Study and Design of Electro-Magnetic Levitation

System Using Matlab and Simulink

Banani Acharya#, Greta Engene Lakra *
Department of Electrical Engineering
Veer Surendra Sai University of Technology, Burla, India
#
[email protected]
*
[email protected]

Abstract— Magnetic levitation is a way of using  The position sensor, determining the position of the
electromagnetic fields to levitate objects without any noise. metallic ball 2 which is sustained with respect to coil.
Maglev is the means of floating one magnet over another. This  Electrical circuit for power supply, amplification and
maglev system is divided into two types, attractive systems and
repulsive systems, which are referred to as electromagnetic
control.
suspension and electrodynamics suspension. This paper
demonstrates a simulink model based on mathematical model of
the Electromagnetic magnetic levitation system. A mathematical
model showing the dynamic system of equation is represented in
the beginning. The nonlinear parameter inductance that varies
with position is stated and analyzed with Matlab. Furthermore,
the stability of the system is studied with the help of root locus
technique. Some of the major applications which have been
practically implemented in various fields are listed.

I. INTRODUCTION
One of the most popular experiences on electromagnetic The ferromagnetic ball is experiencing two forces, namely,
levitation is the steel ball levitation experiment, where a little force due to gravity ( G ) and Electromagnetic force ( Fem )
ball levitates in the air a few millimetres below an produced by the electromagnetic field in the coli 1. One can
electromagnetic coil. The electromagnetic field of this coil is study the equilibrium on the basis of these forces.
electronically controlled to compensate for the ball weight and
to hold it in a stable position. So, Magnetic levitation, maglev,
or magnetic suspension is a method by which an object is
suspended with no support other than magnetic fields. The
electromagnetic force is used to counteract the effects of the
gravitational force. In simpler words it may be termed as the
stable suspension of an object against gravity. The overall
objective of this project is to describe the use of the MATLAB
and Simulink and study of the system stability using Root Fig 2. Schematic diagram of magnetic levitation system
locus method in the above mentioned experiment. In order to
achieve this goal, the following sub-objectives need to be The position of the levitating magnet can be sensed and used
accomplished. to control the field strength of an electromagnet. Thus the
 Simulation of the controller in MATLAB using tendency for instability can be removed by constantly
Simulink. correcting the magnetic field strength of the electromagnets to
keep an object levitated.
 Exploring MATLAB for studying stability and other
characteristics
The system described in the current analysis built of
Ferromagnetic ball in a voltage controlled field. Fig. 1 shows
the diagram of the system. The system mechatronic is
composed of two sub-systems.
 The electromagnetic actuator represented by the coil
1 ( the ferromagnetic core coil)
 = i=ct
II. MATHEMATICAL MODEL
A. The Mathematical Model =
dwe = dwmec + dwt + dwm (1)
Formula for the energetic balance within the system, where,
dwe = electrical energy =
dwmec = variation of the mechanical energy
dwt = variation of the thermal energy
dwm = variation of the magnetic energy =

= (8)
Based on Equation(6)

Fem = i=ct

Fig. 4 A new way of considering the parameter ‘x’

= i=ct
Variation of magnetic energy when the magnetic fluxes are
varying and bodies are moving within the magnetic field is, = i=ct
[ dwm = I dɸi - Fem dx ] (2)
ELS force can be determined using the theorems of
generalized forces = i=ct

Fem = i=ct (3)

= L (9)
Specific magnetic energy,
Figures (4) and (5) in the show the variation of
wm = = (4)
inductance based on the equations (5) and (7).
Coil inductivity ‘L’ depends upon the position ‘x’ of the
ferromagnetic ball in accordance to the relationship,

L(x) = L0 + L1 (5)
Where, L0 = coil inductivity when ball is absent
L1 = coil inductivity when ball is present
xₒ(x = 0) = characteristic length of coil

Again The inductivity ‘L’ is a nonlinear function and can be

represented by the equation
Fig. 5
L(x) =L1+ (6)
Where L1 = system parameter
From the reference 4. , Coil inductance is defined by

L(x) = L1+ (7)

x=reference position of ball
L1=L (0)-L (∞)
A= positive constant
Based on Equation (5) :

Fem= i=ct
Fig. 6 (The variation of inductivity depending on position)
B. An approach to the nonlinear model of the III. STUDY OF SYSTEM STABILITY USING ROOT LOCUS
Electromagnetic Levitation system TECHNIQUE
Static equilibrium state
A nonlinear dynamic model of the levitation system for Fmag = Pball =mg (1)
each mode of calculating the inductivity is represented by Dynamic behavior
system of equations FR = Fmag - Pball = ma (2)
=v (10) Dynamic magnetic force = Σ static component to compensate
the ball weight and magnetic force variation
FR = Fmag + ∆ Fmag - Pball = ma (3)
e = Ri + (11)
By applying equation(1)
Fmag = Pball
m = mg - Fem (12) FR = ∆ Fmag = m d2y/dt2 (4)
And from equation (9) or, ∆ Fmag(s) = ms² Y(s)
Fem = or, =1/ms2 = H(s) (5)
The above equation is the relation between resultant force and
Where, vertical position of the ball. Let’s consider the electromagnetic
x = ball position with respect to reference position force is directly proportional to current through the coil for
v = speed of ball small variation of current and ball position.
i= supply voltage of coil
R = resistance of the electromagnetic winding
I(s) =
(6)
L = winding inductivity Electromagnetic coil is an RL circuit,
g = acceleration due to gravity
m= mass of the ball V(t) = Ri(t) + L
(7)
V(s) = RI(s) + LSI(s) (8)
C. Vector Analysis or, V(s) = I(s) {R + Ls}
= {R + Ls}
u(t) = iR + or,

or, u(t) = iR + L - or, =

or, u(t) = iR + L - [ taking 2k = k´ ] or, T(s) =

x = x1 , v = ẋ = x2 , i = x3
Above equations can be written as, where position of ball is or, T(s) = (9)
taken as output : where, = L/R and = 1/R
Complete Transfer function Equation (6) x (9):
= + u G(s) =
= K₃ /(ms2
y= = Now, m = 16.35g = 0.01635 kg
R = 12.8 Ω
L = 377 mH
τ = 29.5 ms
ẋ = f(x) + g(x) u Substituting these values in equation(10) and analysing the
stability it with the help of root locus diagram, we get the
following output:

Fig. 7 ( Picture showing the magnetic suspension system in action)

Fig. 7
 IV. SIMULATION

The optimal design of the system, including the control sub-

system, requires a balance between model/simulation
procedures and the experimental procedures. Starting from the
previous established equations one can achieve within the
Matlab and Simulink environment, the simulation of the
system’s running mode. The figure 9 shows the diagram of the
simulation. The block ‘Subsystem’ was achieved with of the
aim of introducing it in the specific working library .Figure
10 shows the model of the realized block and figure 11 and
figure 12 shows the result of simulation.

Fig 9. (The simulation within the Matlab/Simulink environment)

Fig 12 (speed) Result of simulation

V. CONCLUSION
The electromagnetic levitation system is a multiple
applicability structure. The applicability can be educational or
practical, industrial. We have assembled magnetic levitation
system and analyzed successfully with the help of simulation.
The closed loop control system are shown, was simulated in
Matlab and the results were closely analyzed. In the
electromagnetic levitation project experience, the Simulink
model allowed a stable levitating ferromagnetic ball.
Fig 10. The created sub sysstem

ACKNOWLEDGMENT
I would like to extend my thanks to Prof. Sidhartha
Panda, HOD-Dept. of Electrical Engineering, Veer Surendra
Sai University of Technology, Burla for his generous
guidance, help and useful suggestions. The success and final
completion of this project required a lot of assistance from
many people and we would never forget to thank them.
I express my sincere gratitude to Mrs. Santi Behera,
Senior Lecturer, Dept. of Electrical Engineering, for her
stimulating guidance, continuous encouragement and
supervision throughout the course of present work.

REFERENCES
[1] Wong, T. H. “Design of a magnetic levitation system-an
undergraduate project,” IEEE Tran. on Education, vol E-29, no. 4,
November 1986.
[2] “Low-cost magnetic levitation project kits for teaching feedback system
design” Katie A. Lilienkamp and Kent Lundberg Department of
Mechanical Engineering Department of Electrical Engineering and
Computer Science Massachusetts Institute of Technology Cambridge,
MA 02139.
[3] “Modelling and simulation of a magnetic levitation system” , Valer
Dolga, Lia Dolga “Politehnica” University of Timişoara, Romania,
Department of Mechatronic, Annals Of The Oradea University.
Fig 11 (Position) - Result of the simulation Fascicle of Management and Technological Engineering, Volume VI
(XVI), 2007.
[4] “Matlab and Simulink for Modeling and Control” by Robert Babuˇka [6] “Actuator and sensor modeling for magnetic levitation system”. Ji-
and Stefano Stramigiolis, Control Laboratory .Faculty of Information Hyuck Yang Inha Univ., Incheon Tae-Shin Kim; Su-Yong Shim;
Technology and Systems, Delft University of Technology. Young-Sam Lee ; Oh-Kyu Kwon.
[7] “Modeling and control design of Magnetic levitation system," IEEE
[5] “Electromagnetic Levitation Using MATLAB” Rafael, Student, Trans. on Industrial Electronics 52(6): 1644-1652, 2005. Suster, P.
Member, IEEE, Daniel C.B.V. da SILVA2, Student, and José Luiz da , Dept. of Cybern. & Artificial Intell., Tech. Univ. of Kosice, Kosice,
Supervisor, Member, IEEE. Slovakia Jadlovska.
[8] “Modeling and controller design of a magnetic levitation system”
Alvarez-Sanchez, E. Dept. of Electr. Eng., CINVESTAV-IPN, Mexico,
Mexico , Alvarez-Gallegos, J.;Castro-Linares, R.