulation and the real-time maglev ball experiment to manage the ball position.