Design and simulation of a hybrid controller for a multi-input multi-output magnetic suspension system

In this paper we present a Fuzzy Logic control approach designed to stabilize a multi-input multi-output magnetic suspension system. The system has four cubic floaters and four actuators that apply magnetic forces on the floaters, the suspension is performed by changing the voltages applied on the actuators, hence changing their currents, producing vertical magnetic forces that balance with the gravitational force. A fuzzy logic controller is used to control each actuator; the system is nonlinear and sensitive to initial conditions. Another fuzzy logic controller is used as a supervisory controller in order to increase the dynamic range of the system, enabling it to stabilize the floaters when the initial displacements are relatively big. Another design consideration was to keep the four floaters in the same plane as much as possible, to perform that task, a PD controller was set to modulate the currents of the four actuators in order to minimize an error signal measuring the relative vertical displacement of all the four floaters. Simulation results show that the designed control scheme stabilized the system for the design constrains.