Torque ripple error compensation of high‐dynamic coil array commutation algorithm for magnetic levitation planar motor

In the magnetic levitation planar motor which can achieve six degrees‐of‐freedom motion, decoupling control is realised by coil array commutation algorithm, due to the limitation of the sampling period of the real‐time system, a high‐dynamic coil array commutation algorithm is needed to achieve higher computational efficiency, but this will lead to the coil array not accurately providing the force/torque required for the trajectory movement, and generate a certain torque ripple error. In this study, the cause of this torque ripple error is analysed, and a feedforward compensation method is proposed. The results of simulation and experiment show that the proposed feedforward compensation method of high‐dynamic coil array commutation algorithm can reduce torque ripple error by 88%, and achieve higher trajectory tracking accuracy while satisfying high computational efficiency.