A computationally efficient commutation algorithm for parasitic forces and Torques compensation in ironless linear motors

Ideally, ironless linear motors can reach very high precision with simple classical commutation using three-phase sinusoidal currents. However, in reality, due to deviations from the design parameters, there are various parasitic forces and torques for which the classical commutation cannot compensate. An alternative solution is to formulate the commutation as an optimization problem and solve it numerically. This paper proposes a new optimization algorithm which is computationally efficient and well-suited to the commutation problem in the sense that it is capable of compensating for parasitic forces and torques while minimizing the dissipated power in the motors. Simulation results with a finite element method model are presented to demonstrate the effectiveness of the proposed commutation algorithm.