Ripple force compensation based on ILC–ASMC for linear servo system
Zhuxin Chu,
Shaowu Lu,
He Chang
et al.
Abstract:The ripple force, which displays intricate dynamic characteristics and is fundamentally nonlinear in linear servo systems, poses challenges in modeling and compensation. To achieve superior suppression of the ripple force, this paper proposes a new scheme called the iterative learning control (ILC)–adaptive sliding-mode control (ASMC), which combines ASMC and ILC. Initially, the servo system model is established, followed by an analysis of the ripple force mechanism and obtaining a simplified model. Then, an a… Show more
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