Development of Magnetically Levitated Rotary Table for Repetitive Trajectory Tracking

Area of Science:

• Control Systems Engineering
• Mechatronics
• Precision Engineering

Background:

• Magnetic levitation systems are promising actuators for micromachining.
• Improving tracking performance and disturbance rejection in magnetically levitated rotary tables is crucial for precision manufacturing.

Purpose of the Study:

• To propose an iterative learning PID control strategy with disturbance compensation for magnetically levitated rotary tables.
• To enhance the active disturbance rejection and trajectory tracking accuracy of these systems.

Main Methods:

• An iterative learning PID control strategy incorporating disturbance compensation was developed.
• The control strategy utilizes estimated disturbance for feed-forward compensation.
• Convergence and stability of the proposed control were analyzed theoretically.

Main Results:

• Experimental results on a custom-made magnetically levitated rotary table demonstrated the strategy's superiority.
• The proposed control achieved good tracking performance even with complex external disturbances.
• The system exhibited enhanced active disturbance rejection capabilities.

Conclusions:

• The iterative learning PID control with disturbance compensation significantly improves the performance of magnetically levitated rotary tables.
• This strategy enhances the applicability of magnetic levitation in mechanism manufacturing.
• The findings support the use of advanced control techniques for precision actuation in micromachining.