Development of A Two-Degree-of-Freedom Magnetic Levitation Laboratory Setup

The well-known advantages of magnetic levitation systems in improving the performance of systems, particularly precise positioning systems, signifies the importance of understanding the fundamentals of this technology. Due to inherent instability of maglev systems, feedback control must be employed to stabilize the system dynamics by adjusting the magnetic force on the levitating object based on its position. This paper presents development of a 2-DOF magnetic levitation setup using readily-available components. It aims to demonstrate the fundamental concepts of magnetic levitation technology and guide enthusiasts in mechanical, mechatronics, and electrical engineering through the entire process of electromagnetic design, modeling, feedback control, and controller implementation. This setup consists of two permanent magnets, with one positioned in the lower body and the other is levitated in the air. The position of the levitated magnet in the xy-plane is measured by two Hall-effect sensors, and the necessary magnetic force is applied using electromagnets to maintain its stability.