Feedforward Control of Magnetically Levitated Planar Actuators
Incremental improvement in control of magnetic levitation systems for planar actuators.
The internship developed feedforward control strategies for a magnetically levitated planar actuator, accounting for position-dependent behavior and assessing closed-loop stability. Simulations showed potential performance improvements, though no concrete numbers were provided.
The present report summarizes the work conducted during the internship on Feedforward Control of the Magnetic Levitation Setup. Different feedforward strategies, specifically tailored for this setup, are developed and reviewed. These feedforward methods explicitly take the intrinsic position-dependent behavior of the magnetic levitation setup into account. Additionally, closed-loop stability of the given setup is assessed. All investigations are carried out under the rigid-body assumption of the structure. Analysis and simulation show the potential performance improvement obtained with such feedforward strategies.