This paper presents the mechanical design and control system design of an electromagnetic actuator-based microdisplacement module. The microdisplacement module composed of a symmetrical leaf-spring parallelogram mechanism and an electromagnetic actuator. The characteristics of the mechanism in terms of stiffness and natural frequencies are derived and verified. Both leakage flux and core inductance are taken into consideration during modeling the mathematic model of the electromagnetic actuator, and based on which, the system dynamic model is established. Due to the nonlinearity characteristics of the system, a dynamic sliding-mode controller is designed without linearizing the system dynamics. A prototype of the microdisplacement module is fabricated, and the parameters of the system are identified and calibrated. Finally, the designed dynamic sliding-mode controller is applied; step response and tracking performance are studied. Experimental results demonstrate that a submicrometer accuracy can be achieved by the module, which validate the effectiveness of the proposed mechanism and controller design as well. The research results show that the electromagnetic actuator-based module can be extended to wide applications in the field of micro/nanopositioning and manipulation.
- electromagnetic actuator
- Micro/nano positioning
- sliding mode control
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering