리니어모터의 리플보상을 위한 제어시스템 설계

초록

Ripple force deteriorates tracking accuracy and generates oscillation in linear motor driven servos. It has periodic relationship with the position of the translator and the magnets. In this paper, a composite controller composed of the PID and feedforward controllers, and the ripple compensator. To derive an accurate dynamic model of the linear servo, system identification of the linear servo with ripple forces is conducted first. The feedforward control consists of velocity and acceleration compensation terms to improve tracking performance. Harmonic modeling of ripple forces is applied to construct the ripple compensator. After selection of optimal gains of the composite controller, linear and sinusoidal motion commands are applied to verify the tracking performance of the linear servo. Experimental results confirm the effectiveness of the developed control system.

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