Adaptive Robust Control of Linear Motor with Ripple Force Compensation

The adaptive robust control (ARC) provides a good output tracking performance. However, the common mathematical model of a linear motor usually neglects some interference terms such as the ripple force. And the common simplified mathematical model of a linear motor may weaken the tracking accuracy performance. So, in this paper, we proposed a novel form based on ARC to achieve a high performance control. First of all, the characteristics of the adaptive robust control were studied and the causes of the ripple force in the linear motor were analyzed. Secondly, the ripple force was constructed by the control input, the velocity and acceleration of the inertia load. In the end, the experiments were taken with the actual linear motor servo system using the improved mathematical model of a linear motor. The simulation and the comparative experimental results show that the adaptive robust control with ripple force compensation can inhibit the ripple force effectively. Therefore, it is effective to use the adaptive robust control with ripple force compensation in the precision positioning system.