<p>A novel Maglev Pipeline Transport Device (MPTD) is proposed. Due to the axial position change of the levitated yoke iron, the radial and axial magnetic fields generated by each magnetic column of the MPTD can be converted into each other, thereby changing the magnetic forces in all directions. In this paper, a mathematical analytical model of the magnetic force between MPTD and levitated yoke iron at different relative positions is established. First, the air-gap length in the unit polar angle of the magnetic column is calculated by analyzing the eccentric position relationship between the MPTD magnetic columns and the yoke. Then, based on the equivalent magnetic circuit and the conformal mapping method, the different axial positions between the magnetic columns and the yoke are converted into the same axial coordinate, to facilitate the calculation of the levitation and axial magnetic forces generated by a length of the unit polar angle of the magnetic column at this axial coordinate, thus obtaining the magnetic force of the whole MPTD and the state space equation for its control application. Finite element analysis and levitation experiments show that the established model has a good accuracy (error &lt; 5%) compared to the measured results and finite element analysis. The control system based on the model enables both the coil current and magnetic forces of different magnetic columns to change synchronously with different magnetic field air-gaps. By leveraging the axial magnetic force difference between the left and right magnetic rings, the yoke is pulled back from an axial unbalanced position to balance, thereby achieving stable levitation of the yoke with 5-DOF controlled by MPTD.</p>