Lorentz motor control system for a payload

Abstract

Control arrangement for and method of controlling a plurality of Lorenz motors ( 1, 2 ) actuating a payload ( 4 ) where the payload has a center of gravity ( 12 ). Height signals (z 1 , z 2 ) are received from sensors sensing heights of said payload. At least one rotation angle of the center of gravity about a horizontal axis is calculated from these height signals (z 1 , z 2 ) and from this at least one rotation angle control signals (C 1 , C 2 ) for the Lorenz motors ( 1, 2 ) are calculated such that a predetermined rotational stiffness for supporting the payload ( 4 ) is achieved.

1 . Control arrangement for controlling a plurality of Lorenz motors ( 1 ,  2 ) actuating a payload ( 4 ), the payload having a center of gravity ( 12 ), the control arrangement comprising a controller ( 8 ) for receiving height signals (z 1 , z 2 ) from sensors sensing heights of said payload and for calculating control signals (C 1 , C 2 ) for said Lorenz motors from said height signals, characterized in that said controller ( 8 ) is arranged to calculate from these height signals (z 1 , z 2 ) at least one rotation angle of the center of gravity about a horizontal axis and calculate from this at least one rotation angle said control signals (C 1 , C 2 ) for said Lorenz motors ( 1 ,  2 ) such that a predetermined rotational stiffness for supporting said payload ( 4 ) is achieved.  
     
     
         2 . Control arrangement according to  claim 1 , wherein said controller ( 8 ) is arranged to control three or four Lorenz motors.  
     
     
         3 . Method of controlling a plurality of Lorenz motors ( 1 ,  2 ) actuating a payload ( 4 ), the payload having a center of gravity ( 12 ), comprising receiving height signals (z 1 , z 2 ) from sensors sensing heights of said payload and calculating control signals (C 1 , C 2 ) for said Lorenz motors from said height signals, characterized by calculating from these height signals (z 1 , z 2 ) at least one rotation angle of the center of gravity about a horizontal axis and calculating from this at least one rotation angle said control signals (C 1 , C 2 ) for said Lorenz motors ( 1 ,  2 ) such that a predetermined rotational stiffness for supporting said payload ( 4 ) is achieved.  
     
     
         4 . Computer program product comprising instructions and data to be loaded by a computer, and after being loaded allowing the computer to perform the method according to  claim 3 .  
     
     
         5 . Data carrier comprising a computer program product according to  claim 4.