Journal of the Semiconductor & Display Technology (반도체디스플레이기술학회지)

The Korean Society Of Semiconductor & Display Technology (한국반도체디스플레이기술학회)
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Design of a Hybrid Controller to Eliminate the Force Ripple in the Linear Motor

선형 모터에서 힘리플 제거를 위한 Hybrid 제어기의 설계

  • Kim, Kyong-Chon (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Kim, Jung-Jae (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Choi, Young-Man (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering) ;
  • Gweon, Dae-Gab (KAIST(Korea Advanced Institute of Science and Technology) Mechanical Engineering)
  • 김경천 (한국과학기술원 기계공학과) ;
  • 김정재 (한국과학기술원 기계공학과) ;
  • 최영만 (한국과학기술원 기계공학과) ;
  • 권대갑 (한국과학기술원 기계공학과)
  • Published : 2008.03.31
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Abstract

The proposed hybrid controller consists of PID controller, feedforward controller and RLSE (Recursive Least Square Estimating) adaptive controller to compensate the force ripple that is periodic function of position in a linear motor. The modeling of force ripple is divided into the current-dependent and current-independent components. The current independent components never change as the current into the linear motor changes. On the other hand, the current-dependent components change as current varies when the velocity and load of the linear motor change. The proposed controller can compensate both force ripples. The feedforward controller compensates the current-independent components and the RLSE adaptive controller compensates the current-dependents components. We verified the performance of the controller by simulation and experiments.

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