Position Control of a Low-Energy C-Core Reluctance Actuator in a Motion System
Mohammad Al Saaideh, Yazan M. Al-Rawashdeh, Natheer Alatawneh, Khaled Aljanaideh, Mohammad Al Janaideh
Abstract
This paper introduces a position control system for a motion stage driven by a low-energy C-core reluctance actuator. The central concept explored here is the utilization of a variable air gap to enable energy-efficient operation of the motion stage. First, we show the design and mathematical model of the reluctance-actuated motion system (RAMS). Then, by analyzing open-loop responses of the RAMS under various conditions including variable air gaps and different excitation voltages, we show that using variable air gap can reduce the required current. Finally, the paper formulates a control approach that combines a feedforward controller to linearize the RAMS’s dynamic behavior and a state feedback controller to achieve tracking performance. Experimental results demonstrate the effectiveness of this control approach in achieving tracking objectives with errors that are less than 2% for constant desired displacement and less than 10% for tracking a sinusoidal reference signal.
BibTeX
@inproceedings{iros2024_positioncontrolo,
title = {Position Control of a Low-Energy C-Core Reluctance Actuator in a Motion System},
author = {Mohammad Al Saaideh and Yazan M. Al-Rawashdeh and Natheer Alatawneh and Khaled Aljanaideh and Mohammad Al Janaideh},
booktitle = {IROS 2024},
year = {2024}
}