基于位置域频率和相位辨识的永磁直线电机推力波动抑制技术研究∗

摘要

The thrust fluctuation which affects the dynamic precision of the linear motor seriously is inherent and internal disturbance in permanent magnet synchronous linear motor. The feedforward controller designed according to the results of thrust fluctuation characteristic identification is an important means to realize the force ripple suppression. This paper firstly analyze the characteristics of the force ripple and build the math-ematic model of the trust fluxtuaion based on the position frequency and initial phase information. Model pa-rameters are identified through genetic algorithm method, The feedforward controller is designed to achieve the suppression of the force ripple. Simulation and experimental results show that the force ripple model ac-curately describes the characteristics of the tested linear motor. And the designed feedforward controller based on model identification results effectively reduce the velocity fluctuation.%推力波动是永磁直线电机固有的内部扰动，严重影响直线电机的动态精度。基于推力波动特性辨识结果设计前馈控制器是实现推力波动抑制的重要手段。首先分析了推力波动特性，基于位置域频率和初相位信息建立了推力波动数学模型。电机在不同速度下运行时基于遗传算法辨识方法分别确定实验直线电机的推力波动模型参数，并设计前馈控制器，实现直线电机的推力波动抑制。仿真和实验结果表明，推力波动模型准确描述了被测电机的推力特性，基于模型辨识结果设计的前馈控制器有效地降低了推力波动引起的系统速度波动。