Modeling ironless permanent-magnet planar actuator structures

This paper describes an analytical model that includes end effects for ironless synchronous permanent-magnet planar actuators. Be-cause of its flexibility, the model can be used to predict the performance of various permanent-magnet array and coil array topologies and commutation schemes. Moreover, since control currents have to be nonsinusoidal, it allows analysis of the motor performance without specifying a commutation scheme by directly dealing with the motor-coupling matrix that links the coil currents to the forces or accel-erations acting on the translator