Integrated Linear Rotary Actuators (LiRAs) offer a compact solution which can achieve high dynamics when coupled linear and rotary motions are required. As a further step, Active Magnetic Bearings can be integrated in the LiRA, which however requires feedback control of the magnetically levitated mover’s position to operate. Therefore, in this paper the dynamic model of a Self-Bearing Double-Stator LiRA is derived, linearized and used to design a 6-DoF position control system. This is then implemented in hardware and comprehensively verified bringing a prototype of the Self-Bearing Double-Stator LiRA into full operation.

Magnetic Levitation， Linear-Rotary Actuators， Feedback Control