Modeling and Control of a High-thrust Direct-drive Spiral Motor

摘要

In this paper, modeling and control of spiral motoris proposed. The voltage equation and motion equation of thespiral motor is proposed. Based on this modeling, control systemfor the spiral motor is proposed. The proposed controller consistsof three parts; the first part is P1 current controller with backEMF compensation specialized for spiral motor, the second partis disturbance observer based PD controller for linear and gapmotion interacting each other, and the third part is zero-powercontroller for equilibrium fluctuation of gap displacement. Itis confirmed that the proposed controller achieves independentlinear position and gap control simultaneously.