A New Decoupling Control Method for Three-degree-of-freedom Moving-magnetic Planar Motor

Decoupling the coupling between input current and output electromagnetic force and torque is the key to achieving the driving control of three-degree-of-freedom(3-DOF) moving-magnetic planar motor. For most traditional motors, dq0 transformation is usually used to achieve decoupling control, but dq0 decoupling is only force decoupling. The 3-DOF planar motor in this article has both linear and rotational motion, requiring dual decoupling of force and torque, and involves changes in thrust coefficient and coil switching during the motion process. In this paper, a grouping decoupling control algorithm based on generalized inverse matrix is proposed for the moving-magnetic planar motor with 3-DOF (x-axis, y-axis and rz-axis) to improve the quality motion control of the planar motor. Firstly, the working principle of a planar motor and the model of a moving-magnetic planar motor with 3-DOF in this paper are introduced. Secondly, the group decoupling control strategy and the basic principle of the generalized inverse matrix of the planar motor were introduced. Finally, simulation results were provided to verify the effectiveness of the algorithm.