中文摘要：

Halbach型平面电动机的电磁执行器由四组直线电动机构成。文章首先介绍了平面电动机和直线电动机执行器样机的结构,提出了执行器的电磁设计方案。然后引入了执行器的解耦电磁力模型,并提出了电磁力的电流控制策略,最后进行了执行器的电流控制和开环定位实验,实验结果表明执行器电磁力的电流控制策略可行,电磁力模型较准确。

英文摘要：

The electromagnetic actuators of the Halbach planar motor are composed of four linear motors. Firstly this paper presented the structure of the planar motor and the linear motor actuator prototype and proposed the design scheme of the actuator. Then the decoupled electromagnetic force model of the actuator and the corresponding current-controlled strat- egy were proposed. Finally the experiments of current control and open loop positioning were conducted. Experimental re- sults shows that the current-controlled strategy is feasible and the electromagnetic model is comparatively accurate.