Integrator state correction for improved positioning performance of adaptive zero-power MAGLEV systems

This paper presents a position control approach based on an integrator state correction that allows for improving the positioning accuracy during the tuning of an adaptable gravity compensation. It comprises a variable reluctance actuator with a tunable electropermanent magnet (EPM), which provides gravity compensation forces ranging from 0 to 25 N with minimal power consumption. The proposed integrator state correction reduces the positioning error during the EPM force tuning and enables continuous and accurate positioning of the magnetically levitated mover position while maintaining an energy optimal operating point. The positioning accuracy of the zero-power magnetic levitation system is improved up to factor of 10 in comparison to conventional PID control. The proposed MAGLEV system enables highly efficient positioning for high-precision applications.