Real-time optimal commutation for minimizing thermally induced inaccuracy in multi-motor driven stages |
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| Authors: | Shalom D. Ruben Tsu-Chin Tsao |
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| Affiliation: | 1. São Paulo State University – UNESP, 13874-149 São João da Boa Vista, Brazil;2. Department of Engineering Science and Mechanics, MC 0219, Virginia Tech, Blacksburg, VA 24061, USA;1. Université de Lyon, F-42023 Saint Etienne, France;2. Université de Saint Etienne, Jean Monnet, F-42000 Saint-Etienne, France;3. LASPI, F-42334 IUT de Roanne, France;1. Hermes-Microvision, Inc., San Jose, CA, USA;2. Lam Research Corporation, Fremont, CA, USA;3. Western Digital, San Jose, CA, USA;4. School of Engineering, University of California, Merced, CA, USA;1. Department of Sciences, John Jay College and The Graduate Center of The City University of New York, New York, NY 10019, USA;2. Department of Chemistry, Hunter College of The City University of New York, New York, NY 10065, USA;3. Department of Chemistry and Biochemistry, University of California, San Diego, La Jolla, CA 92093, USA |
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| Abstract: | In this paper minimum power commutation laws of permanent-magnet synchronous linear motors are extended to multiple-motor driven systems. A system-wide view of commutation is shown to exploit the redundancy of motor coils and motor force generation that exist in over actuated motion platforms. We propose a novel commutation law, that is only realizable by a multiple-motor system view, which minimizes total power subject to the constraint that the thermal distortion at the motion platform work space, caused by the motor coil heating, is minimized. Due to the added constraint, there is no closed-form solution and the problem is shown to be non-convex. This problem solution is proven to be equally solved by the combination of an algebraic and convex problem. To realize the commutation laws, a custom embedded solver, using an interior-point method, is described to solve the convex problem in real-time and is shown to converge to a solution, in under 35 μs, within the update rate of our system running at over 9 KHz. |
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