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A Real-Time Model of Ironless Planar Motors With Stationary Circular Coils

机译：固定圆形线圈无铁平面电动机的实时模型

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摘要

To facilitate the motion control of ironless planar motors with stationary circular coils, in this paper, a real-time model is proposed to predict the force and torque exerted on a magnet array. The force and torque are calculated with Lorentz force law, which can be essentially expressed as the calculation of the volume integral. Due to the symmetry of the circle, the force and torque generated by the coil will not change when the circular coil rotates around its -axis. This characteristic is then significantly utilized in the calculation of the volume integral, and the integral in the real-time model calculation is independent of the position and the rotation angle of the moving magnet array. The calculation result of the numerical integrals can be considered as constants, and thus the real-time model in this paper can be computed quickly. Finally, experiments are carried out to provide verification of the proposed real-time model. The computation time of the model on a digital signal processor system is , and the force and torque predicted by the model are rigidly consistent with the measurement data.
机译：为了促进具有固定圆形线圈的无铁平面电动机的运动控制，在本文中，提出了一种实时模型来预测施加在磁体阵列上的力和转矩。力和扭矩是根据洛伦兹力定律计算的，该定律基本上可以表示为体积积分的计算。由于圆的对称性，当圆形线圈绕其轴旋转时，线圈产生的力和扭矩不会改变。然后，该特征在体积积分的计算中得到了显着利用，实时模型计算中的积分与移动磁体阵列的位置和旋转角度无关。可以将数值积分的计算结果视为常数，从而可以快速计算本文中的实时模型。最后，进行实验以验证所提出的实时模型。该模型在数字信号处理器系统上的计算时间为，模型预测的力和转矩与测量数据严格一致。

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