Robust adaptive numerical compensation for friction and force ripple in permanent-magnet linear motors
Robust adaptive numerical compensation for friction and force ripple in permanent-magnet linear motors
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DOI：
10.1109/20.990111
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发表时间：
2002-08
影响因子：
2.1
通讯作者：
K. Tan;Sunan Huang;Tong-heng Lee
中科院分区：
文献类型：
--
作者：
K. Tan;Sunan Huang;Tong-heng Lee
针对永磁直线电机动力学中存在的摩擦和力脉动，提出了一种鲁棒自适应补偿方法。该方法被用于超精密定位应用中。该补偿算法由用于估计摩擦力和力波的自适应部分和自适应部分组成。该自适应分量基于仅占主导地位的输入和输出信号而被连续地改进。计算机仿真和实时实验结果验证了该方法对高精度运动轨迹跟踪的有效性。
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.