Motion Control of a Magnetic Levitation Actuator Based on a Wrench Model Considering Yaw Angle

Xu, Fengqiu; Lü, Xing; Zheng, Tong; Xu, Xianze

doi:10.1109/tie.2019.2949519

Cited by 13 publications

(9 citation statements)

References 26 publications

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“…Since the structure of the motor is designed to undertake the planar motion task, most of the attention is paid to the motion control along x−and y−axes for better motion resolution and smaller tracking error. As the motions along the two axes are equivalent after the dynamic decoupling [5], the mechanical system dynamics can be described as a compact state-space form with the disturbances explicitly considered in the system motions, that is…”

Section: System Dynamics and Problem Formulationmentioning

confidence: 99%

“…The control block diagram of the RILMPC scheme for maglev planar motor is shown in Figure 2. The dynamic decoupling unit, which transforms the magnetic force into driving current, can be founded in our previous work [5] and it is omitted here.…”

Section: Control Architecturementioning

confidence: 99%

“…Many control schemes, such as the PID compensator [5], linear quadratic regulator [6], robust adaptive control [7] and neural network‐based controller [8] have been developed for the trajectory tracking of the maglev positioning system. Oriented towards the decoupled linear model [5] or linearised model [7], the main focus of these controllers is exploring the dynamic force or torque through the feedback control laws to drive the moving part for desired motion profiles, namely, regulating the tracking error. Nevertheless, constraints are not explicitly considered in these methods.…”

Section: Introductionmentioning

confidence: 99%

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Robust iterative learning model predictive control for repetitive motion of maglev planar motor

Zhang

2022

IET Electric Power Appl

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This paper presents a robust iterative learning model predictive control (RILMPC) scheme for repetitive trajectory tracking of a magnetically levitated (maglev) planar motor. The motivation lies in the improvement of tracking performance and disturbance rejection ability for the maglev system. Relying on the past error in the repetitive motion, the model discrepancy is persistently compensated with iterations to improve the prediction accuracy. The cost function that serves as the upper bound of the tracking error is then derived from the past control trajectory based on the Lipschitz property of disturbances. In the proposed RILMPC scheme, a minimal robust positive invariant set is introduced into the MPC optimisation to cope with unmodeled dynamics and disturbances. Furthermore, it is theoretically shown that the perturbed closed-loop system is stable, and the proposed RILMPC scheme is recursively feasible with perfect tracking performance under some conditions. Finally, comparative experiments carried out on a maglev planar motor demonstrate that the proposed control strategy possesses satisfactory transient/steady-state tracking performance and robustness against disturbances.

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Section: System Dynamics and Problem Formulationmentioning

confidence: 99%

Section: Control Architecturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust iterative learning model predictive control for repetitive motion of maglev planar motor

Zhang

2022

IET Electric Power Appl

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“…Without physical contact, the vibration of the base cannot be directly transmitted to the object, which is an effective approach to the isolation of micro-vibration in space [ 11 , 12 , 13 ]. It restricts the performance improvement for the vibration isolation platforms with multiple single DOF electromagnetic actuators due to the large size and mass, complex structure and control system, difficulty to miniaturize and compact [ 14 , 15 ]. While the 2-DOF electromagnetic actuators have obvious merits in the system cost and weight, layout optimization, and so on [ 16 , 17 , 18 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a 2-DOF Electromagnetic Actuator with an Improved Halbach Array for the Magnetic Suspension Platform

Yang

Zhao

et al. 2022

Sensors

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For large bearing capacity and low current consumption of the magnetic suspension platform, a 2-DOF electromagnetic actuator with a new structure of halbach array is proposed to improve driving force coefficients. The structure and the working principle are introduced. An accurate sub domain model of the new structure is established to accurately and rapidly calculate the magnetic field distribution for obtaining the parameters and performance of the electromagnetic actuators. The analytical model results are verified by the finite element method. The force/torque model of the magnetic suspension platform is established based on the proposed 2-DOF electromagnetic actuator. Three position-sensitive detectors and six accelerometers are applied to perceive in real time the posture and vibration acceleration of the platform, respectively. Their hardware information is introduced and measurement models are established based on the layout. Finally, the electromagnetic characteristics of the proposed actuator are investigated and compared with the conventional counterpart by finite element analysis. The results show that the average magnetic field, 0.432T, horizontal and vertical force coefficient, 92.3 N/A and 30.95 N/A, and torque in x and z direction, 3.61 N·m and 8.49 N·m, of the proposed actuator are larger than those of the conventional one.

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“…The magnetic suspension platform with electromagnetic actuators can realize the contactless suspension and overcome disadvantages of mechanical contact platforms [8,9]. According to the driving distance, the magnetically levitated actuators can be divided into the long-stroke actuators [10][11][12][13] and the short-stroke actuators [14,15]. The translational motion range of the former in X direction and Y direction is large but the rotation angle is small.…”

Section: Introductionmentioning

confidence: 99%

A Novel 2-DOF Lorentz Force Actuator for the Modular Magnetic Suspension Platform

Yang

Zhao

et al. 2020

Sensors

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The modular magnetic suspension platform depends on multi degree of freedom of Lorentz force actuators for large bearing capacity, high precision positioning and structure miniaturization. To achieve the integration of vertical driving force and horizontal driving force, a novel 2- (two degrees-of-freedom) DOF Lorentz force actuator is developed by designing the pose of the windings and permanent magnets (PMs). The structure and the working principle are introduced. The electromagnetic force mathematical model is established by the equivalent magnetic circuit method to analyze the coupling of magnetic flux. The distribution characteristics of magnetic flux density are analyzed by the finite-element method (FEM). It is found that the coupling of the magnetic flux and the large magnetic field gradient severely reduce the uniformity of the air-gap magnetic field. The electromagnetic force characteristic is investigated by FEM and measurement experiments. The difference between FEM and experiment results is within 10%. The reasons of driving force fluctuation are explained based on the distribution of air-gap magnetic field. The actuator performance are compared under the sliding mode control algorithm and PID control algorithm and the positioning accuracy is 20 μm and 15 μm respectively. Compared with the similar configuration, the motion range and force coefficient of the Lorentz force actuator in this paper are larger. It has a certain guiding significance on the structure design of the multi degree of freed Lorentz force actuator.

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Motion Control of a Magnetic Levitation Actuator Based on a Wrench Model Considering Yaw Angle

Cited by 13 publications

References 26 publications

Robust iterative learning model predictive control for repetitive motion of maglev planar motor

Robust iterative learning model predictive control for repetitive motion of maglev planar motor

Design and Analysis of a 2-DOF Electromagnetic Actuator with an Improved Halbach Array for the Magnetic Suspension Platform

A Novel 2-DOF Lorentz Force Actuator for the Modular Magnetic Suspension Platform

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