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This work deals with the adaptive imbalance force compensation for a three-pole active magnetic bearing (AMB) system. The adaptive compensation scheme utilizes the method of immersion and invariance (I&I) control. In this study, the stabilized three-pole AMB system with known imbalance is considered as the target system. In practical applications, the imbalance force may be unknown and may be...
In this paper, robust control schemes are presented to achieve sampled-data output feedback tracking, for the cases of unknown and known nonlinear minimum phase second order plant (system) models. For known system model case, system output tracks reference trajectory using Extended Kalman Filter (EKF), Unscented Kalman filter (UKF), and Cubature Kalman Filter (CKF). Whereas, for unknown system model...
The article is devoted to theoretical analysis and experimental modeling of permanent magnet movement above the non-ferromagnetic conductive track. Magnet velocity is considered steady. The theoretical analysis is based on the secondary sources method. This approach requires a numeric system for solving the integro-differential equation with respect to the secondary sources density that is induced...
An active magnetic bearing (AMB) is a mechatronical product which suspends a rotating element called rotor in position without any mechanical contact. This characteristic makes AMB attractive in high speed, high precision and high vacuum applications. Estimation of losses and system parameters of AMB using artificial intelligent techniques is rarely attempted in literature. In the present work using...
Magnetic levitation systems are able to provide frictionless, reliable, fast and economical operations in wide-range applications. The effectiveness and applicability of these systems require precise feedback control design. The position control problem of the magnetic levitation can be solved with robust current control approaches. A cascade control approach consisting of PI-velocity plus sliding...
This paper presents the analysis of force harmonics and eddy current damping for 2 DOF moving magnet linear motor (MMLM), which is utilized in magnetically levitated (maglev) positioning systems. A novel current-force model considering higher-order harmonics is proposed for MMLM in this paper, and this model provides an analytical tool to analyze the force ripple effect in MMLM theoretically. A commutation...
In this paper the authors perform a technical-economic comparison of two different Tubular Permanent Magnet Linear Machines for sea waves generation by using finite elements analysis. The first configuration includes ferrite rings while the second configuration includes neodymium-iron-boron rings. In order to compare the two types in economic and technical terms, a detailed analysis of the main figures...
This paper proposes a DHARMB (decoupled hybrid axial and radial magnetic bearing), which consists of a PRMB (passive radial magnetic bearing) and an AAMB (active axial magnetic bearing). The proposed DHARMB can simultaneously produce axial active controllable suspension force, axial passive suspension force and radial passive suspension force. In this paper, the structure and operating principle of...
This paper proposes a DHRMB (decoupled hybrid radial magnetic bearing), which consists of a PRMB (passive radial magnetic bearing) and an ARMB (active radial magnetic bearing). The proposed DHRMB can simultaneously produce radial active controllable suspension force, radial passive suspension force and axial passive suspension force. In this paper, the structure and operating principle of DHRMB are...
Bearingless motors combine the torque generation of electrical motors and the radial suspension force capabilities of traditional magnetic bearings. The magnetomotive force (MMF) distribution in the motor generates radial force interference. The interference force affects the angle between the actual and desired radial force. This angle is called the force error angle. For stable levitation of the...
Magnetic levitation ball system is a highly nonlinear and unstable system. If the system is linearised at the equilibrium point, the achievable balance range of the magnetically levitated ball is very short with one electromagnet. This paper presents an improved magnetic levitation ball system, that contains two electromagnets, where one electromagnet is set above the magnetic ball for pulling, and...
This paper presents a novel stator structure in one degree-of-freedom (1DOF) actively positioned bearingless motor. The advantages of the proposed bearingless motor are a compact axial length and high radial stiffness. Single-drive bearingless motor concept has been adapted. Both torque and active axial force are regulated independently by only one three-phase inverter and one displacement sensor...
In this paper, a novel structured planar direct drive motor for use in industrial equipment is proposed. The characteristics are its flat structure compared to conventional 2 Degrees Of Freedom (DOFs) motors and realization of 2 DOFs motion within one device. The structure of the planar motor consists of two sets of coils placed perpendicularly and a check-patterned planar surface of magnets. Two...
The goal of this work is to study the application of switchable magnets (SM) for climbing robots. A switchable magnet is a device which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. In our work we used Comsol Multiphysics, a physics simulation software in order to simulate the flow of the magnetic flux on switchable magnets on its...
This article presents an inchworm climbing robot that is designed with switchable magnets and a single DOF arm. The InchwormClimber works on ferromagnetic structures and consumes little energy when climbing and can descend safely with almost zero energy consumption. Furthermore, considering the critical role of the adhesion unit in the overall functionality of the robot (weight, climbing speed and...
We present a light, actuated smart staff with 5DOF tip force sensing which can be used by a humanoid robot operating in challenging terrain. The staff has an extension mechanism that employs mechanical multiplexing to achieve a high extension ratio in a stiff and compact package. The tip force sensor uses two metal diaphragms to achieve decoupling of axial and radial forces and the ability to tune...
Magnetic levitation, maglev, or magnetic suspension is a method by which an object is suspended with no support other than magnetic fields. This project describes the design procedure, analysis, and control of a single actuator magnetic levitation system. First the details of the system design and construction are presented, followed by an analysis of the relevant sub-systems and controller theory...
Flywheel energy storage is one of the most suitable solutions for power-intensive applications due to its high reliability, relative immunity to environment aspects and long lifespan. On the other side, power supply of magnetic bearings, required for high-speed systems, may lead to the complete self-discharge at no-load in islanded operation within hours. The paper presents an optimized design of...
Motion energy harvesting is a sought after alternative to battery powering for implanted and body worn devices. However, the lack of electricity generation at rest is a major concern. This paper describes a previously presented piezoelectric rotational motion harvester, and presents a mechanism for wireless and external actuation of the main rotor of the device through a magnetic reluctance coupling...
The paper aims in analysing the performance of a single axis-controlled repulsive type magnetic bearing system. The model of the system is designed using an industry level modelling software Ansys Maxwell. The model designed is a horizontal axis one and the philosophy behind the design principle is that of a passive magnetic bearing system. The model indicates two rotor bodies whose axis of rotation...
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