Decoupling Suspension Controller Based on Magnetic Flux Feedback

Table 1

Symbols in double suspension points system.

Signs	Signification
𝑁	Number of magnetic coils
𝑅	Magnetic resistance
𝜇0	Magnetic permeability of atmosphere 4𝜋×10^−7 H/m
𝑔	Acceleration of gravitation 9.8m/s^2
𝜃	Separation angle between electromagnet axis line and horizon
𝐹1	Electromagnetic force of suspension point 𝑃1
𝑁1	Disturbing force of suspension point 𝑃1
𝐿	Total length of electromagnet
𝑖1(𝑡)	Current of magnetic coil in suspension 𝑃1
𝑢1(𝑡)	Voltage of magnetic coil in suspension point 𝑃1
𝑧1(𝑡)	Measured position value in suspension point 𝑃1
𝑑1(𝑡)	Average gap value between guideway and suspension point 𝑃1
𝑆	Magnetic pole area
𝐵	Suspension gap flux density
𝑀	Total mass of suspension system
𝐼	Rotation inertia of electromagnet for 𝑂 point
𝑑	Distance from guideway to 𝑂 point
𝐹2	Electromagnetic force of suspension point 𝑃2
𝑁2	Disturbing force of suspension point 𝑃2
𝑙	Disturbing force of arm relative; to 𝑂 point
𝑖2(𝑡)	Current of magnetic coil in suspension point 𝑃2
𝑢2(𝑡)	Voltage of magnetic coil in suspension point 𝑃2
𝑧2(𝑡)	Measured position value in suspension point 𝑃2
𝑑2(𝑡)	Average gap value between guideway and suspension point 𝑃2