Abstract
Magnetically levitated microrobotic systems have shown a great deal of promise formicromanipulation and biomedical applications. This paper discusses the identification ofthe vertical and horizontal motion models for a large-gap magnetic suspension systemdeveloped by the authors. The suspension system consists of six electromagnets attached toa soft iron pole piece, which levitate a small microrobot prototype manufactured from a 10 mm × 10 mm cylindrical neodymium magnet. A modified least squares algorithm is used toidentify ARMAX models describing the motion of the system. Due to the unstable natureof open loop vertical position control, the black-box open loop model is extracted from theidentified closed loop model by examining the motion of the closed loop poles on a rootlocus diagram. The identified models are able to reasonably predict the system behaviour.
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