Control of reluctance actuators for high-precision positioning

165 Pages·2013·5.56 MB·English

Control 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
Document status and date:
Published: 01/01/2013
Document Version:
Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers)
Please check the document version of this publication:
• A submitted manuscript is the version of the article upon submission and before peer-review. There can be
important differences between the submitted version and the official published version of record. People
interested in the research are advised to contact the author for the final version of the publication, or visit the
DOI to the publisher's website.
• The final author version and the galley proof are versions of the publication after peer review.
• The final published version features the final layout of the paper including the volume, issue and page
numbers.
Link to publication
General rights
Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners
and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.
• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.
• You may not further distribute the material or use it for any profit-making activity or commercial gain
• You may freely distribute the URL identifying the publication in the public portal.
If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, please
follow below link for the End User Agreement:
www.tue.nl/taverne
Take down policy
If you believe that this document breaches copyright please contact us at:
[email protected]
providing details and we will investigate your claim.
Download date: 09. Jan. 2023
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