Observer-Based Ripple Force Compensation for Linear Hybrid Stepping Motor Drives
Tai-Sik Hwang
Jul-Ki Seok
Robostar Co. Ltd., Anyang;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2007
Volume: 54,
Issue: 5
On page(s): 2417-2424
ISSN: 0278-0046
INSPEC Accession Number: 9607993
Digital Object Identifier: 10.1109/TIE.2007.900344
Current Version Published: 2007-07-30
Abstract
This paper describes our research on a force ripple compensation and closed-loop position control scheme using linear hybrid stepping motors (LHSMs) with significant thrust vibrations. In order to estimate unobservable force ripple components, we propose the Jacobian linearization observer that guarantees the convergence of state estimates into true states. For the precise control of velocity and position, an input-output feedback linearization controller is derived from a nonlinear position-dependent model of the LHSM based on elaborate reluctance network analysis. In addition, we discuss the separation principle used to separate the observer design from the controller design. Common problems associated with the force ripple, such as the positioning error, mechanical stress, and acoustic noise, are efficiently handled using the proposed active damping control scheme. Experimental results show that the positioning accuracy is significantly improved through a closed-loop control while restraining the thrust ripple.
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