Zero-power tip-tilt control of a magnetically levitated platform by lateral displacement of hybrid-electromagnets

This papers discusses a method of magnetic levitation which allows a levitated platform to remain both level and zero-power under arbitrary eccentric loading conditions. A hardware system is proposed and developed which laterally displaces hybrid electromagnets (HEMs) to counteract the moments caused by eccentric loads. In this system, the displaced HEMs are the same HEMs which are used for the levitation of the platform. A mathematical formulation is provided to explain the control methodology, and data from successful experimental trials of the developed hardware is discussed.