{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T05:00:05Z","timestamp":1768539605422,"version":"3.49.0"},"reference-count":12,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2012,6,7]],"date-time":"2012-06-07T00:00:00Z","timestamp":1339027200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,8]]},"abstract":"<jats:p> The research in the present paper focuses on decoupling the six-degrees-of-freedom motions of a magnetically levitated stage with moving coils and controlling the levitation motion. The decoupling is based on commutation of coil array, which is obtained reversely from the electromagnetic force\/torque model of the stage. The control of levitation motion is carried out by a phase lead-lag controller designed on the criterion of minimum integral of time-weighted absolute error after gravity compensation modeling of the plant dynamics. Comprehensive simulations of the control system in MATLAB\/Simulink and real levitation experiments on a digital signal processor-centered test platform are made to verify the six-degrees-of-freedom decoupling effect and the closed-loop control performances of the levitation degree of freedom. The results indicate that the six-degrees-of-freedom motions of the stage can be decoupled through coil array commutation and the levitation motion can be controlled by the phase lead-lag controller based on the gravity compensation model and designed on the criterion of minimum integral of time-weighted absolute error. <\/jats:p>","DOI":"10.1177\/0959651812445860","type":"journal-article","created":{"date-parts":[[2012,6,8]],"date-time":"2012-06-08T03:55:32Z","timestamp":1339127732000},"page":"875-886","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":8,"title":["Decoupling and levitation control of a six-degree-of-freedom magnetically levitated stage with moving coils based on commutation of coil array"],"prefix":"10.1177","volume":"226","author":[{"given":"Shengguo","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Precision Instruments and Mechanology, Tsinghua University, People\u2019s Republic of China"}]},{"given":"Yu","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Precision Instruments and Mechanology, Tsinghua University, People\u2019s Republic of China"}]},{"given":"Haihua","family":"Mu","sequence":"additional","affiliation":[{"name":"Department of Precision Instruments and Mechanology, Tsinghua University, People\u2019s Republic of China"}]},{"given":"Kaiming","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Precision Instruments and Mechanology, Tsinghua University, People\u2019s Republic of China"}]},{"given":"Wensheng","family":"Yin","sequence":"additional","affiliation":[{"name":"Department of Precision Instruments and Mechanology, Tsinghua University, People\u2019s Republic of China"}]}],"member":"179","published-online":{"date-parts":[[2012,6,7]]},"reference":[{"key":"bibr1-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1109\/28.738999"},{"issue":"1","key":"bibr2-0959651812445860","first-page":"1","volume":"1","author":"Kim WJ","year":"2003","journal-title":"Int J Contr Autom Syst"},{"key":"bibr3-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE564"},{"key":"bibr4-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2003.08.002"},{"key":"bibr5-0959651812445860","first-page":"2516","volume-title":"2006 IEEE international conference on control applications (CCA 2006)","author":"Van Lierop CMM"},{"key":"bibr6-0959651812445860","first-page":"393","volume-title":"Conference record of the IEEE industry applications conference 41st annual meeting","author":"Van Lierop CMM"},{"key":"bibr7-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2006.877712"},{"key":"bibr8-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2010.2040922"},{"key":"bibr9-0959651812445860","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2006.886051"},{"key":"bibr10-0959651812445860","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2011.06.180"},{"key":"bibr11-0959651812445860","volume-title":"Simulation and computer aided design of control system","author":"Xue D","year":"2009","edition":"2"},{"key":"bibr12-0959651812445860","volume-title":"Automatic control principle","author":"Hu S","year":"2007","edition":"5"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651812445860","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651812445860","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651812445860","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T08:27:05Z","timestamp":1741076825000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651812445860"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,6,7]]},"references-count":12,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2012,8]]}},"alternative-id":["10.1177\/0959651812445860"],"URL":"https:\/\/doi.org\/10.1177\/0959651812445860","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,6,7]]}}}