GRU-ESO Strategy for a Distributed Coil Magnetically Levitated Planar Micromotor

• Published in: Micromachines (Basel) Vol. 15; no. 6; p. 740
• Main Authors: Du, Chaofan, Ming, Zhengfeng, Ming, Yue, Liu, Ding, Li, Yongzheng, Zhao, Yuhu
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 31-05-2024; MDPI
• Subjects: Accuracy; Coils; Control; Control algorithms; Controllability; Controllers; Design; Design and construction; distributed coils; ESO; Feedback control; Feedforward control; GRU; Interference; Magnetic fields; Magnetic levitation; Magnetic properties; Magnetic suspension; magnetically levitated planar micromotor; Manufacturing; Microelectromechanical systems; Micromotors; Motion control; Motors; Neural networks; Robust control; State observers; Structural design; Systems stability; Tracking control; China; ESO; magnetically levitated planar micromotor; GRU; distributed coils
• ISSN: 2072-666X; 2072-666X
• DOI: 10.3390/mi15060740

Traditional magnetic levitation planar micromotors suffer from poor controllability, short travel range, low interference resistance, and low precision. To address these issues, a distributed coil magnetically levitated planar micromotor with a gated recurrent unit (GRU)-extended state observer (ESO) control strategy is proposed in this paper. First, the structural design of the distributed coil magnetically levitated planar micromotor employs a separation of levitation and displacement, reducing system coupling and increasing controllability and displacement range. Then, theoretical analysis and model establishment of the system are conducted based on the designed distributed coil magnetically levitated planar micromotor and its working principles, followed by simulation verification. Finally, based on the established system model, a GRU-ESO controller is designed. An ESO feedback control term is introduced to enhance the system's anti-interference capability, and the GRU feedforward compensation control term is used to improve the system's tracking control accuracy. The experimental results demonstrate the reliability of the designed distributed coil magnetic levitation planar micromotor and the effectiveness of the controller.