6 March 2015 Cogging force rejection method of linear motor based on internal model principle
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Proceedings Volume 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation; 94464Y (2015) https://doi.org/10.1117/12.2182395
Event: International Symposium on Precision Engineering Measurement and Instrumentation, 2014, Changsha/Zhangjiajie, China
Abstract
The cogging force disturbance of linear motor is one of the main factors affecting the positioning accuracy of ultraprecision moving platform. And this drawback could not be completely overcome by improving the design of motor body, such as location modification of permanent magnet array, or optimization design of the shape of teeth-slot. So the active compensation algorithms become prevalent in cogging force rejection area. This paper proposed a control structure based on internal mode principle to attenuate the cogging force of linear motor which deteriorated the accuracy of position, and this structure could make tracking and anti-disturbing performance of close-loop designed respectively. In the first place, the cogging force was seen as the intrinsic property of linear motor and its model constituting controlled object with motor ontology model was obtained by data driven recursive identification method. Then, a control structure was designed to accommodate tracking and anti-interference ability separately by using internal model principle. Finally, the proposed method was verified in a long stroke moving platform driven by linear motor. The experiment results show that, by employing this control strategy, the positioning error caused by cogging force was decreased by 70%.
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Yang Liu, Yang Liu, Zhenyu Chen, Zhenyu Chen, Tianbo Yang, Tianbo Yang, } "Cogging force rejection method of linear motor based on internal model principle", Proc. SPIE 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation, 94464Y (6 March 2015); doi: 10.1117/12.2182395; https://doi.org/10.1117/12.2182395
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