Improved ADRC for a Maglev Planar Motor with a Concentric Winding Structure

Abstract

Abstract:In the semiconductor industry, positioning accuracy and acceleration are critical parameters. To improve the acceleration speed of a motor, this paper proposes the moving-coil maglev planar motor with a concentric winding structure. The coordinate system has been built for the multiple degrees of freedom movement system. The Lorenz force method has been applied to solve its electromagnetic model. The real-time solving of the generalized inverse matrix of factors can realize the decoupling of the winding current. When the maglev height changes, the electromagnetic force and torque decreases exponentially with the increase of the air gap. To decrease the influence on control system performance by the internal model change and the external disturbance, this paper proposes an improved active disturbance rejection control (ADRC) to design the controller. This new controller overcomes the jitter phenomenon due to the turning point for the traditional ADRC, thus it is more suitable for the maglev control system. The comparison between ADRC and the improved ADRC has been conducted, the result of which shows the improved ADRC has greater robustness.

Unified wrench model of an ironless permanent magnet planar motor with 2D periodic magnetic field

“…Then the total wrench of a coil equals to the volume integral of the resultant expression. According to (5), the position function can be placed outside the integral symbol. Then the wrench of the (k, l)'s harmonic components can be expressed as a closed-form expression…”

“…The ironless permanent magnet planar motor (IPMPM) use a single mover to avoid the stacked structure. It is a promising driving device in many motion systems [2][3][4][5][6][7][8].…”

“…It shows great advantages in modelling time, real-time calculation cost and the model accuracy. Jansen et al [3,9,14], Kou et al [5,15], Peng et al [16] and Liu and co-workers [17] investigated the SAMs of rectangular-shaped coils. Liu et al [18] derived the wrench model of circular-shaped coils with SAM.…”

Improved Linear Active Disturbance Rejection Control for Lever-Type Electric Erection System with Varying Loads and Low-Resolution Encoder

“…The concept of active disturbance rejection control (ADRC) was firstly proposed by Han [7], which inherits from classic PID and has better performance in rejecting the disturbances actively [8]. The core of ADRC is estimating the generalized disturbances, consisting of internal model uncertainties and external disturbances, and compensating for them, such that a relatively low precision model is necessary to design the control loop [9,10]. The normal ADRC consists of tracking differentiator (TD), extended state observer (ESO), nonlinear state error feedback (NLSEF), and disturbance rejection (DR) [11].…”

Extended unified wrench model suitable for the end effect of the ironless permanent magnet planar motor

“…The ironless permanent magnet (PM) planar motor (IPMPM) is a promising driving device to realise multi-degree of freedom (DoF) motion. With the advantages of frictionless, no backlash and only using single mover, the design of IPMPM is now receiving more and more attention [1][2][3][4][5][6][7][8].…”