This paper proposes a new model for cogging forces of linear motor systems. Sinusoidal functions of positions are used to capture the largely periodic nature of cogging forces with respect to position effectively while B-spline functions are employed to account for the additional aperiodic part of cogging forces. This model is experimentally demonstrated to be able to capture both the periodic and non-periodic characteristics of cogging force while having a linear parametrization form which makes effective on-line adaptive compensation of cogging forces possible. A discontinuous projection based desired compensation adaptive robust controller (DCARC) is then constructed for linear motors, which makes full use of the proposed cogging force model for an improved cogging force compensation. Comparative experimental results are obtained on both axes of a linear motor driven Anorad industrial gantry having a linear encoder resolution of 0.5 μm. Experiments are done with each axis running separately to compare the three algorithms: DCARC without cogging force compensation, DCARC with sinusoidal cogging force model compensation, and DCARC with the proposed cogging force model compensation. The results show that DCARC with proposed model compensation achieves the best tracking performance among the three algorithms tested, validating the proposed cogging force model. The excellent tracking performances obtained in experiments also verify the effectiveness of the proposed ARC control algorithms in practical applications.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
Adaptive Robust Control of a Linear Motor Driven Precision Industrial Gantry With Improved Cogging Force Compensation Available to Purchase
Lu Lu,
Lu Lu
Zhejiang University, Hangzhou, Zhejiang, China
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Bin Yao,
Bin Yao
Purdue University, West Lafayette, IN; Zhejiang University, Hangzhou, Zhejiang, China
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Zheng Chen,
Zheng Chen
Zhejiang University, Hangzhou, Zhejiang, China
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Qingfeng Wang
Qingfeng Wang
Zhejiang University, Hangzhou, Zhejiang, China
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Lu Lu
Zhejiang University, Hangzhou, Zhejiang, China
Bin Yao
Purdue University, West Lafayette, IN; Zhejiang University, Hangzhou, Zhejiang, China
Zheng Chen
Zhejiang University, Hangzhou, Zhejiang, China
Qingfeng Wang
Zhejiang University, Hangzhou, Zhejiang, China
Paper No:
DSCC2008-2182, pp. 569-576; 8 pages
Published Online:
June 29, 2009
Citation
Lu, L, Yao, B, Chen, Z, & Wang, Q. "Adaptive Robust Control of a Linear Motor Driven Precision Industrial Gantry With Improved Cogging Force Compensation." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 569-576. ASME. https://doi.org/10.1115/DSCC2008-2182
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