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In the magnetic levitation planar motor which can achieve six degrees‐of‐freedom motion, decoupling control is realised by coil array commutation algorithm, due to the limitation of the sampling period of the real‐time system, a high‐dynamic coil array commutation algorithm is needed to achieve higher computational efficiency, but this will lead to the coil array not accurately providing the force/torque required for the trajectory movement, and generate a certain torque ripple error. In this study, the cause of this torque ripple error is analysed, and a feedforward compensation method is proposed. The results of simulation and experiment show that the proposed feedforward compensation method of high‐dynamic coil array commutation algorithm can reduce torque ripple error by 88%, and achieve higher trajectory tracking accuracy while satisfying high computational efficiency. [ABSTRACT FROM AUTHOR]

This study presents a force and torque model utilising transfer‐matrix theory for a novel electrodynamic suspension reaction sphere (EDSRS), which features a compact structure and low cost. A motor in the EDSRS is unfolded along the directions of the circumference and the arc of the stator iron core, then it can be regarded as a non‐back‐iron linear induction motor (NBILIM) with infinite length in the longitudinal direction. The NBILIM is simplified and extended by arranging infinite duplicates side by side along the transverse direction, constructing an extended simplified linear induction motor (ESLIM). Applying the transfer‐matrix theory to each layer of the ESLIM, the relationship between the magnetic fields at two boundaries is obtained, and corresponding boundary conditions are presented. An analytical model is derived based on the magnetic field. Furthermore, the errors of this analytical model are analysed and modified coefficients are obtained from finite element method (FEM) simulation. A modified model of the EDSRS is developed according to the analytical model. Finally, the proposed model is verified by FEM simulations and experiments on a prototype, and a suspension and rotation experiment is conducted. [ABSTRACT FROM AUTHOR]