Electropermanent magnet-based motors
An electropermanent linear actuator has a stator, forcer, drive circuitry, and feedback control mechanism. The stator includes at least one electropermanent magnet with a coil that passes current pulses that change the magnetization of the magnet, which change persists after current is removed. The forcer moves with respect to the stator in response to the persistent changes in magnetization. Drive circuitry controls the position or speed of the actuator by controlling the timing, magnitude, and/or shape of the current pulses. The voltage and duration of pulses are of sufficient magnitude to cause the magnetization change to persist after cessation of current, with voltage and current returning substantially to zero between pulses. The feedback control mechanism determines, based on actuator velocity or position, when the next current pulse should be issued, pulse issuance being timed so that the actuator will continue to move throughout the absence of applied current between pulses.
1. An electropermanent linear actuator, comprising:
a stator section, the stator section comprising:
at least one electropermanent magnet; and
at least one coil located around the electropermanent magnet, the coil being configured to pass sequential current pulses that change the magnetization of the electropermanent magnet, the change in magnetization persisting after current is removed from the coil;
a forcer section, the forcer section being constrained to have substantial movement in only one linear direction, the forcer section being connected to and movable with respect to the stator section in response to the persistent changes in the magnetization of the at least one electropermanent magnet;
actuator drive circuitry configured to control at least one of the timing, magnitude, and shape of the sequential current pulses for precise control of at least one of the position or speed of the actuator, the voltage and duration of the pulses being of sufficient magnitude to change the magnetization of the at least one electropermanent magnet such that the change in magnetization will persist after cessation of the current, the voltage and current returning substantially to zero between pulses; and
a feedback control mechanism configured to determine, based on actuator velocity or position, when a next one of the sequential current pulses should be issued, the issuance of the pulses being timed such that the actuator will continue to move throughout the duration of the period of absence of applied current that occurs between the sequential pulses.
2. The electropermanent linear actuator of claim 1 , wherein the forcer section is connected to the stator section by a spring or flexure.
3. The electropermanent linear actuator of claim 1 , wherein the stator section and forcer section are a single mechanical part having a low stiffness in one direction so that the stator section and forcer section are moveable relative to each other.
4. The electropermanent linear actuator of claim 1 , wherein at least one of the at least one electropermanent magnet comprises two independently-controllable magnets made of materials having different coercivities.
5. The electropermanent linear actuator of claim 4 , wherein one of the two independently-controllable magnets is an Alnico alloy magnet and the other is a neodymium alloy magnet.
6. The electropermanent linear actuator of claim 1 , wherein there are a plurality of electropermanent magnets, and the electropermanent magnets are independently controllable to move the forcer section to different positions.
7. The electropermanent linear actuator of claim 1 , wherein the at least one electropermanent magnet is activated with a controllable force level.
8. An electropermanent linear actuator, comprising:
a stator section, the stator section comprising:
a plurality of electropermanent magnets; and
at least one coil located around each electropermanent magnet, the coil being configured to pass sequential current pulses that change the magnetization of the electropermanent magnet, the change in magnetization persisting after current is removed from the coil;
a forcer section, the forcer section, the forcer section having more than one degree of freedom so as to be moveable in more than one direction, the forcer section being connected to and movable with respect to the stator section in response to the persistent changes in the magnetization of the plurality of electropermanent magnets;
actuator drive circuitry configured to control at least one of the timing, magnitude, and shape of the sequential current pulses for precise control of at least one of the position or speed of the actuator, the voltage and duration of the pulses being of sufficient magnitude to change the magnetization of the plurality of electropermanent magnets such that the change in magnetization will persist after cessation of the current, the voltage and current returning substantially to zero between pulses; and
a feedback control mechanism configured to determine, based on actuator velocity or position, when a next one of the sequential current pulses should be issued, the issuance of the pulses being timed such that the actuator will continue to move throughout the duration of the period of absence of applied current that occurs between the sequential pulses.
9. The electropermanent linear actuator of claim 8 , wherein the number of electropermanent magnets is the same as the number of degrees of freedom of the forcer section and each electropermanent magnet controls the movement of the forcer section for one of the degrees of freedom.
10. The electropermanent linear actuator of claim 8 , wherein at least one of the at least one electropermanent magnet comprises two independently-controllable magnets made of materials having different coercivities.
11. The electropermanent linear actuator of claim 9 , wherein one of the two independently-controllable magnets is an Alnico alloy magnet and the other is a neodymium alloy magnet.
12. An electropermanent inchworm motor, comprising:
an electropermanent linear actuator, comprising:
a stator section, the stator section comprising:
at least one electropermanent magnet; and
at least one coil located around the electropermanent magnet, the coil being configured to pass sequential current pulses that change the magnetization of the electropermanent magnet, the change in magnetization persisting after current is removed from the coil;
a forcer section, the forcer section being constrained to have substantial movement in only one linear direction, the forcer section being connected to and movable with respect to the stator section in response to the persistent changes in the magnetization of the at least one electropermanent magnet;
actuator drive circuitry configured to control at least one of the timing, magnitude, and shape of the sequential current pulses for precise control of at least one of the position or speed of the actuator, the voltage and duration of the pulses being of sufficient magnitude to change the magnetization of the at least one electropermanent magnet such that the change in magnetization will persist after cessation of the current, the voltage and current returning substantially to zero between pulses; and
a feedback control mechanism configured to determine, based on actuator velocity or position, when a next one of the sequential current pulses should be issued, the issuance of the pulses being timed such that the actuator will continue to move throughout the duration of the period of absence of applied current that occurs between the sequential pulses; and
at least two clamps configured to hold the inchworm motor to a surface and to alternately grip and release the surface as the inchworm motor moves across the surface.
13. The inchworm motor of claim 12 , wherein the clamps are electropermanent magnets that grip the surface when energized and release the surface when turned off.
14. The inchworm motor of claim 12 , wherein the clamps have curved faces.
15. The inchworm motor of claim 12 , further comprising one or more additional inchworm motors according to claim 12 , wherein each inchworm motor faces in a different direction, the inchworm motors together comprising an inchworm motor capable of translation and rotation in multiple directions.
16. The electropermanent inchworm motor of claim 12 , wherein the forcer section is connected to the stator section by a spring or flexure.
17. The electropermanent inchworm motor of claim 12 , wherein the stator section and forcer section are a single mechanical part having a low stiffness in one direction so that the stator section and forcer section are moveable relative to each other.
18. The electropermanent inchworm motor of claim 12 , wherein at least one of the at least one electropermanent magnet comprises two independently-controllable magnets made of materials having different coercivities.
19. The electropermanent inchworm motor of claim 12 , wherein there are a plurality of electropermanent magnets, and the electropermanent magnets are independently controllable to move the forcer section to different positions.
20. The electropermanent inchworm motor of claim 12 , wherein the at least one electropermanent magnet is activated with a controllable force level.