PARAMETRIC MODELING AND CONTROL OF A LONG-RANGE ACTUATOR USING MAGNETIC SERVO LEVITATION

A mechatronic device based on magnetic servo levitation (MSL) is propo sed for long range and wide bandwidth actuation. The force capability of this type of actuator can be significantly larger than a linear mot or or voice-coil actuator of similar dimensions. A novel parametric mo del of the electromagneto-mechanical coupled system has been developed to describe its behavior over a large range of motion and frequency, as opposed to more conventional attractive force small-perturbation mo dels. It also provides a convenient way of devising a feedback lineari zing control scheme that eliminates the need for high biasing currents present in most magnetic bearing systems. This paper presents a feedb ack-linearized controller coupled with a Kalman filter as a first appr oach to solve the tracking problem for such an actuator. Good tracking performance have been found both in simulation and experiments.