Resumen
The traditional model of the electromagnetic force and torque does not take the coil corners into account, which is the major cause for the motor fluctuation. To reduce the fluctuation, a more accurate real-time computation model, which considers the influence of the coil corners, is proposed in this paper. Three coordinate systems respectively for the stator, the mover, and the corner are established. The first harmonic of the magnetic flux density distribution of a Halbach magnet array is taken into account in this model. The coil is divided into the straight coil segment and the corner coil segment based on its structure. For the straight coil segment, the traditional Lorenz force method can be used to compute its electromagnetic force and torque, which is a function of the mover position. For the corner coil segment, however, the numerical calculation method can be used to get its respective electromagnetic force and torque. Based on the above separate analysis, an electromagnetic model can be derived, which is suitable for practical application. Compared with the well-known harmonic model, the proposed real-time computation model is found to have less model inaccuracy. Additionally, the real-time ability of the maglev planar motor model and the decoupling computation is validated by NI PXI platform (Austin, TX, USA).