Precision motion control of permanent magnet linear synchronous motor servo system based on an integrated controller with inertia variation compensation

Abstract

To achieve high robustness and precise motion control of permanent magnet linear synchronous motor servo system, an integrated controller is presented, including a velocity feed forward controller, a zero phase error tracking controller, a disturbance observer and inertia variation compensator. The velocity feed forward controller and the zero phase error tracking controller are included to improve tracking performance and the disturbance observer is involved to enhance disturbance rejection. However, both the zero phase error tracking controller and the disturbance observer are sensitive to inertia variation which often occurs in servo systems. So, an inertia compensator, which consists of a perfect tracking controller for the current loop and a compensation gain, is proposed to retain tracking performance. Detailed experiments are conducted on a PMLSM servo system to confirm the effectiveness of the integrated controller.

Adaptive terminal sliding-mode controller based on characteristic model for gear transmission servo systems

“…If the inertia is properly identified, appropriate actions can be taken with further compensation. The inertia was identified by a model reference adaptive method in Li et al (2013) and the feedforward compensation gain was tuned accordingly. An adaptive controller was proposed in Li and Liu (2009) for speed regulation servo systems by combining extended state observer with inertia identification method.…”

Adaptive Terminal Sliding-Mode Control for Servo Systems with Inertia Variations

“…Firstly, inertia identification is a straightforward technique to compensate for inertia variations. A model reference adaptive method was adopted in [1] for inertia identification and the feedforward compensation gain was tuned accordingly. The work in [2] combined the extended state observer with the inertia identification method and proposed an adaptive controller for speed regulation servo systems.…”

Characteristic model–based adaptive controller with discrete extended state observer for servo systems

“…If the inertia can be properly identified, appropriate actions can be taken with further compensation. In Li et al, 5 the inertia was identified by a model reference adaptive method, and the feedforward compensation gain for inertia variations was tuned according to inertia identification. Jee and Lee 6 and Jin et al 7 presented several kinds of inertia identification algorithms and tuning schemes of control parameters.…”