Control of multi-degree-of-freedom planar actuators

This paper concerns a control-oriented analysis of a new commutation strategy which overcomes the limitations of dq0-decomposition for ironless multi-DOF planar actuators with integrated magnetic bearings. The new strategy minimizes the losses and allows for smooth switching of active coils while maintaining the decoupling of all degrees of freedom. Moreover, the method can also include the edge effects of the magnet-array which is not possible with dq0-transformation. The proposed controller has been implemented on a 3-DOF actuator which elucidates the good performance. When adding constraints to the new algorithm, multi-phase behavior can be achieved, which is suitable for multi-phase amplifiers