Precision control of mechatronic systems with electromagnetically-steered moving masses

Abstract

We perform fundamental and applied research in design of electromagnetic mechatronic systems to reposition an electromagnetically-suspended moving mass in three dimensions. Analysis, dynamic optimisation, hardware designs and other tasks are accomplished. Optimal minimal-complexity performance-seeking control laws are synthesised and experimentally verified using a proof-of-concept system. Accurate, fast and frictionless electromagnetically-steered repositioning of the suspended mass is achieved. This paper further enables a concept of path control of flight and underwater vehicles by changing the centre of gravity or centre of mass by varying the position of the moving mass. The proposed minimal-complexity performance-seeking control guarantees significant advantages in the design of closed-loop multi-input/multi-output electromechanical and mechatronic systems. The concept enables engineering solutions, provides new inroads in design of practical control schemes, advances technologies, fosters modular hardware organisations, relaxes algorithmic drawbacks, and results in high technology readiness levels. Our findings are applicable in various aerospace, automotive, naval and robotic applications.