A 6-DOF Extended Unified Wrench Model for Maglev Planar Motor

Magnetic levitation (maglev) planar motor has broad application prospect because of its excellent performance in many aspects. In this article, a 6-DOF extended unified wrench model (6-DOF EUWM) is proposed to describe the wrench of maglev planar motor more accurately with low computational consumption for real-time calculations. The proposed 6-DOF EUWM can express the wrench on the coil in arbitrary coil–magnet configuration analytically as a function of 6-DOF displacement, and does not require simplified coil modeling. Specifically, the rotational magnetic flux is linearly expressed by Taylor series, and the wrench is then calculated based on Lorentz's law. After that, the 6-DOF displacement parameters are decoupled from the coil-shaped integral parameters by triangular equation transformation to realize the 6-DOF analytical expression. Numerical validation experiments show that the proposed 6-DOF EUWM is accurate, can describe the end effect well, and has low computational consumption. Motion control experiments on maglev planar motor show that the proposed 6-DOF EUWM can improve the motion performance of each axis of the planar motor due to accurate modeling. The proposed 6-DOF EUWM is suitable for planar motor design as well as real-time motion control, and will facilitate the maglev planar motor for industrial applications.