Position Control of a Levitating Magnetic Actuator- Applications to Microsystems
| Authors: | Stepanek Jiri, LEG/ENSIEG, France
Rostaing Herve, LEG/ENSIEG, France
Lesecq Suzanne, LAG/ENSIEG, France
Delamare Jerome, LEG/ENSIEG, France
Cugat Orphee, LEG/ENSIEG, France |
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| Topic: | 4.2 Mechatronic Systems |
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| Session: | Data Storage Devices and Micro-Actuation |
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| Keywords: | Actuators, Electromagnetic device, Mechanical manipulator, Microsystem, Multi-degree-of-freedom system, Moment of inertia, PD Controller, Position control, Positioning system, Quaternion |
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Abstract
This paper deals with a novel magnetic microactuator. Its moving part is a permanent magnet in unstable levitation between two stable positions, and thus its central position must be precisely controlled. A cm-scale prototype was built to test the dynamic behaviour of the device. The quaternion algebra is used to describe the 3D movement of the moving magnet. A PD controller for position control is determined by a pole placement; it is then tested on the complex model and the theoretical results are satisfactory.
