Paper Info
Title
Force ripple compensation of the directly-driven linear motors via iterative tuning feed-forward controller.
Abstract
Linear motors are promising in improving the manufacturing equipments' performance because of eliminating the flexible coupling component. However, the force ripple produced by the linear motors directly causes the feed fluctuation and thus degrades the motion precision. This article utilizes a feed-forward controller added to the feedback one to compensate its effect for the sake of simplicity and robustness. Considering that the force ripple is periodic to the position, a position-dependent multi-order harmonic model is built and used as the feed-forward controller. In order to obtain the controller parameters for various applications, an iterative tuning method is proposed. This method has the advantage that both the high performance for different trajectories tracking and the robustness to disturbances are guaranteed. Experiments on a linear motor illustrate that the parameters converge rapidly. The results show that the tracking performance is improved greatly and the tracking errors are reduced by 60% at least.
Year
DOI
Venue
2019
10.1177/0959651819827707
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Keywords
DocType
Volume
Force ripple,linear motor,iterative tuning,feedback,feed-forward control,servo control
Journal
233
Issue
ISSN
Citations 
9
0959-6518
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Jianhua Wu1194.91
Chao Liu200.34
YongJiang Liu300.34
Zhenhua H. Xiong411430.51
Han Ding549978.16