Force and Torque Modeling for Linear Actuator Under State of Large Yaw Angle


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Abstract


The planar motor prototype is driven by four permanent-magnet ironless linear actuators. In order to achieve its positioning control under the large yaw angle, this paper proposed a novel dual-parameter half-analytical model for the linear actuator. Firstly, using numerical Lorentz force method, the fast simulation method of the linear actuator is established. Secondly, using spectrum analysis and curve fitting methods, the dual-parameter expressions of the force and torque are deduced in detail. Lastly, a new decoupling control strategy is proposed based on the dual-parameter model. The errors of this modeling method are evaluated with the 3-D finite-element method. The same approach can be applied to similar types of planar motors with the structure of symmetrical three-phase windings
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Keywords


Force and Torque; Linear Actuator; Modeling; Yaw Angle

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