Intrinsic Placing Behavior in Zero-Power Controlled Magnetic Levitation Object Handling

This paper introduces an aspect of Zero-Power magnetic levitation control, in which the levitated object is released or placed in a natural way without any external control commands. This intrinsic placing behavior is a result of the characteristic control feature that the coil current is actively controlled to zero instead of controlling the air gap, which is the case in conventional control strategies. The principle of this placing behavior will be explained and analyzed in this paper. A guideline to tune the controller settings to achieve this placing behavior is given and it will be supported by experiments.