Table Of ContentControl of reluctance actuators for high-precision positioning
Citation for published version (APA):
Katalenic, A. (2013). Control of reluctance actuators for high-precision positioning. [Phd Thesis 2 (Research
NOT TU/e / Graduation TU/e), Electrical Engineering]. Technische Universiteit Eindhoven.
https://doi.org/10.6100/IR752336
DOI:
10.6100/IR752336
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Published: 01/01/2013
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Control of Reluctance Actuators for
High-Precision Positioning
PROEFSCHRIFT
terverkrijgingvandegraadvandoctoraande
TechnischeUniversiteitEindhoven,opgezagvande
rectormagnificus,prof.dr.ir. C.J.vanDuijn,vooreen
commissieaangewezendoorhetCollegevoor
Promotiesinhetopenbaarteverdedigen
opdinsdag16april2013om16.00uur
door
AndelkoKatalenic´
geborenteVarazˇdin,Kroatie¨
Ditproefschriftisgoedgekeurddoordepromotoren:
prof.dr.ir. P.P.J.vandenBosch
en
prof.dr.ir. H.Butler
Doctoratecommittee:
prof.dr.ir. P.P.J.vandenBosch
prof.dr.ir. H.Butler
prof.dr.ir. A.C.P.M.Backx
prof.dr. E.Lomonova
ir. J.W.Spronck
prof.dr.ir. J.vanAmerongen
dr.ir. H.Vermeulen
prof.dr.sc. S.Bogdan
ThisworkispartofthePiekenindeDelta2008program
fundedbySenterNovem,anagencyoftheDutchMinistry
ofEconomicAffairs.
Thisdissertationhasbeencompletedinfulfillmentofthe
requirementsof theDutch Instituteof SystemsandCon-
trolDISC.
A catalogue record isavailablefromthe EindhovenUniversityof Technol-
ogyLibrary,ISBN:978-90-9027450-8
CoverdesignbyAndelkoKatalenic´
Copyright©2013,AndelkoKatalenic´
TypesetusingLATEX,printedinTheNetherlands
tomyparents,
DanicaandSlavko
Summary
ControlofReluctanceActuatorsfor
High-PrecisionPositioning
Toachievehighthroughputandaccuracyspecificationsoffuturehigh-precision,
short-stroke industrial motion systems, actuators which deliver high forces with
highefficiencyhavetobedeveloped. ActuatorsbasedontheLorentzforce,which
are currently the industry standard, have reached their physical limits with re-
specttotheseproperties,sonewconceptshavetobeconsidered. Actuatorsbased
onthereluctanceforceareinvestigatedasapromisingnewcandidate. Theyoffer
moreforcedensityandlessdissipations,butintroducevariousnonlinearitiesand
design issues which have to be addressed before they can be used for nanometer
accuracypositioningapplications.
From the controlperspective, the main issues include: the intrinsic quadratic
nonlinearitybetweenthecurrentandtheforce,multi-valuedrate-dependenthys-
teretic magnetization of the ferromagnetic core and large negative stiffness, i.e.
position dependency of the force. Therefore, although being more efficient than
Lorentz actuators, reluctance actuators are harder to controlpredictably and ac-
curately. Thegoaloftheresearchpresentedinthisthesisistoaddresstheseissues
using advanced modelingandsmartcontrolso theaccuracyofLorentzactuators
canbereached.
Variouscontroltechniquesandmodelsbasedonvoltage,current,orfluxfeed-
back are investigated in detail. A new control oriented hysteresis modeling and
compensation tool is developed and used for inverse model feedforward control
andairgapobserverdesign. Furthermore,anidealizedvoltagecontrolandsensing
coilvoltagefeedbackcontrolschemeismotivatedandimplemented. Forthatpur-
pose, an analogcircuitry was designed, implemented andtested on the available
testrigs. Moreover,theperformanceofreluctanceactuatorsinahigh-bandwidth
positionfeedbackschemewiththestrokeof1mmisinvestigatedandcomparedto
theperformanceobtainablewithLorentzactuators. Generally,itisshownthatthe
closed-loopperformanceofLorentzactuatorscanbematchedandevensurpassed
by reluctance actuators with properly designed and calibrated control schemes
basedonthedevelopedtools. Thisway,notradeoffsintheperformancehavetobe
donewhenswitchingfromLorentztomoreefficientreluctanceactuators.
vii
Contents
Summary vii
1 Introduction 1
1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Researchobjectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2.1 Xtrememotionproject . . . . . . . . . . . . . . . . . . . . . . 2
1.2.2 Scopeofthethesisandproblemformulation . . . . . . . . . 2
1.3 Thesislayout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Electromagneticactuators 7
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Electromagneticforce . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Electromagneticactuators . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.1 Lorentzactuator . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.2 Reluctanceactuator . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 Qualitativeactuatorcomparison . . . . . . . . . . . . . . . . . . . . . 12
2.4.1 Force,copperlossesandmass . . . . . . . . . . . . . . . . . . 14
2.4.2 Non-linearmagnetizationoftheactuatorcore. . . . . . . . . 17
2.4.3 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 Controlofelectromagneticactuators 23
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Reluctanceforceestimation . . . . . . . . . . . . . . . . . . . . . . . 24
3.2.1 Sensingcoilvoltage . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2.2 Primarycoilvoltage. . . . . . . . . . . . . . . . . . . . . . . . 26
3.2.3 Hallprobe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2.4 Primarycoilcurrent . . . . . . . . . . . . . . . . . . . . . . . 26
3.3 Linearizedactuatormodels . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3.1 Lorentzactuator . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3.2 Reluctanceactuator . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4 Poweramplifiersandactuatorbehavior. . . . . . . . . . . . . . . . . 29
3.4.1 Primarycoilvoltageandcurrentcontrolschemes . . . . . . . 30
3.4.2 Vibrationisolationandhysteresisdisturbance . . . . . . . . . 31
3.5 Airgapfluxfeedback . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5.1 SensingcoilandHallprobebasedfeedbackcontrol. . . . . . 35
Description:them later as a complete classical electromagnetic theory. Separate laws have their own names according to the people who discovered them. Equation (2.2a) is the. Gauss's law, (2.2b) is the Gauss's law for magnetism, (2.2c) is the Faraday's law of induction and (2.2d) is the Ampere's circular law.
