Desired compensation adaptive robust control of a linear-motor-driven precision industrial gantry with improved cogging force compensation

Lu Lu, Zheng Chen, Bin Yao, Qingfeng Wang

Research output: Contribution to journalArticlepeer-review

98 Scopus citations

Abstract

This paper proposes a new model for cogging forces of linear motor systems. Sinusoidal functions of positions are used to effectively capture the largely periodic nature of cogging forces with respect to position, 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 nonperiodic characteristics of cogging force while having a linear parametrization form, which makes the online adaptive compensation of cogging forces possible and effective. A discontinuous-projection-based desired compensation adaptive robust controller (DCARC) is then constructed, which makes full use of the proposed cogging force model for an improved cogging force compensation. Comparative experimental results with various cogging force compensations are obtained on both axes of a linear-motor-driven industrial gantry. The results show that DCARC with the proposed model compensation achieves the best tracking performance among all the three algorithms tested, validating the proposed cogging force model. The excellent tracking performances obtained in the experiments also verify the effectiveness of the proposed ARC control algorithms in practical applications. The proposed model and control algorithm can be applied for other types of motor control systems as well.

Original languageEnglish (US)
Pages (from-to)617-624
Number of pages8
JournalIEEE/ASME Transactions on Mechatronics
Volume13
Issue number6
DOIs
StatePublished - 2008
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Keywords

  • Adaptive control
  • Cogging force
  • Linear motors
  • Motion control

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