State-periodic adaptive compensation of cogging and Coulomb friction in permanent-magnet linear motors

被引：64

作者：

Ahn, HS ^{[1
]}

Chen, YQ ^{[1
]}

Dou, HF ^{[1
]}

机构：

[1] Utah State Univ, Dept Elect & Comp Engn, CSOIS, Logan, UT 84322 USA

来源：

IEEE TRANSACTIONS ON MAGNETICS | 2005年 / 41卷 / 01期

关键词：

adaptive control; cogging force; Coulomb friction force; state-dependent disturbance; trajectory-periodic adaptation;

D O I：

10.1109/TMAG.2004.840182

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper focuses on the state-periodic adaptive compensation of cogging and Coulomb friction for permanent-magnet linear motors (PMLMs) executing a task repeatedly. The cogging force is considered as a position-dependent disturbance and the Coulomb friction is non-Lipschitz at zero velocity. The key idea of our disturbance compensation method is to use past information for one trajectory period along the state axis to update the current adaptation law. The new method consists of three different steps: 1) in the first repetitive trajectory, an adaptive compensator is designed to guarantee the l(2)-stability of the overall system; 2) from the second repetitive trajectory and onward, a trajectory-periodic adaptive compensator stabilizes the system; and 3) to make use of the stored past state-dependent cogging information, a search process is utilized for adapting, the current cogging coefficient. We illustrate the validity of our state-periodic adaptive cogging and friction compensator by actual PMLM-model-based simulation.

引用

页码：90 / 98

页数：9

共 20 条

[1]

AHN HS, 2004, P IEEE INT C ROB BIO

[2]

Canudas de Wit C., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P1383, DOI 10.1109/ROBOT.1990.126195

[3]

Cruise R. J., 1999, 1999 IEEE Africon. 5th Africon Conference in Africa (Cat. No.99CH36342), P623, DOI 10.1109/AFRCON.1999.821834

[4]

de Wit CC, 1998, IEEE DECIS CONTR P, P2271, DOI 10.1109/CDC.1998.758682

[5]

DEWIT CC, 1989, PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, P1352, DOI 10.1109/ROBOT.1989.100168

[6]

FRIEDLAND B, 1991, PROCEEDINGS OF THE 30TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, P2899, DOI 10.1109/CDC.1991.261068

[7]

FRIEDLAND B, 1992, FIRST IEEE CONFERENCE ON CONTROL APPLICATIONS, PROCEEDINGS, VOLS 1 AND 2, P1076, DOI 10.1109/CCA.1992.269721

[8]

Haessig D. A. Jr., 1990, Proceedings of the 1990 American Control Conference (IEEE Cat. No.90CH2896-9), P1256

[9] Minimization of cogging force in a linear permanent magnet motor [J].

Hor, PJ ;

Zhu, ZQ ;

Howe, D ;

Rees-Jones, J .

IEEE TRANSACTIONS ON MAGNETICS, 1998, 34 (05) :3544-3547

[10]

Koh CS, 2003, IEEE T MAGN, V39, P3503, DOI 10.1109/TMAG.2003.819473

← 1 2 →