Chang He, Lu Shaowu, Zheng Shiqi, Ma Yajie, Yang Chengbo, Song Bao
Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430074, China.
Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430074, China.
ISA Trans. 2023 Nov;142:594-605. doi: 10.1016/j.isatra.2023.08.023. Epub 2023 Aug 23.
Generally there are two methods for the thrust ripple modeling: one is to identify the eigenvalues and the model parameters of thrust ripple sequentially under rigorous operating conditions; another is to treat thrust ripple as a general and inaccurate disturbance. To get rid of the constraints and further enhance the tracking accuracy of the linear servo system, a novel integrated identification and compensation scheme using an improved matching pursuit algorithm is proposed in this paper. First, the dynamics of the linear motor is formulated, and the cause of thrust ripple is analyzed. Then, a time-frequency atomic library of thrust ripple is constructed with the consideration of the frequency characteristics of position command, and meanwhile, the two optimal atoms are obtained successively by maximizing the inner product for the thrust ripple reconstruction. Based on the above, the eigenvalues and model parameters of thrust ripple can be simultaneously identified in an online manner. Finally, the feedforward compensation component is devised by the identification results to suppress thrust ripple. In order to verify the superiority of the proposed scheme, simulations and experiments are conducted compared with the conventional methods.
一般来说，有两种方法用于推力波动建模：一种是在严格的运行条件下依次识别推力波动的特征值和模型参数；另一种是将推力波动视为一种普遍且不准确的干扰。为了摆脱这些限制并进一步提高线性伺服系统的跟踪精度，本文提出了一种使用改进匹配追踪算法的新型综合识别与补偿方案。首先，建立了直线电机的动力学模型，并分析了推力波动的成因。然后，考虑位置指令的频率特性构建了推力波动的时频原子库，同时通过最大化内积以进行推力波动重构，相继获得两个最优原子。基于此，可在线同时识别推力波动的特征值和模型参数。最后，根据识别结果设计前馈补偿分量以抑制推力波动。为了验证所提方案的优越性，与传统方法进行了对比仿真和实验。
