This paper describes a novel commutation strategy for planar actuators with moving magnets and integrated magnetic bearing. The algorithm decouples the force and torque components directly and determines the current set-points of the coils by minimizing the ohmic losses. The algorithm can switch actively between different sets of coils and, consequently, the stroke of the actuator in the xy-plane is infinitely large. Furthermore, the technique is linked to the well known DQ0-transformation. The algorithm has been successfully tested on a magnetically levitated 6-DOF planar actuator with moving magnets.
Lierop, van, C. M. M., Jansen, J. W., Lomonova, E. A., Damen, A. A. H., Bosch, van den, P. P. J., & Vandenput, A. J. A. (2008). Commutation of a magnetically levitated planar actuator with moving-magnets. IEEJ Transactions on Industry Applications, 128(12), 1333-1338. https://doi.org/10.1541/ieejias.128.1333