Reaction Force-Based Position Sensing for Magnetic Levitation Platform with Exceptionally Large Hovering Distance
Abstract
:1. Introduction
2. Magnetic Levitation Platform Overview
3. Dynamics Modeling
3.1. Radial Motion Dynamics
3.2. Rotational Dynamics
3.3. Force Sensor Mechanical Dynamics
3.4. Force Sensor Electrical Dynamics
3.5. Summary of the Dynamics
4. Dynamic Model Verification and Tuning
4.1. Mover’s Position Controller
4.2. Dynamic Model Proof and Adaption
5. Observer and Controller Design
5.1. Observer
5.2. Mover’s Position Controller and Rotation Damping
5.3. Inverter Stage
5.4. Position Sensor Offset Compensation
6. Hardware Demonstrator Realization
6.1. Force Sensor
6.2. Controller Tuning
6.3. Results
7. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
Appendix A. Design of the Electromagnets
Design Parameters | |||
40 V | 6 A | ||
10 mm | mm | ||
mm | 23 mm | ||
mm | |||
Calculated Characteristics | |||
N | 550 | 20 | |
5.5 Ω | kg |
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Mover PM external radius | mm | |
Mover PM internal radius | mm | |
Mover height | 5 mm | |
Stator PM external radius | 50 mm | |
Stator PM internal radius | mm | |
Stator height | 20 mm | |
Mover weight | kg | |
Stator weight | kg | |
Mover moment of inertia | gm2 | |
Total MLP weight | kg | |
Levitation height | h | 104 mm |
Characteristic dimension | CD | 207 mm |
Radial stiffness | N/m | |
Displacement torque const. | Nm/m | |
Rotational stiffness | mNm/ | |
Rotational damping | 2 Nms/ | |
Rotational force const. | mN/ | |
EMs force const. | 65 mN/A | |
EMs torque const. | mNm/A | |
Force sensor damping | Ns/m | |
Force sensor stiffness | 694 kN/m | |
Force sensor el. conv. const. | V/m | |
Force sensor amplifier gain | 10 V/mV |
Inverter | |||
40 | 100 | ||
filter | |||
22 | 1 | ||
22 | 88 | ||
n | 4 | ||
Electromagnet | |||
87 | 85 | ||
Resonant freq. | 125 |
Outer Current Controller | |||
Position controller (50) | |||
As/ | A/ | ||
As/m | kA/m | ||
H | A/m | ||
Inner current controller | |||
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Bonetti, R.; Beglinger, L.; Mirić, S.; Bortis, D.; Kolar, J.W. Reaction Force-Based Position Sensing for Magnetic Levitation Platform with Exceptionally Large Hovering Distance. Actuators 2024, 13, 114. https://doi.org/10.3390/act13030114
Bonetti R, Beglinger L, Mirić S, Bortis D, Kolar JW. Reaction Force-Based Position Sensing for Magnetic Levitation Platform with Exceptionally Large Hovering Distance. Actuators. 2024; 13(3):114. https://doi.org/10.3390/act13030114
Chicago/Turabian StyleBonetti, Reto, Lars Beglinger, Spasoje Mirić, Dominik Bortis, and Johann W. Kolar. 2024. "Reaction Force-Based Position Sensing for Magnetic Levitation Platform with Exceptionally Large Hovering Distance" Actuators 13, no. 3: 114. https://doi.org/10.3390/act13030114