This paper describes a method for the active control of the deformations on a magnetically-levitated moving-magnet planar motor. The motor under consideration is comprised of a stator on a double coil array configuration and a mover with permanent magnets, and it is designed to perform positioning tasks with nanometer level of accuracy. Due to the spatially asymmetric, non-uniform force distribution on the magnet plate, mechanical deformations are induced to the mover, which can severely hinder the desired positioning accuracy. The proposed method overcomes this challenge by properly shaping the force distribution on the moving magnet plate, which is enabled by the presence of multiple coils interacting with the mover, corresponding to an ‘`overactuation’' scheme. As a consequence, the independent control of elementary deformation shapes (modes) is achieved. The proposed overactuation scheme is experimentally validated on a planar motor prototype, proving the efficiency of the proposed method during both standstill and motion.

Original languageEnglish
Pages (from-to)242-249
Number of pages8
JournalIEEE Transactions on Industry Applications
Issue number1
Early online date11 Oct 2021
Publication statusPublished - 2022


  • Control engineering
  • motion control
  • permanent magnet motors


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