Parametric modeling and control of a long-range actuator using magnetic servo levitation

被引:11
作者
Gutierrez, HM [1 ]
Ro, PI [1 ]
机构
[1] N Carolina State Univ, Precis Engn Ctr, Raleigh, NC 27695 USA
关键词
feedback linearization; magnetic servo levitation; parametric modeling;
D O I
10.1109/20.718530
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
A mechatronic device based on magnetic servo levitation (MSL) is proposed for long range and wide bandwidth actuation. The force capability of this type of actuator can be significantly larger than a linear motor or voice-coil actuator of similar dimensions. A novel parametric model of the electromagneto-mechanical coupled system has been developed to describe its behavior over a large range of motion and frequency, as opposed to more conventional attractive force small-perturbation models. It also provides a convenient way of devising a feedback linearizing control scheme that eliminates the need for high biasing currents present in most magnetic bearing systems. This paper presents a feedback-linearized controller coupled with a Kalman filter as a first approach to solve the tracking problem for such an actuator. Good tracking performance have been found both in simulation and experiments.
引用
收藏
页码:3689 / 3695
页数:7
相关论文
共 15 条
[1]  
[Anonymous], 2013, Nonlinear control systems
[2]   A NEW METHOD FOR COUPLING FINITE-ELEMENT FIELD SOLUTIONS WITH EXTERNAL CIRCUITS AND KINEMATICS [J].
BEDROSIAN, G .
IEEE TRANSACTIONS ON MAGNETICS, 1993, 29 (02) :1664-1668
[3]  
Franklin G. F., 1980, Digital Control of Dynamic Systems, V1st
[4]  
GUTIERREZ HM, 1995, P ASME INT MECH ENG, V57, P491
[5]  
HIGUCHI T, 1989, P 20 INT S IND ROB, P136
[6]  
Ljung L., 1987, System Identification: Theory for the User
[7]   SIMULATION OF ELECTROMAGNETIC SYSTEMS BY COUPLING OF MAGNETIC AND ELECTRIC EQUATIONS [J].
PIRIOU, F ;
RAZEK, A .
MATHEMATICS AND COMPUTERS IN SIMULATION, 1989, 31 (03) :189-194
[8]  
Ren Z., 1994, P 2 INT C COMP EL, P20
[9]  
Roters H. C., 1941, Electromagnetic Devices
[10]  
TRUMPER DL, 1995, P ASME INT MECH ENG, V57, P511