基于PID与cogging力补偿的直线电动机控制

直线电动机cogging力是影响伺服控制定位精度和跟踪精度的重要因素。目前电动机几何结构优化与有效的控制策略是减小直线电动机cogging力的主要措施。在分析已有研究的基础上,提出了一种完全基于试验的cogging力迭代标定方法,并结合PID位置/力控制策略实现了直线电动机cogging力的补偿。所提出的方法已在气浮结构运动平台上进行了验证,给出了cogging力迭代标定的试验结果,对比了cogging力补偿前后的伺服控制跟踪误差。结果表明了提出方法的实用性和有效性。

Accurate Control of Linear Motor Based on PID Position/Force Control and Cogging Force Compensation

Cogging force deteriorates significantly positioning accuracy and tracking accuracy of servo system in a permanent magnet linear motor(PMLM).The optimization of motor construction and adequate control strategies are main measures to reduce cogging force in a PMLM.This paper presents a fully experimental method for cogging force calibration.The compensation for cogging force is also proposed under combination of a PID position/force controller.Gradually accurate results of cogging force identification are shown,and the comparisons of tracking errors with and without cogging force compensation are also given.The experimental results demonstrate the feasibility and effectiveness of the proposed methods.