02-09-2017, 12:15 PM
The controller is applicable to arbitrary fully driven electromechanical systems with linear magnetic materials consisting of inductances, permanent magnets and a mechanical coordinate. We assume fully activated magnetic linear and dynamical materials; however, no restrictions are placed on the particular shape of the parameters that define the dynamics of the system, ie the inductance matrix, magnetic coupling or potential energy function. This allows us to treat, in a unified framework and without any additional simplifying assumption, very diverse applications, including magnetic suspensions and synchronous permanent magnet and pitch motors. Instrumental for our developments is the inclusion of "virtual" couplings between the electrical and mechanical subsystem, which is naturally suggested in this control methodology.