Identification and robust tracking control of a single-phase rotary motor with halbach permanent magnet array design

• Published in: 2014 IEEE International Conference on Mechatronics and Automation pp. 497 - 502
• Main Authors: Si-Lu Chen, Tat Joo Teo, Kamaldin, Nazir, Wenyu Liang, Kok Kiong Tan, Guilin Yang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2014
• Subjects: Arrays; Coils; Force; Friction; Permanent magnet motors; Relays; Torque
• ISBN: 1479939781; 9781479939787
• ISSN: 2152-7431; 2152-744X
• DOI: 10.1109/ICMA.2014.6885748

The single-phase electromagnetic motor with the circular permanent magnet Halbach array design, has advantage of large force constant compared with its 3-phase counterpart, if the rotation is within 60 degrees range from its neutral position. However, to authors' best knowledge, no existing literature mentions on tracking control application using such a single phase rotary motor, probably due to its angular dependent force sensitivity. This paper first models a typical two-pole single phase rotary motor with Halbach circular array, with consideration of back-EMF, friction torque and position dependent characteristic. Followed by this, a dual-relay configuration is applied to closed-loop identification of model-parameters by limit cycle experiments. Later, a composite controller, composes of a model-based controller, a time-delay controller and a sliding mode controller, is capable to achieve the high-speed tracking of reference trajectory with presentation of model uncertainty and disturbances. Simulation based on the actual design parameters shows the practical appeal of the proposed approach.