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中文摘要：
针对直线电机在运动过程中受定位力波动影响而在高精度领域应用受限的问题,采用定位力补偿控制的方法提高直线电机的定位精度.在不改变系统结构的情况下,首先利用加速度计采集电机全程定位力波动数据,经过谱分析确定了波动力的模型结构,而后通过递推最小二乘法获取了具体的模型参数,并在模型基础上设计了基于位置的补偿控制器和迭代学习控制器对定位力进行补偿.经仿真和实验结果证明,所提方法可显著降低直线电机运动过程中的定位误差.
英文摘要：
Cogging force impacts the performance of linear motor in its process of movement,which limits the application of the linear motor in the field of high precision servo.A cogging force compensator was utilized to improve the control precision of linear motor.Without modification of system structure,by taking advantage of accelerometer to gather data of cogging force and determining model structure utilizing spectral analysis,a specific model was identified after RLC.With the model identified,a compensation controller for cogging force was designed combining compensator based on position model with iterative learning control.Both the simulation and the experiment demonstrate the tracking error caused by cogging force can be reduced considerably through this method.
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