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Force ripple compensation in a PMLSM position servo system using periodic adaptive learning control.

Wenjing Zhang1, Nan Nan1, Yifan Yang1

  • 1School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, 100044, PR China.

ISA Transactions
|May 13, 2019
PubMed
Summary

This study introduces a new method to eliminate force ripple in permanent magnet linear synchronous motor (PMLSM) servo systems. The model reference adaptive control and periodic adaptive learning control (MRAC-PALC) algorithm improves repetitive motion task performance.

Keywords:
Force ripple compensationModel reference adaptive controlPMLSM position servo systemPeriodic adaptive learning control

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Area of Science:

  • Robotics and Control Systems
  • Electrical Engineering
  • Mechatronics

Background:

  • Force ripple significantly degrades the performance of permanent magnet linear synchronous motor (PMLSM) servo systems.
  • Repetitive motion tasks in PMLSM servo systems are particularly susceptible to performance degradation caused by force ripple.

Purpose of the Study:

  • To propose a novel compensation method to eliminate the influence of force ripple on PMLSM servo system performance during repetitive motion tasks.
  • To enhance the precision and stability of PMLSM servo systems by mitigating force ripple effects.

Main Methods:

  • A novel compensation method is presented, integrating a model reference adaptive control and periodic adaptive learning control (MRAC-PALC) algorithm.
  • The controller comprises a PD component, feedforward component, velocity feedback component, and an MRAC-PALC compensator.
  • The MRAC-PALC compensator utilizes an initial MRAC algorithm and subsequent PALC iterations to learn and estimate force ripple.

Main Results:

  • The proposed MRAC-PALC algorithm effectively compensates for force ripple in PMLSM servo systems.
  • Simulations and experimental results demonstrate significant improvements in system performance under repetitive motion tasks.
  • Theoretical stability analysis confirms the robustness of the proposed control method via Lyapunov stability theorem.

Conclusions:

  • The developed MRAC-PALC method offers a viable solution for eliminating force ripple in PMLSM servo systems.
  • This approach enhances the performance and reliability of servo systems in applications requiring precise repetitive motions.
  • The study validates the effectiveness and stability of the proposed control strategy through comprehensive analysis and testing.