Mathematical model of the 5-DOF sled dynamics of an electrodynamic Maglev System with a passive sled

A model that describes the 5-DOF dynamics of a passively levitated electrodynamic Maglev system is presented. The model is based on the flux-current-force interactions and the geometric relationships between the levitation coils and the permanent magnets on the sled. The model is presented in a parametric state-space formulation, suitable to extract model parameters from input-output measurements in a minimum mean-square error sense. The proposed structure is very well suited for parameter estimation and to later develop robust feedback control of the sled dynamics.