Magnetic levitation planar motor and its adaptive contraction backstepping control for logistics system

Magnetic levitation planar motor has the characteristics of no friction loss, fast dynamic response, and real-time change of transportation track according to the demand. Therefore, a kind of magnetic levitation planar motor based on logistics transportation system is designed, which can meet the transportation needs of the logistics system through any combination of unit modules. Firstly, based on the mechanical model of magnetic levitation float in Halbach permanent magnet array magnetic field, establishing the thrust and torque model of maglev float. Secondly, according to the force/current relationship, considering the influence of uncertain parameters and load disturbance on the system, the decoupling control model of six degree of freedom motion system of magnetic levitation planar motor is established. Thirdly the adaptive contraction backstepping (ACB) controller is derived that can eliminate the uncertain disturbance of the nonlinear model and realize the real-time control of the system. The simulation and experimental results demonstrate that the method has expected response speed, strong robustness, and good dynamic tracking performance. Applying it to the logistics transportation system described in this article and has a good control effect.