An Algorithm for Calculating Static Characteristics of Multi-Coordinate Electromagnetic Mechatronic Module

This paper presents an algorithm for calculating the static characteristics of a multi-coordinate electromagnetic mechatronic module. The proposed module features compact weight and dimensional parameters, enabling both linear and step movements in spatial coordinates with high accuracy and speed. A constructive calculation scheme is developed to investigate factors such as magnetic permeability along the conductivity coordinate under constant voltage supply, its rate of change, and the variation of electromagnetic force depending on the anchor displacement. For the holonomic module, which consists of electric, magnetic, and mechanical parts, the anchor is divided into non-magnetized sections to prevent flux branching in unexcited phases. The method employs a step-by-step approach for an inhomogeneous electromagnetic core, introducing a division of conductivity into central, external, and internal parts, which improves accuracy and efficiency. The developed mathematical models and algorithms allow the determination of boundary conditions, evaluation of elementary flux tubes, and validation through analytical and experimental comparison.