Design and Analysis of a Long-Stroke Planar Switched Reluctance Motor for Positioning Applications

This paper presents the design, control, and experimental performance evaluation of a long-stroke planar switched reluctance motor (PSRM) for positioning applications. Based on comprehensive consideration of the electromagnetic and mechanical characteristics of the PSRM, a motor design is first developed to reduce the force ripple and deformation. A control scheme with LuGre friction compensation is then proposed to improve the positioning accuracy of the PSRM. Furthermore, this control scheme is proven to ensure the stable motion of the PSRM system. Additionally, the response speed and steady-state error of the PSRM system with this control scheme are theoretically analyzed. Finally, the experimental results are presented and analyzed. The effectiveness of the precision long-stroke motion of the PSRM and its promise for use in precision positioning applications are verified experimentally.

[1]  J. F. Pan,et al.  An adaptive controller for the novel planar switched reluctance motor , 2011 .

[2]  Hao Jiang,et al.  A Novel Ohmic-Loss Reduction Control Strategy for Planar Motor , 2012, IEEE Transactions on Magnetics.

[3]  Zongxia Jiao,et al.  Adaptive Control of Hydraulic Actuators With LuGre Model-Based Friction Compensation , 2015, IEEE Transactions on Industrial Electronics.

[4]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[5]  Chee Khiang Pang,et al.  Design and Modeling of a Six-Degree-of-Freedom Magnetically Levitated Positioner Using Square Coils and 1-D Halbach Arrays , 2017, IEEE Transactions on Industrial Electronics.

[6]  Ming Zhang,et al.  Unified wrench model of an ironless permanent magnet planar motor with 2D periodic magnetic field , 2018 .

[7]  A.T. de Almeida,et al.  Design of Transverse Flux Linear Switched Reluctance Motor , 2009, IEEE Transactions on Magnetics.

[8]  Fayez F. M. El-Sousy,et al.  Adaptive nonlinear disturbance observer using double loop self-organizing recurrent wavelet-neural-network for two-axis motion control system , 2016, 2016 IEEE Industry Applications Society Annual Meeting.

[9]  Recep Halicioglu,et al.  An automation system for data processing and motion generation , 2017, 2017 International Artificial Intelligence and Data Processing Symposium (IDAP).

[10]  Yu Zhu,et al.  Modeling the Static Vertical Force of the Core-Type Permanent-Magnet Planar Motor , 2008, IEEE Transactions on Magnetics.

[11]  Guang-Zhong Cao,et al.  Nonlinear Modeling of Electromagnetic Forces for the Planar-Switched Reluctance Motor , 2015, IEEE Transactions on Magnetics.

[12]  Kai Wang,et al.  An Analytical Approach to Determine Coil Thickness for Magnetically Levitated Planar Motors , 2017, IEEE/ASME Transactions on Mechatronics.

[13]  Bin Yao,et al.  Advanced Synchronization Control of a Dual-Linear-Motor-Driven Gantry With Rotational Dynamics , 2018, IEEE Transactions on Industrial Electronics.

[14]  Yanling Tian,et al.  A Flexure-Based Kinematically Decoupled Micropositioning Stage With a Centimeter Range Dedicated to Micro/Nano Manufacturing , 2016, IEEE/ASME Transactions on Mechatronics.

[15]  N. Fujii,et al.  Two-dimensional drive characteristics by circular shaped motor , 1998, Conference Record of 1998 IEEE Industry Applications Conference. Thirty-Third IAS Annual Meeting (Cat. No.98CH36242).

[16]  Won-jong Kim,et al.  Design and Control of a Compact Lightweight Planar Positioner Moving Over a Concentrated-Field Magnet Matrix , 2013, IEEE/ASME Transactions on Mechatronics.

[17]  Min Li,et al.  State/Model-Free Variable-Gain Discrete Sliding Mode Control for an Ultraprecision Wafer Stage , 2017, IEEE Transactions on Industrial Electronics.

[18]  Yoon Su Baek,et al.  Study on a novel contact-free planar system using direct drive DC coils and permanent magnets , 2002 .

[19]  Elena A. Lomonova,et al.  Analysis Method of the Dynamic Force and Torque Distribution in the Magnet Array of a Commutated Magnetically Levitated Planar Actuator , 2012, IEEE Transactions on Industrial Electronics.

[21]  Guang-Zhong Cao,et al.  Nonlinear Modeling of the Inverse Force Function for the Planar Switched Reluctance Motor Using Sparse Least Squares Support Vector Machines , 2015, IEEE Transactions on Industrial Informatics.

[22]  Guang-Zhong Cao,et al.  Design and Analysis of a Planar Flux-Switching Permanent Magnet Motor , 2018, IEEE Transactions on Magnetics.

[23]  He Zhang,et al.  Analysis and Design of a Novel 3-DOF Lorentz-Force-Driven DC Planar Motor , 2011, IEEE Transactions on Magnetics.

[24]  Mei-Yung Chen,et al.  A New Design of a Submicropositioner Utilizing Electromagnetic Actuators and Flexure Mechanism , 2010, IEEE Transactions on Industrial Electronics.

[25]  Chao Wu,et al.  Maximum-Force-per-Ampere Strategy of Current Distribution for Efficiency Improvement in Planar Switched Reluctance Motors , 2016, IEEE Transactions on Industrial Electronics.

[26]  M. Taylan Das,et al.  Robotics and servo press control applications: Experimental implementations , 2016, 2016 International Conference on Control, Decision and Information Technologies (CoDIT).

[27]  Jin Ming Yang,et al.  High-precision position control of a novel planar switched reluctance motor , 2005, IEEE Transactions on Industrial Electronics.

[28]  Won-Jong Kim,et al.  Extended Range Six-DOF High-Precision Positioner for Wafer Processing , 2006, IEEE/ASME Transactions on Mechatronics.

[29]  Stephanus Büttgenbach,et al.  Design and Assessment of a Micropositioning System Driven by Electromagnetic Actuators , 2017, IEEE/ASME Transactions on Mechatronics.

[30]  Ming Zhang,et al.  Newton-ILC Contouring Error Estimation and Coordinated Motion Control for Precision Multiaxis Systems With Comparative Experiments , 2018, IEEE Transactions on Industrial Electronics.