Title :
Robust adaptive numerical compensation for friction and force ripple in permanent-magnet linear motors
Author :
Tan, K.K. ; Huang, S.N. ; Lee, T.H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
fDate :
1/1/2002 12:00:00 AM
Abstract :
This paper describes a robust adaptive compensation method for friction and force ripple present in the dynamics of permanent-magnet linear motors. The method is used in ultraprecise positioning applications. The compensation algorithm consists of a PID component and an adaptive component for estimating friction and force ripple. The adaptive component is continuously refined on the basis of just prevailing input and output signals. Computer simulations and real-time experimental results verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking
Keywords :
DC motor drives; adaptive control; compensation; feedback; friction; linear motors; machine control; machine theory; motion control; permanent magnet motors; robust control; three-term control; variable structure systems; PID component; PM linear motors; adaptive component; adaptive sliding control scheme; cogging force; compensation algorithm; dynamics; force ripple; friction; high-precision motion trajectory tracking; mathematical model; permanent-magnet linear motors; robust adaptive compensation method; stability; ultraprecise positioning applications; Aerodynamics; Application software; Control systems; Couplings; Friction; Magnets; Motion control; Reluctance motors; Robustness; Thermal force;
Journal_Title :
Magnetics, IEEE Transactions on
