Hall-Sensor-Based Magnetic Force Modeling and Inverse Modeling for Hexapole Electromagnetic Actuation

• Published in: IEEE/ASME transactions on mechatronics Vol. 27; no. 5; pp. 2806 - 2817
• Main Authors: Long, Fei, Meng, Ta-Min, Wang, Jiunn-Jyh, Menq, Chia-Hsiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Actuation; Actuators; Electromagnetic actuation; Force; Hall effect; Hall effect sensor; hysteresis; Inverse problems; Magnetic fields; Magnetic flux; magnetic force modeling; Magnetic forces; Magnetic hysteresis; Magnetic poles; Magnetic resonance imaging; Mathematical analysis; Mathematical models; Model accuracy; Multipoles; Saturation magnetization; Solid modeling
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2021.3113273

This article presents the Hall-sensor-based magnetic force modeling and inverse modeling for the hexapole electromagnetic actuation. Whereas mathematical models are derived for a specific hexapole electromagnetic actuating system, the results can be applied to other multipole electromagnetic actuators. Previously reported current-based force modeling and inverse modeling are subject to the combined hysteresis effect of multiple electromagnetic poles, resulting in significant error when being applied to produce magnetic force. To solve the challenge via direct measurement, Hall effect sensors are integrated into the hexapole system to measure the magnetic flux associated with individual magnetic poles. A Hall-sensor-based magnetic force model is then derived analytically, and the force gain and the associated voltage-flux gain matrix are determined via experimental calibration. The improved accuracy in force modeling is experimentally validated. Inverse modeling is then derived to render force production and to enable active control using the hexapole actuating system.