TY - GEN
T1 - Nonlinear control of a novel active magnetic bearings technology based high-precision positioning stage
AU - Basovich, Sergei
AU - Arogeti, Shai
AU - Brand, Ziv
AU - Levi, Nisim
PY - 2013/10/15
Y1 - 2013/10/15
N2 - This paper presents modelling and control of a novel positioning stage based on Active Magnetic Bearings (AMB) technology. The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. The position control of the stage is achieved by simultaneous stabilization of each one of its 6 actuators. The proposed control law is an output feedback nonlinear controller combined with a velocity observer. This observer is based on the concept of approximate differentiation. The main feature of the presented positioning stage is that all 6-DOF are controlled by electromagnetic forces generated by AMB actuators. No other means, such as permanent magnets or mechanical support, are present in order to counteract the payload's weight against gravity.
AB - This paper presents modelling and control of a novel positioning stage based on Active Magnetic Bearings (AMB) technology. The stage includes a single moving part levitated and controlled with 6 degrees of freedom by 6 couples of reluctance electromagnetic actuators. The position control of the stage is achieved by simultaneous stabilization of each one of its 6 actuators. The proposed control law is an output feedback nonlinear controller combined with a velocity observer. This observer is based on the concept of approximate differentiation. The main feature of the presented positioning stage is that all 6-DOF are controlled by electromagnetic forces generated by AMB actuators. No other means, such as permanent magnets or mechanical support, are present in order to counteract the payload's weight against gravity.
UR - http://www.scopus.com/inward/record.url?scp=84885209740&partnerID=8YFLogxK
U2 - 10.1109/MED.2013.6608914
DO - 10.1109/MED.2013.6608914
M3 - Conference contribution
AN - SCOPUS:84885209740
SN - 9781479909971
T3 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
SP - 1464
EP - 1469
BT - 2013 21st Mediterranean Conference on Control and Automation, MED 2013 - Conference Proceedings
T2 - 2013 21st Mediterranean Conference on Control and Automation, MED 2013
Y2 - 25 June 2013 through 28 June 2013
ER -