Optimized Real-Time Current Commutation Method for Concentric Winding Moving-Coil Maglev Planar Motor Based on Improved Active Set Algorithm

This article proposes an optimized real-time commutation algorithm aiming to achieve high-precision force/torque decoupling as much as possible while preventing the coil current amplitude and its slew rate from exceeding predefined limits. First, an electromagnetic force/torque and coil array current commutation model is established for the studied concentric winding moving-coil Maglev planar motor (CWMPM), along with a complete decoupling control method. Next, an improved commutation algorithm based on active set algorithm (ASA) was proposed, and its performance differences with traditional pseudoinverse (PI), fast iterative peak shrinkage algorithm (FIPSA), and redistributed pseudoinverse (RPI) were analyzed through simulation in terms of electromagnetic force/torque decoupling error, current amplitude and its slew rate, iteration computation, and power loss and its uniformity. Finally, real-time closed-loop servo control is implemented on the constructed CWMPM prototype platform using all of the aforementioned current commutation methods. Experimental results demonstrate that the proposed algorithm achieves precise electromagnetic force/torque decoupling while effectively limiting current amplitude and its slew rate, and avoids excessive computational resource consumption, which has significant practical engineering value.