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Theses

COMMANDE ET ASSERVISSEMENT EN LEVITATION
D'UN MICRO-ACTIONNEUR MAGNETIQUE BISTABLE

Abstract : The Ph.D work concerns the study of a family of magnetic micro-actuators in levitation. It deals
with a principle of a mobile magnet with two stable positions and one unstable position. The work
consists principally in the conception, modeling and realization of the device with a mobile magnet
controlled in the unstable position (μ-positioner). The conception of the μ-positioner includes
position sensing and a synthesis of a controller for position control. The modeling presents two
methods of calculus of the magnetostatic force and torque affecting the mobile magnet. Both methods
(equivalent magnetic charge method and the method of the condensed volume integration) are
validated. Then used for trajectory with 6 degrees of freedom estimation of the mobile magnet. A
quaternion approach for modeling is used. The modeling allows the analysis of the behavior of
different magnetic μ-actuators and verification of the position control stability. A cm-scale prototype
realization demonstrates the principle. A capacitance position sensor with measuring electronics is
also presented. The mobile magnet on the prototype is finally successfully controlled in the levitation.
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Submitted on : Friday, July 20, 2007 - 8:33:35 AM
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  • HAL Id : tel-00164302, version 1

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Jiri Stepanek. COMMANDE ET ASSERVISSEMENT EN LEVITATION
D'UN MICRO-ACTIONNEUR MAGNETIQUE BISTABLE. Energie électrique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨tel-00164302⟩

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