Abstract
A novel type of permanent magnet planar actuator is proposed which consists of a permanent magnet mover that interacts with individually mechanically controllable permanent magnets in the stator. A state of levitation and actuation is obtained by mechanically altering the orientation of the stator magnets to control the forces and torques on the mover. To design and control the actuator, fast and accurate electromagnetic models are required. In this study, the harmonic modeling technique is applied to rotating and translating cuboidal and cylindrical permanent magnets and is compared to the equivalent charge model in terms of accuracy and computational effort. The models are compared for a finite stator topology which demonstrates that the harmonic model has a substantial computational advantage over the equivalent charge method in a non-periodic system while both models are in good agreement in terms of accuracy.
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