Identification of a hybrid maglev system with electromagnets and permanent magnets

The mathematical model of a maglev system with a single hybrid magnet is identified from the experimental data in this paper. Firstly, the model structure of the hybrid maglev system is chosen based on Newton-Second Law and Kirchoff Equation. To simplify the identification procedure, current-loop control algorithm is introduced and the proposed model structure is decomposed into two parts, which are separately the nonlinear kinetics and the linear Electrics. Secondly, the information of the practical hybrid system is acquired by a closed-loop identification experiment, and the controller design to stabilize the system and the reference signal design to persistently excite the system are both addressed in detail. Then the proposed model structure is written as two ARX equations after introducing new states, and the parameters are identified by Least-Square-Method. Finally, the applicability of the identified model is evaluated by another set of experimental data, which illustrates that the obtained model is sufficiently accurate for the purpose of controller design.