Analytical prediction and analysis of the detent force with the feedback harmonics for the direct drive motion system

Abstract

In the direct drive motion system, there are obvious feedback harmonics caused by the various disturbances, which have important influence on the thrust characteristics of the permanent magnet synchronous linear motor (PMSLM). This paper presents the influence of the feedback harmonics on the detent force for the direct drive motion system. Firstly, the Maxwell's equation and the Schwarz–Christoffel (SC) mapping‐based method are used to accurately establish the magnetic field model in the air‐gap considering the slotting effect and end effect. Then, based on the control model of the motion system, the drive current caused by the feedback harmonics are calculated considering the non‐linearity of the drive circuit. The detent force of PMSLM is analytically represented and analyzed. Finally, the validity of the theoretical analysis is verified by the finite‐element method (FEM) and experiments. The results shown that the feedback harmonics will be coupled with the detent force and intensify the couplings among different sources of the thrust harmonics, which will lead to new coupled thrust harmonics, deteriorating the dynamic precision of the direct drive motion system.