直线电机齿槽推力波动的标定与补偿方法

Approach to calibrating and compensating cogging force ripple in linear motors

为减小直线电机齿槽推力波动对运动性能的影响,依据齿槽推力波动固有特性,提出基于PID位置控制的齿槽推力波动标定方法及其位置函数构造方法。采用线性插值计算方法建立齿槽推力波动的前馈补偿控制模型,并给出齿槽推力波动的标定结果,对比齿槽推力前馈补偿前后的位置跟踪误差。实验获得的齿槽推力波动幅值为±12 N,前馈补偿前后的位置跟踪误差分别为±48μm和±10μm。实际结果表明采用所提方法可提高电机的运动精度和性能。

To reduce the effect of cogging force on the motion performance of linear motor, an experimental method was presented to calibrate the cogging force using PID position controller, based on the characteristic of the cogging force. A compensation approach was proposed to counteract the effect of the cogging force by using a feedforward compensator. The experimental calibration result of the cogging force was given and the position tracking errors were compared with and without the cogging feedforward compensation. The amplitude of the calibrated cogging force is ± 12 N, and the position tracking errors are ± 48 μm with the cogging feedforward compensation and ± 10 μm without the cogging feedforward compensation. The practical results show that the proposed methods can be used to greatly improve the motion accuracy and performance of the linear motor. As a result, the feasibileness and effectiveness of the proposed methods are demonstrated.