Magnetically Levitated Six-DOF Precision Positioning Stage With Uncertain Payload

Basovich, Sergei; Arogeti, Shai; Menaker, Yonattan; Brand, Ziv

doi:10.1109/tmech.2015.2489928

Cited by 17 publications

(3 citation statements)

References 21 publications

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“…Figure 7 shows the tracking errors obtained with the proposed design for the on-diagonal element of the closed loop uncertain system. It shows that the magnitudes of the closed loop system (for 6561 randomly selected plants) remain within the limits specified by the tolerance (Be) in equation (18). The closed loop responses of the uncertain system (for 6561 random plants) for a unit step are Figure 7 shows the tracking errors obtained with the proposed design for the on-diagonal element of the closed loop uncertain system.…”

Section: Feedforward (G R ) and Feedback Controller (G) Designmentioning

confidence: 83%

“…Motion control of magnetic levitation system has become an increasingly important area of research for many engineering systems. Some of them are dual axis motion control [16], rotary table with 6-DOF [17], precision-positioning stages [18], maglev trains, and the reader can refer to the papers in References [19,20] for more applications. The proposed non-sequential design in Section 3 is illustrated by means of a challenging and benchmark magnetic levitation system [21].…”

Section: Case Study: Mimo Magnetic Levitation Systemmentioning

confidence: 99%

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A Robust Controller for Multivariable Model Matching System Utilizing a Quantitative Feedback Theory: Application to Magnetic Levitation

Jeyasenthil

Choi

2019

Applied Sciences

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This paper proposes a systematic feedback controller design methodology for multi-input multi-output (MIMO) uncertain systems using the quantitative feedback theory (QFT). To achieve this goal, the model matching problem was considered and the inversion feedforward controller was designed to improve control performance while reducing the demand on feedback control alone. The proposed method is formulated based on the concept of equivalent disturbance attenuation (EDA) approach in which the uncertain system problem is converted into an external disturbance rejection problem based on a nominal system. This proposed approach exhibiting non-sequential design method result in the suboptimal solution showing design simplicity and computational efficiency compared to the existing method. In order to validate the effectiveness of the proposed control methodology, the MIMO magnetic levitation system as adopted and control performances such as time response were presented in both time and frequency domains.

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Section: Feedforward (G R ) and Feedback Controller (G) Designmentioning

confidence: 83%

Section: Case Study: Mimo Magnetic Levitation Systemmentioning

confidence: 99%

A Robust Controller for Multivariable Model Matching System Utilizing a Quantitative Feedback Theory: Application to Magnetic Levitation

Jeyasenthil

Choi

2019

Applied Sciences

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“…J W. et al designed an integrated suspension and displacement magnetically levitated platform [ 11 ], in which a Halbach permanent magnet and a three-phase coil jointly generate levitation and horizontal propulsion forces; however, this design has a short travel length and strong coupling. Israeli scholars [ 12 ] proposed a separated six-degree-of-freedom precision displacement platform, achieving physical separation of the levitation and displacement mechanisms. The platform consists of three sets of dynamic magnetic structural cantilevers, with each cantilever being in series with a vertical and a horizontal magnetic group, and each magnetic group is composed of two E-type electromagnets.…”

Section: Introductionmentioning

confidence: 99%

GRU-ESO Strategy for a Distributed Coil Magnetically Levitated Planar Micromotor

Du,

Ming,

Ming

et al. 2024

Micromachines

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Traditional magnetic levitation planar micromotors suffer from poor controllability, short travel range, low interference resistance, and low precision. To address these issues, a distributed coil magnetically levitated planar micromotor with a gated recurrent unit (GRU)-extended state observer (ESO) control strategy is proposed in this paper. First, the structural design of the distributed coil magnetically levitated planar micromotor employs a separation of levitation and displacement, reducing system coupling and increasing controllability and displacement range. Then, theoretical analysis and model establishment of the system are conducted based on the designed distributed coil magnetically levitated planar micromotor and its working principles, followed by simulation verification. Finally, based on the established system model, a GRU-ESO controller is designed. An ESO feedback control term is introduced to enhance the system’s anti-interference capability, and the GRU feedforward compensation control term is used to improve the system’s tracking control accuracy. The experimental results demonstrate the reliability of the designed distributed coil magnetic levitation planar micromotor and the effectiveness of the controller.

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Design and Research of Distributed Coil Magnetic Levitation Platform

Jiang

Ming

2023

Lecture Notes in Electrical Engineering

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Magnetically Levitated Six-DOF Precision Positioning Stage With Uncertain Payload

Cited by 17 publications

References 21 publications

A Robust Controller for Multivariable Model Matching System Utilizing a Quantitative Feedback Theory: Application to Magnetic Levitation

A Robust Controller for Multivariable Model Matching System Utilizing a Quantitative Feedback Theory: Application to Magnetic Levitation

GRU-ESO Strategy for a Distributed Coil Magnetically Levitated Planar Micromotor

Design and Research of Distributed Coil Magnetic Levitation Platform

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