선형 모터에서 힘리플 제거를 위한 Hybrid 제어기의 설계

Design of a Hybrid Controller to Eliminate the Force Ripple in the Linear Motor

The proposed hybrid controller consists of PID controller, feedforward controller and RLSE (Recursive Least Square Estimating) adaptive controller to compensate the force ripple that is periodic function of position in a linear motor. The modeling of force ripple is divided into the current-dependent and current-independent components. The current independent components never change as the current into the linear motor changes. On the other hand, the current-dependent components change as current varies when the velocity and load of the linear motor change. The proposed controller can compensate both force ripples. The feedforward controller compensates the current-independent components and the RLSE adaptive controller compensates the current-dependents components. We verified the performance of the controller by simulation and experiments.