Direct drive tubular linear actuators (TLAs) may be used in various applications that require fast movements and high-precision positioning, e.g., pick-and-place robots. This article presents the analysis, dynamic electromechanical model derivation, controller design, and system operation of a TLA with integrated magnetic bearings (MBs). Furthermore, the actuator operation is verified with extensive measurements on the prototype, which include axial position step response, standard deviation of the steady-state positions and mover tilting control. Compared with any conventional TLA, which may perform only linear motion, the mover tilting control is possible due to integrated MBs. This gives the new actuator a great advantage in high-precision positioning systems, since any thermal expansions of the parallel kinematics may be compensated.

中文翻译：

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一种新型高精度自轴承直线执行器的动态机电模型及位置控制器设计

直接驱动管状线性致动器 (TLA) 可用于需要快速移动和高精度定位的各种应用，例如拾放机器人。本文介绍了带有集成磁轴承 (MB) 的 TLA 的分析、动态机电模型推导、控制器设计和系统操作。此外，通过对原型的广泛测量来验证执行器操作，其中包括轴向位置阶跃响应、稳态位置的标准偏差和动子倾斜控制。与只能执行线性运动的任何传统 TLA 相比，由于集成了 MB，动子倾斜控制成为可能。这使新执行器在高精度定位系统中具有很大优势，因为可以补偿平行运动的任何热膨胀。