Feedforward Control of Magnetically Levitated Planar Actuators

TL;DR

This paper develops and reviews feedforward control strategies for a magnetic levitation setup, accounting for its position-dependent behavior, and assesses the stability and potential performance improvements through analysis and simulation.

Contribution

It introduces tailored feedforward control methods for magnetic levitation systems and evaluates their stability and effectiveness.

Findings

Feedforward strategies improve system performance.

Stability of the setup is confirmed under certain assumptions.

Position-dependent behavior is effectively modeled and compensated.

Abstract

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.