Modeling of Magnetically Levitated Planar Actuators With Moving Magnets

This paper presents three types of magnetostatic models of ironless planar actuators with moving magnets. The models predict the force and torque exerted on the translator of the actuator, which can be positioned in six degrees-of-freedom with respect to the stator coils. The force and torque are calculated with the Lorentz force law. The analytical and numerical models can be used for the design of large planar actuators, for the fast comparison of actuator topologies, and in the decoupling and commutation algorithm. The models have been verified with experiments

[1]  G. Akoun,et al.  3D analytical calculation of the forces exerted between two cuboidal magnets , 1984 .

[2]  Phillip J. McKerrow,et al.  Introduction to robotics , 1991 .

[3]  M. E. Williams,et al.  Design and analysis framework for linear permanent magnet machines , 1994, Proceedings of 1994 IEEE Industry Applications Society Annual Meeting.

[4]  David L. Trumper,et al.  Modeling and vector control of a planar magnetic levitator , 1997, IAS '97. Conference Record of the 1997 IEEE Industry Applications Conference Thirty-Second IAS Annual Meeting.

[5]  Han-Sam Cho,et al.  Magnetic field analysis of 2-D permanent magnet array for planar motor , 2001 .

[6]  J. C. Compter.  A PLANAR MOTOR WITH ELECTRO-DYNAMIC PROPULSION AND LEVITATION UNDER 6-DOF CONTROL , 2003 .

[7]  Ir.J.C. Compter.  Electro-dynamic planar motor , 2004 .

[8]  Evaluation of the normal force of a planar actuator , 2005, INTERMAG Asia 2005. Digests of the IEEE International Magnetics Conference, 2005..

[9]  R. P. Homrich,et al.  Evaluation of the normal force of a planar actuator , 2005, IEEE Transactions on Magnetics.

[10]  Jinsong Wang,et al.  A novel synchronous permanent magnet planar motor and its model for control applications , 2005 .

[11]  A.J.A. Vandenput,et al.  Design and test of an ironless, three degree-of-freedom, magnetically levitated linear actuator with moving magnets , 2005, IEEE International Conference on Electric Machines and Drives, 2005..

[12]  P.P.J. van den Bosch,et al.  Control of multi-degree-of-freedom planar actuators , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[13]  E. A. Lomonova,et al.  MOVING-MAGNET PLANAR ACTUATOR WITH INTEGRATED ACTIVE MAGNETIC BEARING , 2006 .