Integrated thrust ripple identification and compensation for linear servo system using an MP algorithm

Generally there are two methods for the thrust ripple modeling: one is to identify the eigenvalues and the model parameters of thrust ripple sequentially under rigorous operating conditions; another is to treat thrust ripple as a general and inaccurate disturbance. To get rid of the constraints and further enhance the tracking accuracy of the linear servo system, a novel integrated identification and compensation scheme using an improved matching pursuit algorithm is proposed in this paper. First, the dynamics of the linear motor is formulated, and the cause of thrust ripple is analyzed. Then, a time-frequency atomic library of thrust ripple is constructed with the consideration of the frequency characteristics of position command, and meanwhile, the two optimal atoms are obtained successively by maximizing the inner product for the thrust ripple reconstruction. Based on the above, the eigenvalues and model parameters of thrust ripple can be simultaneously identified in an online manner. Finally, the feedforward compensation component is devised by the identification results to suppress thrust ripple. In order to verify the superiority of the proposed scheme, simulations and experiments are conducted compared with the conventional methods.