Calculation of a New Real-Time Control Model for the Magnetically Levitated Ironless Planar Motor

This paper presents a new real-time control model for the magnetically levitated ironless planar motor. The corner segments of the coil are taken into account in this model. The theory of the composite numerical integration and the Newton-Leibniz formula are used to derive the model. The model is verified by using the harmonic model. Compared with the well-known model, the new model has higher accuracy, and is suitable for real-time control, which can be used in improving the control accuracy of the magnetically levitated ironless planar motor.