Authors:
Markus Hirvonen
;
Heikki Handroos
and
Olli Pyrhönen
Affiliation:
Lappeenranta University of Technology, Finland
Keyword(s):
Cogging, Disturbance Observation, Linear Motor, Velocity Control, Vibration Suppression.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronic Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
A dynamic model including non-idealities for a permanent magnet linear synchronous motor (PMLSM) is postulated and verified. The non-idealities acting on the physical linear motor are measured and analyzed. These experimental results are utilized in the model. The verified simulation model is used in developing a force disturbance compensator for the velocity controller of the motor. The force non-idealities, such as the cogging force, friction and load force variation, are estimated using a disturbance observer. The acceleration signal in the observer is derived through the use of a low-acceleration estimator. The significant effects of the disturbance compensator on the simulated and measured dynamics of the motor are shown.