Force Ripple Compensation in Linear Motors Based on Closed-Loop Position-Dependent Identification

Bascetta, Luca; Rocco, Paolo; Magnani, G.

doi:10.1109/tmech.2009.2026045

Cited by 93 publications

(51 citation statements)

References 26 publications

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“…If the optimal input signal for a similar trajectory y d2 = Ky d is computed using (6), an estimation error arises. The estimated optimal input signal is given bŷ…”

Section: Deterministic Disturbancesmentioning

confidence: 99%

“…In contrast to the majority of the cogging compensating control approaches [4], [5], [6], [7], [2], we do not assume that the cogging force is periodic with respect to position. This way, small differences in Coulomb friction and cogging forces along the linear motor due to imperfections of the mechanical construction are taken into account when estimating the disturbance force.…”

Section: B Identifying Cogging Forces and Coulomb Frictionmentioning

confidence: 99%

“…Many cogging compensating control schemes, using either a parametric cogging model [4], [5], [6], [7] or a lookuptable [8], have already been described in the literature. Most of these techniques combine feedback control with model-based feedforward control that accounts for the LTI dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Initialization of ILC based on a previously learned trajectory

Janssens

Pipeleers

Swevers

2012

2012 American Control Conference (ACC)

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Iterative learning control (ILC) is an open-loop control strategy that learns the system input to track a desired trajectory from previous executions. A major limitation of ILC is that for every new trajectory, the ILC is reinitiated and thus takes a number of iterations to learn the new optimal system input. This paper presents a novel methodology for linear time-invariant systems to calculate a better initialization of an ILC based on a previously learned similar trajectory and a disturbance model. To illustrate the potential of the developed method, it is applied to a permanent magnet linear motor and compared to a model-based feedforward control scheme. The experimental results show that the proposed method outperforms the model-based feedforward control scheme in the case of similar motion trajectories, yielding a better initialization of an ILC.

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“…If the optimal input signal for a similar trajectory y d2 = Ky d is computed using (6), an estimation error arises. The estimated optimal input signal is given bŷ…”

Section: Deterministic Disturbancesmentioning

confidence: 99%

Section: B Identifying Cogging Forces and Coulomb Frictionmentioning

confidence: 99%

See 1 more Smart Citation

Initialization of ILC based on a previously learned trajectory

Janssens

Pipeleers

Swevers

2012

2012 American Control Conference (ACC)

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show abstract

“…Then, the estimated data were processed with equations (20) (20) and (21), respectively, while Figure 11 shows the mean of velocity-dependent disturbance versus the velocity according to equation (22) …”

Section: Disturbance Compensationmentioning

confidence: 99%

Disturbance estimation and compensation for planar motors on the long-stroke stage of a wafer stage

Xia

Cheng

Tian

et al. 2015

Advances in Mechanical Engineering

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This article presents a data-based method to estimate and compensate low-frequency disturbance in planar motors on the long-stroke stage of a wafer stage, which is a typical multiple-input multiple-output system. First, a data-based method is introduced to decouple the multiple-input multiple-output system into multi-single-input single-output system, which is crucial for the design of controller and the correction of disturbance estimation in the scanning direction. Second, dominant low-frequency disturbances in the long-stroke stage are analyzed. Third, estimation and compensation method under moving condition is proposed. The compensation method is based on three feedforward tables, and the tables are indexed by trajectory parameters, including velocity and position instead of time in the iterative learning control method. Finally, experiments are performed on the long-stroke stage of a wafer stage to verify the proposed method. Experimental results show that the proposed method can effectively improve the servo performance by reducing the tracking errors by nearly 1/2 in the forward direction and 1/3 in the backward direction and lowering error difference between the forward and backward directions from 5.1 to 1.2 mm.

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“…In [4] a model of friction in harmonic drives as a function of wave generator position and a model of motor torque ripple as a function of the rotor position [17], [18] Basically, the speed responses exhibit the dynamics of a first order system with superposition of oscillations. The Fourier spectra of the speed plots reveal harmonics whose frequencies are proportional to the motor speed: these harmonics can be ascribed to the motor and gearbox induced torque ripple.…”

Section: Introductionmentioning

confidence: 99%

On the use of Torque Disturbance Observers in 2-mass systems with application to a robotic joint

Magnani

Rocco

Bascetta

et al. 2013

2013 IEEE International Conference on Mechatronics (ICM)

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Two-mass systems with elastic behaviour have long been studied to provide solutions for vibration suppression. Imperfections in the torque delivered by the commonly adopted brushless motor, as well as pulsating disturbances originating in the transmission system (e.g. in the gearbox), generate disturbances on the motor side that can compromise the overall performance of the system. Torque Disturbance Observer (TDO) is a quite effective method to estimate and then compensate for such disturbances, but the application to an elastic system can yield loss of performance on the load side, as discussed in the present paper. Making reference to a joint of the space robotic arm DEXARM, endowed with a measurement of the transmittion torque, a modified TDO system is then proposed. Experimental validation of the modified TDO scheme performed on the DEXARM joint is finally discussed

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Force Ripple Compensation in Linear Motors Based on Closed-Loop Position-Dependent Identification

Cited by 93 publications

References 26 publications

Initialization of ILC based on a previously learned trajectory

Initialization of ILC based on a previously learned trajectory

Disturbance estimation and compensation for planar motors on the long-stroke stage of a wafer stage

On the use of Torque Disturbance Observers in 2-mass systems with application to a robotic joint

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