REPULSIVE ELECTROMAGNETIC LEVITATION DEVICE MAGNETIC FIELD ENVIRONMENT ‘The magnets surrounding the whole system provides the essential environment where application of controls can be simulated. The magnet in the form of a ring axially magnetized has a unique region along the center line of the ring. Along this line, the donut shaped gaussian field produced by these magnets lies a verlical line were magnetic flux does not pass through. A small second magnet{|evitated object) placed along this line above or below the ring magnetic poles or at the center of the ring magnet will be stable from overtuming in the vertical axis(z-axis) but unstable along the horizontal plane (x,y axis). The space in this 3 regions are the center of interest. The magnetic field strength and diameter of the lifting magnet vis-a-vis with the diameter and thickness of the levitated magnet determines the levitation height and payload. POSITION SENSING ARRAY ‘The levitated magnet position may be sensed by ratiometric hall sensors, magnetoresistive elements, optical sensors or x/y-axis camera position translator. Orientation and placement of magnetic sensors depends primarily on the space where there is the least stray field. Atleast two sensing channels are needed to provide position mapping on the horizontal plane parallel to the base magnet pole. Levitation stability depends primarily on the sensing device thus increasing the number of sensors on the array improves stability. X/Y-axis position translators are generally applied to digital systems and microcontrollers although hall or magnetoresistive sensor analog signals can also be processed by this hardware. POSITION CORRECTION OF LEVITATED MAGNET BY DYNAMIC MAGNETIC FIELD ‘A dynamic magnetic field to position the levitated object in this region can literally pin the object in this space. A error correction dynamics at least along the x-y plane functions to stabilize placement of the levitated object, in this space. Maintaining the levitated object in this space is translated by the electromagnets with non-linear controllers, Initial dipole environment is as follows: the bottom of the levitated magnet is north pole; the face of the ring magnet is south pole. When the levitated magnet is placed at the vertical center above the pole face, equal magnetic attraction force is asserted between the base and the levitated magnet. Also, the levitated magnet is suspended by a lting force along the vertical axis. Stability under static conditions is not a possible but a dynamic magnetic field varying the gaussian surface to position the levitated magnet along the vertical center line can support a payload to float within the space of interest. When the levitated magnet is offset towards the sensor, the coil opposite the sensor needs to supplement the base magnet with a south pole to attract the levitated magnet OR the coil adjacent to the sensor having a north pole to repel the levitated magnet towards the vertical center line The error correction signal to drive the channel coil is a summation of a proportional and a derivative response tuned not to oscillate, dampness near unity. For systems with split supplies, the coils can be configured to both have a north and south pole instantaneously(push-pull translation, the opposite coil attracting while the adjacent coil repulsing). Microcontrollers may process analog signals from position sensors to correct displacement from the vertical centertine(translated as a reference set point). Analog signals from sensors is converted to numeric integers and compared to a set point value. Algorithms to correct the error value is calculated by the microprocessor and translated to a pulsed modulated signal that feeds a driver peripheral for the coils, RENTS: NE OLoeE ELECT ETc ae RA LEVITATION DEVICE NAR ATIVE ATE