Design of Hybrid Angle/Force Control for Two-Degree-of-Freedom Magnetic Screw Motor Based on Modal Information

Abstract

This paper proposes a hybrid angle/force control method for two-degree-of-freedom (2-DOF) magnetic screw motor. This 2-DOF motor realizes rotational and linear motions by itself. Although the considered plant model of the 2-DOF motor is complex, it can be decomposed into rotational and linear motions based on modal information. The proposed method independently controls the rotational motion angle and linear motion force based on the modal information. Simulations and experiments were conducted in this study, and the results showed the effectiveness of the proposed method.