Modeling and control of a 2Dof PM synchronous actuator using Hall effect sensors

At the present time, actuators with several degrees of freedom (Dof) are being used more and more frequently. In order to yield viable devices, it is necessary to ensure high performance, as well as keeping the cost low. This paper deals with the modeling and control of a 2Dof permanent magnet planar actuator. A prototype dedicated to theoretical conclusion validations is presented and its operation explained. A model, based on a permeance network, is introduced. The simulation results are compared to measurements obtained using a manufactured prototype. Three Hall effect sensors are then used to obtain the x–y position of the moving part. From these signals, simulations of a scalar control are obtained using Matlab Simulink®.