Control of multi-degree-of-freedom planar actuators

Author

van Lierop, C.M.M. ; Jansen, J.W. ; Damen, A.A.H. ; van den Bosch, P.P.J.

Author_Institution

Fac. of Electr. Eng., Eindhoven Univ. of Technol.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

2516

Lastpage

2521

Abstract

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

Keywords

commutation; control system analysis; electromagnetic actuators; magnetic bearings; multivariable control systems; active coils; commutation strategy; control-oriented analysis; dq0-decomposition; integrated magnetic bearings; magnet array edge effects; multidegree-of-freedom planar actuators; multiphase amplifiers; multiphase behavior; Coils; Design methodology; Hydraulic actuators; Magnetic analysis; Magnetic levitation; Magnetic switching; Magnets; Propulsion; Switches; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4777034

Filename

4777034