1. A Fault Tolerant Control Approach to Three Dimensional Magnetic Levitation
By James Ballard

2. Contents Introduction Levitation Concept Fault Tolerant Techniques
Prototype
Validation of Simulations
Conclusions and Recommendations

3. Introduction Magnetic Levitation Fault Tolerance (Safety)
Magnetic Repulsion
Feedback Control
Fault Tolerance (Safety)
Hardware
Dynamic

4. Levitation Concept z Force due to gravity x y Horizontal ring magnet
Force component
Force from ring magnet Ix Ix

5. Feedback Control Loop Proportional Gain Pole Placement
Proportional, Integral, Differential (PID)

6. Proportional Gain Feedback Control
From mathematical analysis:
Positive gain: No negative poles
Negative gain: Positive pole
Unstable levitation

7. Pole Placement Feedback Control
Stable response achieved (P1=-80, P2=-100)
Gain values too high for embedded system

8. PID Feedback Control Stable levitation achieved
𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69
Stable levitation achieved
Gain values suitable for embedded system

9. Dynamic Redundancy

10. Hardware Redundancy

11. The Prototype

12. Validation of Simulation: Stable
Prototype
𝐾𝑝=2 𝐾𝑖=0.22 𝐾𝑑=7.69
Simulation

13. Validation of Simulation: Unstable
Prototype
𝐾𝑝=3 𝐾𝑖=2 𝐾𝑑=1
Simulation

14. Dynamic Redundancy Test

15. Conclusions and Recommendations
Naturally unstable
PID control most suitable
Fault tolerant techniques prevent system failure

16. Future Work Improved hardware redundancy Development of an observer
User Interactivity

17. Thank you for listening