NDLI: Precision LARC motion controller design for a magnetically levitated planar motor

Content Provider	IEEE Xplore Digital Library
Author	Ze Wang Chuxiong Hu Yu Zhu Ming Zhang
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Tsinghua Univ., Beijing, China (Ze Wang; Chuxiong Hu; Yu Zhu; Ming Zhang)
Abstract	Magnetically levitated planar motor is a new-generation motion device in modern precision industry while its advanced motion controller design is still of main concern. In this paper, a learning adaptive robust control (LARC) motion controller is proposed for a developed magnetically levitated planar motor to achieve good tracking performance. The planar motor consists of a Halbach permanent magnetic array as the stator, and a levitated platen containing four groups of three-phase windings as the mover. Based on the Lorentz force law, the mover placed in the magnetic field is subject to vertical force for levitation and horizonal force for planar motion through dynamics decoupling and current allocation. A LARC control scheme including iterative learning term and adaptive model compensation term in a parallel structure, is then proposed for the magnetically levitated planar motor to meet the challenge of high-performance tracking even under parametric uncertainty. Comparative experiments are carried out on the planar motor to track point-to-point and planar circular motions, respectively. The results consistently validate that the proposed LARC control strategy achieves good tracking performance even with payload. The proposed scheme actually provide a practically effective technique and a guidance for motion control of magnetically levitated planar motors in industrial applications.
Starting Page	1359
Ending Page	1364
File Size	8824186
Page Count	6
File Format	PDF
e-ISBN	9781467391047
DOI	10.1109/ICInfA.2015.7279498
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Adaptation models Uncertainty Tracking tracking accuracy motion control LARC Lead Magnetically levitated planar motor Planar motors Magnetic levitation
Content Type	Text
Resource Type	Article

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