Surface (planar) motors are capable of fast and accurate two translation axes motions and they are required in several industrial and laboratory applications. They offer certain advantages over rotational motor driven XY stages due to the lack of rotary-to-linear conversion mechanisms. One of the best choices is the use of the novel, high force, modular surface motors. In this paper a high performance simulation program is presented for the transient analysis of this modular surface motor. It is based on the circuit-field mathematical model of the motor using predefined static characteristics computed via numerical field computation performed using the finite element method. The simulation results obtained for a simple positioning task of the motor emphasis the usefulness of the presented program.

Attribution Non-Commercial (BY-NC)

17 tayangan

Surface (planar) motors are capable of fast and accurate two translation axes motions and they are required in several industrial and laboratory applications. They offer certain advantages over rotational motor driven XY stages due to the lack of rotary-to-linear conversion mechanisms. One of the best choices is the use of the novel, high force, modular surface motors. In this paper a high performance simulation program is presented for the transient analysis of this modular surface motor. It is based on the circuit-field mathematical model of the motor using predefined static characteristics computed via numerical field computation performed using the finite element method. The simulation results obtained for a simple positioning task of the motor emphasis the usefulness of the presented program.

Attribution Non-Commercial (BY-NC)

- Local Adaptive Meshing
- python physics
- Ansys Basic Training Course Curriculum
- FemHub -- Free Distribution of Open Source FEM Codes With Python Interface [Solin; U.nevada, org 2010]
- Finite Element Analysis
- 2004AFEM
- FEM Slides
- ICME 11-TH-032.pdf
- Finite Element Method [CG NOTE 2]
- IJISA
- Modeling and Simulation of an Austenitizing Furnace Using FEA
- 23456789 Rosenthal Moving_Heat_Source_2013 Ya - Copia
- 7FLWZD0P1299029431900
- Analysis of Fly Wheel
- 24[1]
- U 1 L 1.pdf
- A COMPARISON OF A 3 DIMENSIONAL PROBABILISTIC METHOD OF BERTHING STRUCTURE DESIGN AND THE TRADITIONAL METHOD OF A BERTHING STRUCTURE DESIGN
- a219303.pdf
- Hybrid Simulation
- ijmerr_v1n2_272-276.pdf

Anda di halaman 1dari 6

May 23 – 25, 2002, Cluj-Napoca, Romania

OF A MODULAR SURFACE MOTOR

3400 CLUJ, P.O. Box 358, Romania

E-mail: Lorand.Szabo@mae.utcluj.ro

Abstract: Surface (planar) motors are capable of fast and accurate two translation axes motions

and they are required in several industrial and laboratory applications. They offer certain

advantages over rotational motor driven XY stages due to the lack of rotary-to-linear

conversion mechanisms . One of the best choices is the use of the novel, high force, modular

surface motors. In this paper a high performance simulation program is presented for the

transient analysis of this modular surface motor. It is based on the circuit-field mathematical

model of the motor using predefined static characteristics computed via numerical field

computation performed using the finite element method. The simulation results obtained for a

simple positioning task of the motor emphasis the usefulness of the presented program.

Key words: surface motor, mathematical model, dynamic simulation, finite element method,

SIMULINK.

1. INTRODUCTION

Surface motors provide simultaneous orthogonal XY movement in the plane.

There are direct driven motors, the load can be put or fixed directly on the mover.

Hence they have a lot of benefits, as simplicity, efficiency and positioning accuracy, due

to the lack of rotary-to-linear conversion mechanisms, mechanically complex

assemblies that require regular maintenance and develop inaccuracies over time [1].

One of the first planar motors the so-called Sawyer motor has typically two

linear stepping motors combined into a single housing [2]. The forcer of such a planar

motor can move anywhere on the stationary platen surface. It is capable of high position

resolution, rapid acceleration and high-speed moves with low mass payloads.

In this paper a new surface motor having high force mover modules is presented.

Its advantages are highlighted by means of dynamic simulation. The transient behaviour

of the motor is performed by o model set up in the MATLAB/SIMULINK environment.

In the applied mathematical model of the motor the field and force computations are

substituted with information extracted from a three-dimensional look-up table. It

contains information on the correlation between the tangential force developed

respectively the command current and relative displacement of a mover, obtained from

the FEM based numerical field analysis of the modular surface motor.

All the results obtained prove the ability of the simulated high-efficiency three-

phase modular surface motor and the usefulness of the proposed simulation program.

1 of 6

A&QT-R 2002 (THETA 13)

2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics

May 23 – 25, 2002, Cluj-Napoca, Romania

The modular surface

motor in study (shown in

Figure 1) is relatively

simple. It consists of two

main parts: the platen and

the mover (forcer).

The passive platen of

steel has a two-dimensional

array of square teeth

obtained by precise

chemical machining. Its

surface is planarized using

epoxy. It can have any sizes

in order to ensure great

travel area. The forcer

(mover), the active part of

the motor, is built up of high

efficiency modules (see Figure 1. The modular surface motor

Figure 2), just like the

double salient permanent

magnet linear motors, presented in detail in [3, 4].

Each module has a rare earth permanent

magnet, two salient teethed poles (having teeth of

width and pitch just like those on the platen) and a

command coil. The magnetic flux generated by

the permanent magnet can be directed by the

command coil to pass through the air-gap and to

produce significant forces. Otherwise, when the

command coil is not energised, the permanent

magnet's flux pass through the core branch in

parallel with the permanent magnet, due to its less

magnetic resistance than that of the air-gap. In this Figure 2. The mover module

case there is no significant

force produced.

Basically the

mover is composed of two

double salient permanent

magnet linear motors,

each ensuring the

movement in one of the

XY directions. For easy

control purposes a three-

phase motor type was

selected. This requires

minimally 6 modules, 3

for each direction (see Figure 3. The arrangement of the modules in a three phase

Figure 3). Three of the surface motor

2 of 6

A&QT-R 2002 (THETA 13)

2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics

May 23 – 25, 2002, Cluj-Napoca, Romania

modules are mounted at 90° to the others in a common housing. One set of coils drives

the forcer in the x direction and the other in the y direction.

In order to reduce the

skew of the mover due to

undesired rotational moments a

symmetrical structure must be

chosen. The simulated motor

has totally 36 modules arranged

perfectly symmetrical in the

mover unit (see Figure 4.).

Every phase of the two motor

parts (x 1 , x2 and x 3 , respectively

y1 , y2 and y3 ) is compound of

six modules coupled in parallel

to the power supply. The mover

unit built up in this manner can

develop high (several hundreds

of N) force on both directions.

Compressed air flows

through the mover, creating a Figure 4. The 36 modules in the mover of the motor

high stiffness air bearing. Thus

a uniform, narrow air-gap can be maintained between the platen and the mover in the

presence of great attraction forces. Due to the air bearing there are no moving parts and

no wear, resulting in greater long-term system accuracy and minimal maintenance.

The presented modular surface motor, in a same manner as the other planar

motors can be used in numerous industrial and laboratory applications (for example in

electronic or pharmaceutical industry).

For the numerical field analysis of the modular surface motor in study the two-

dimensional finite element method (FEM) was applied. For all the computations the

MagNet 6.10 program package of Infolytica Corporation was used [5].

3 of 6

A&QT-R 2002 (THETA 13)

2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics

May 23 – 25, 2002, Cluj-Napoca, Romania

module and the platen part above are shown. It is easy to observe the manner, as the

magnetic flux generated by the permanent magnet is directed through the air-gap in the

first case and concentrated in the core branch under the magnet in the second case.

The tangential force was computed for several different relative positions of the

module and for numerous control current values. Using these computations the static

force-displacement characteristics of the motor could be plotted [6]. The results were

also included in tables to be used in the SIMULINK model of the surface motor.

The simplest and the fastest way to simulate the transient behaviour of the above

presented surface motor is by substituting the field and force computations of the

coupled circuit-field model of the motor [7, 8] with information extracted from a 3D

look-up table. This table must contain information on the correlation between the

tangential force developed, respectively the control current and relative displacement of

a mover.

The simulation program was elaborated in MATLAB/SIMULINK environment

[9]. The program is modular, it has several sub-system type blocks. This way its high

transparency was assured for the all the users. Hence any changes in the program can be

made quickly and easily. The main window of the program is shown in Figure 6.

4 of 6

A&QT-R 2002 (THETA 13)

2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics

May 23 – 25, 2002, Cluj-Napoca, Romania

The simulated task was a typical pick and place type application. Such

utilisation of the surface motors can be frequently seen in flexible manufacturing

systems. The surface motors carry the product subassemblies from one overhead

manufacturing device to another and precisely position the subassembly so that the

overhead devices can perform their required actions.

During the simulated task the mover

starts without load from its initial position,

A, and moves into position B. Here the load

is put on the mover and it is displaced in C,

where the load is taken down and the motor

returns to its initial position (see figure 7).

Three trapezoidal speed profiles must be

generated for all the sequences of the task for

each direction of movement.

The main results of the simulation for Figure 7. The simulated motion task

the part of the motor that ensures the

displacement in x direction is shown in figure 8. The command currents, the total

tangential and normal forces, the speed and the displacement are plotted versus time.

As it can be clearly seen in the figure, all the three imposed speed profiles were

closely followed up. High tangential forces were needed for accelerating the mover.

Due to the high force required the command currents for this stage have also significant

values. After the mover was accelerated its imposed constant speed may be maintained

by low tangential force.

5 of 6

A&QT-R 2002 (THETA 13)

2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics

May 23 – 25, 2002, Cluj-Napoca, Romania

5. CONCLUSIONS

The modular surface motor presented in this paper can be very useful in several

industrial and laboratory applications where precise, high speed and force planar

movements are requested. It can be assembled for different peak forces and positioning

accuracy in accordance with the user's needs.

The simplest and the fastest way to simulate the transient behaviour of this

surface motor is by using the MATLAB/SIMULINK environment, one of the best

choices for dynamic simulation of complex systems. In the applied mathematical model

of the motor the field and force computations are substituted with information extracted

from a 3D look-up table, containing information on the correlation between the

tangential force developed respectively the control current and relative displacement of

a mover. This information was obtained from the numerical field analysis of the

modular surface motor performed using MagNet 6.10 package.

The fast simulation times confirm the usefulness of the precomputed 3D look-up

table instead of the time consuming equivalent magnetic circuit or FEM based field

computations that must be performed at each time step of the simulation.

Finally it can be concluded that all the simulation results obtained prove the

ability of the proposed high-efficiency three-phase modular surface motor.

6. ACKNOWLEDGEMENTS

This research partly was made possible by funding of the Institute of Research

Programs of the Sapientia Foundation Cluj (Romania).

The authors would like to thank to professor Ioan-Adrian VIOREL for his useful

helps and advises regarding the modular double salient permanent magnet linear motor.

7. REFERENCES

1. Bartos F. (1997): Linear Motors and Controls Take a 'Direct' Route to Top

Performance, Control Engineering, March, pp. 32-37.

2. Sawyer B.A. (1968): US Patent nr. 3 376 578.

3. Szabó L. et al. (1999): A Novel Double Salient Permanent Magnet Linear Motor,

Proceedings of the International Conference on Power Electronics, Drives and Motion

(PCIM), Nürnberg, 1999, vol. Intelligent Motion, pp. 285-290.

4. Szabó L. – Viorel I.A. (2001): An Integrated CAD Environment for Designing and

Simulating Double Salient Permanent Magnet Linear Motors, Proceedings of the

International Conference on Power Electronics, Drives and Motion (PCIM),

Nürnberg, 2001, vol. Intelligent Motion, pp. 417-422.

5. ***: MagNet Version 6.6.1 Tutorials, Montreal, Infolytica Corporation, 2000.

6. Oh H.-S. et al.: A Study on Thrust Characteristics in Tooth Type of Linear Stepping

Motor, Procedings of the 9th International Conference on Power Electronics and

Motion Control, EPE-PEMC 2000, Košice (Slovakia), vol. 5, pp. 51-54.

7. Viorel I.A. – Kovács Z. – Szabó L.: Sawyer Type Linear Motor Modelling,

Proceedings of the International Conference on Electrical Machines (ICEM),

Manchester, 1992, vol. 2., pp. 697-701.

8. Ong C.M.: Dynamic Simulation of Electric Machinery Using Matlab/Simulink,

Prentice Hall PTR, Upper Saddle, 1998.

9. *** (2000): Using Simulink Version 4, The MathWorks Inc, Natick, 2000.

6 of 6

- Local Adaptive MeshingDiunggah olehDan Wolf
- python physicsDiunggah olehJosué Ely Molina
- Ansys Basic Training Course CurriculumDiunggah olehSagar Balip
- FemHub -- Free Distribution of Open Source FEM Codes With Python Interface [Solin; U.nevada, org 2010]Diunggah olehLarryLevon88
- Finite Element AnalysisDiunggah olehHem Kumar
- 2004AFEMDiunggah olehraddyraj
- FEM SlidesDiunggah olehginno18019048
- ICME 11-TH-032.pdfDiunggah olehJishnu Medhi
- Finite Element Method [CG NOTE 2]Diunggah olehJon Bisu Debnath
- IJISADiunggah olehmaxlenti
- Modeling and Simulation of an Austenitizing Furnace Using FEADiunggah olehajayiorichard
- 23456789 Rosenthal Moving_Heat_Source_2013 Ya - CopiaDiunggah olehguz12perla
- 7FLWZD0P1299029431900Diunggah olehmb
- Analysis of Fly WheelDiunggah olehFidel Silassie
- 24[1]Diunggah olehsagar1503
- U 1 L 1.pdfDiunggah oleharthisiva
- A COMPARISON OF A 3 DIMENSIONAL PROBABILISTIC METHOD OF BERTHING STRUCTURE DESIGN AND THE TRADITIONAL METHOD OF A BERTHING STRUCTURE DESIGNDiunggah olehBolívar Zanella Ribeiro
- a219303.pdfDiunggah olehankush
- Hybrid SimulationDiunggah olehMustesin Alikhan
- ijmerr_v1n2_272-276.pdfDiunggah olehsadsd
- ANSYS Finite Antenna Array Analysis With a Unit Cell Domain Decomposition Method Application BriefDiunggah olehkaviarasu1990
- S4 PPDS Course ContentDiunggah olehSandy
- IJCE v6n3p198 EnDiunggah olehDiego Canales Aguilera
- Clamped Rectangular PlatesDiunggah olehrisiana_limuria
- FEA LAB5Diunggah olehaaqibamin
- DOC_DIMENSIONAMENTO.pdfDiunggah olehPedro Gama Reis
- Fundamentals of FEMDiunggah olehVibhanshu Mishra
- Finite Element Methods_CEDiunggah olehindusekhar
- IRJET-V5I937.pdfDiunggah olehNano Nu
- A genetic algorithm for dynamic facility planning in job shop manufacturingDiunggah olehanon_75571936

- Cannizzaro 2016 JEDiunggah oleharnika33
- Ganesh Bairavan 2017Diunggah oleharnika33
- Using Maximum Correlated Kurtosis Deconvolution Method in the Bearing Fault Detection of Wind Turbine GeneratorsDiunggah oleharnika33
- The History of Using Solar EnergyDiunggah oleharnika33
- 03 Paper 1010 CepoiDiunggah oleharnika33
- Ferkova 2017 EDPEDiunggah oleharnika33
- The Determination of Effects of Primary and Secondary Geometry of Tubular Linear GeneratorDiunggah oleharnika33
- COMPUTER AIDED MODELING AND SIMULATION OF BIO-INSPIRED HARDWARE SYSTEMSDiunggah oleharnika33
- Developing Control Techniques for Two-Coordinate Planar Positioning Systems by Means of Coupled Advanced Simulation ToolsDiunggah oleharnika33
- Direct Drive System with Two Phase Transverse Flux Disc-Type MotorDiunggah oleharnika33
- Transverse flux motor drive dynamicsDiunggah oleharnika33
- Wavelet Transform Approach to Rotor Faults Detection in Induction MotorsDiunggah oleharnika33
- The Evolution of CapacitorsDiunggah oleharnika33
- Software Environment for Online Simulation of Switched Reluctance MachinesDiunggah oleharnika33
- Theoretical and Experimental Study of a Modular Tubular Transverse Flux Reluctance MachineDiunggah oleharnika33
- Modular stator switched reluctance motor for fault tolerant drive systemsDiunggah oleharnika33
- Comparative study of switched and synchronous reluctance machines for electric propulsionDiunggah oleharnika33
- Torque smoothing of a fault tolerant segmental stator switched reluctance motorDiunggah oleharnika33
- Optimized Design of a Novel Modular Tubular Transverse Flux Reluctance MachineDiunggah oleharnika33
- Survey of Wavelet Fault Diagnosis and Tolerant of Induction Machines with Case StudyDiunggah oleharnika33
- Finite element analysis of a synchronous permanent magnet micromotor through axisymmetric and transverse planar simulationsDiunggah oleharnika33
- Studies on the Possibility of Using Linear Motors in Drive of the Machine Tools (Velicu 2011)Diunggah oleharnika33
- Development of a battery step voltage to determine parameters of large PMG (Kuchenbecker 2012)Diunggah oleharnika33
- Disturbances Applied to Axis of Telescope Installed on the Deck of a ShipDiunggah oleharnika33
- Development of analytical approach for linear switched reluctance motor and its validation by two dimensional FEA (Mahmoud 2014)Diunggah oleharnika33
- Modeling and Analysis of Halbach Magnetized Permanent-Magnets Machine by Using Lumped Parameter Magnetic Circuit Method (Liu 2015)Diunggah oleharnika33
- Electric Propulsion Unit Powered by Switch Reluctance Machine SRM (Abbas 2015)Diunggah oleharnika33
- Digital Control System of Precision Electromechanical Scanner with Elasticity (Drozdov 2014)Diunggah oleharnika33

- Five Forces Industry AnalysisDiunggah olehJohn Aldridge Chew
- Red meat consumption An overview of the risks and benefits.pdfDiunggah olehnouval_iqbal
- Dental Arch Morphology in Normal OcclusionsDiunggah olehdianpn27
- Research Paper (Importance of DA in a Competitive Market) ScribDiunggah olehPradeep Jose
- Catalytic ConverterDiunggah olehParth Batra
- Nt Biology Answers Chapter 15Diunggah olehASAD
- Intermodal Freight TerminalsDiunggah olehAndrei Burca
- Alcohol in Coke and PepsiDiunggah olehAziz ul Hakeem
- Welding Tig & arc PPTDiunggah olehJegan Thiyagarajan
- Paint Application Specifications and Guides - Commentary on Paint Application.pdfDiunggah olehMarcos Leite
- Yamaha SR400 SR500 Ignition TestingDiunggah olehmarcusrex
- O2 CombustionDiunggah olehFerdiansyah Iqbal Rafandi
- NCM 102 lec respiDiunggah olehLindsay Nate
- Mathmatical ModellingDiunggah olehKevinXavier
- A Methodology for Rock Mass Characterisation to Control Blast-Induced VibrationsDiunggah olehalvaroaac4
- What is Community Gardening ~ Russ Grayson, Fiona CampbellDiunggah olehJohnz2
- Nabard-PptDiunggah olehAmit Yadav
- INM 7.0 Technical ManualDiunggah olehemirganic
- 4 CashewDiunggah olehShakti Mishra
- 137133294-HM4.pdfDiunggah olehYirga Bezabeh
- 347943864-D5162-Standard-Practice-for-Discontinuity-Holiday-Testing-of-Nonconductive-Protective-Coating-on-Metallic-Substrates-pdf.pdfDiunggah olehYosia Ginting
- Spine Beam - SCHEME 4.xlsDiunggah olehEdi Obrayan
- short form algebraDiunggah olehapi-202460348
- The Heisenberg Uncertainty Principle Final 2014Diunggah olehAsad Choudary
- Spiritless Humans by MontalkDiunggah olehAquamania
- Guide to Passing Primary FRCA 2014 update1.pdfDiunggah olehSuhas Kapse
- UttarPradesh.pdfDiunggah olehabhiroopbose
- Anesthesia GuidelinesDiunggah olehTribowo Wicaksono
- Crank AngleDiunggah olehGaby Cris
- Contronics LimitedDiunggah olehContronics Limited

## Lebih dari sekadar dokumen.

Temukan segala yang ditawarkan Scribd, termasuk buku dan buku audio dari penerbit-penerbit terkemuka.

Batalkan kapan saja.