High precision control of direct-drive permanent magnet linear motor with adaptive friction compensation
To improve the control precision and stability of Direct-Drive Permanent Magnet Linear Motor (DPMLM) with frictional nonlinearity and uncertain disturbances at a low speed, an adaptive robust integral sign error control algorithm based on friction compensation of dual nonlinear observer is proposed...
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| Veröffentlicht in: | Journal of vibration and control 2024-09, Vol.30 (17-18), p.4069-4079 |
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| container_end_page | 4079 |
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| container_issue | 17-18 |
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| container_title | Journal of vibration and control |
| container_volume | 30 |
| creator | Ge, Wenqing Xu, Haoli Tan, Cao Yu, Peng Li, Dengtong |
| description | To improve the control precision and stability of Direct-Drive Permanent Magnet Linear Motor (DPMLM) with frictional nonlinearity and uncertain disturbances at a low speed, an adaptive robust integral sign error control algorithm based on friction compensation of dual nonlinear observer is proposed in this study. An improved LuGre friction model is established to describe the friction phenomena of the system. The dual nonlinear observer is designed to observe the internal frictional state of the model. A parameter adaptive law is designed to perform parameter estimation of structured uncertainty. Robust integral of the sign of the error (RISE) term is designed to overcome the frictional nonlinear disturbances. The friction nonlinearity and parameter uncertainty are compensated by feedforward compensation. The bounded stability of the proposed controller is proved by Lyapunov stability theory. As suggested by the experimental results, RMSE index decreased by 10.8% and the control precision was improved effectively by the proposed control algorithm at a low speed. |
| doi_str_mv | 10.1177/10775463231206452 |
| format | Article |
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An improved LuGre friction model is established to describe the friction phenomena of the system. The dual nonlinear observer is designed to observe the internal frictional state of the model. A parameter adaptive law is designed to perform parameter estimation of structured uncertainty. Robust integral of the sign of the error (RISE) term is designed to overcome the frictional nonlinear disturbances. The friction nonlinearity and parameter uncertainty are compensated by feedforward compensation. The bounded stability of the proposed controller is proved by Lyapunov stability theory. As suggested by the experimental results, RMSE index decreased by 10.8% and the control precision was improved effectively by the proposed control algorithm at a low speed.</description><identifier>ISSN: 1077-5463</identifier><identifier>EISSN: 1741-2986</identifier><identifier>DOI: 10.1177/10775463231206452</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Adaptive algorithms ; Adaptive control ; Adaptive systems ; Algorithms ; Compensation ; Control algorithms ; Control stability ; Control theory ; Disturbances ; Electric motors ; Error analysis ; Feedforward control ; Friction ; Low speed ; Nonlinear control ; Nonlinearity ; Parameter estimation ; Parameter robustness ; Parameter uncertainty ; Permanent magnets ; Robust control ; Root-mean-square errors ; Stability</subject><ispartof>Journal of vibration and control, 2024-09, Vol.30 (17-18), p.4069-4079</ispartof><rights>The Author(s) 2023</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c264t-95e2868ce82365f38b7060ae0147b2d685f28914110c5587dd3c86f137bd646b3</cites><orcidid>0009-0006-7610-115X ; 0000-0002-0863-0010</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://journals.sagepub.com/doi/pdf/10.1177/10775463231206452$$EPDF$$P50$$Gsage$$H</linktopdf><linktohtml>$$Uhttps://journals.sagepub.com/doi/10.1177/10775463231206452$$EHTML$$P50$$Gsage$$H</linktohtml><link.rule.ids>314,780,784,21819,27924,27925,43621,43622</link.rule.ids></links><search><creatorcontrib>Ge, Wenqing</creatorcontrib><creatorcontrib>Xu, Haoli</creatorcontrib><creatorcontrib>Tan, Cao</creatorcontrib><creatorcontrib>Yu, Peng</creatorcontrib><creatorcontrib>Li, Dengtong</creatorcontrib><title>High precision control of direct-drive permanent magnet linear motor with adaptive friction compensation</title><title>Journal of vibration and control</title><description>To improve the control precision and stability of Direct-Drive Permanent Magnet Linear Motor (DPMLM) with frictional nonlinearity and uncertain disturbances at a low speed, an adaptive robust integral sign error control algorithm based on friction compensation of dual nonlinear observer is proposed in this study. 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As suggested by the experimental results, RMSE index decreased by 10.8% and the control precision was improved effectively by the proposed control algorithm at a low speed.</description><subject>Adaptive algorithms</subject><subject>Adaptive control</subject><subject>Adaptive systems</subject><subject>Algorithms</subject><subject>Compensation</subject><subject>Control algorithms</subject><subject>Control stability</subject><subject>Control theory</subject><subject>Disturbances</subject><subject>Electric motors</subject><subject>Error analysis</subject><subject>Feedforward control</subject><subject>Friction</subject><subject>Low speed</subject><subject>Nonlinear control</subject><subject>Nonlinearity</subject><subject>Parameter estimation</subject><subject>Parameter robustness</subject><subject>Parameter uncertainty</subject><subject>Permanent magnets</subject><subject>Robust control</subject><subject>Root-mean-square errors</subject><subject>Stability</subject><issn>1077-5463</issn><issn>1741-2986</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><recordid>eNp1kEtLAzEUhYMoWKs_wF3A9Whu3l1KUSsU3Oh6yGQybUonGZNU8d87ZQQX4uq-vnMuHISugdwCKHUHRCnBJaMMKJFc0BM0A8WhogstT8d-vFdH4Bxd5LwjhHAOZIa2K7_Z4iE567OPAdsYSop7HDvc-nFbqjb5D4cHl3oTXCi4N5vgCt774EzCfSwx4U9ftti0ZihHtkvelsmsH1zI5jhcorPO7LO7-qlz9Pb48LpcVeuXp-fl_bqyVPJSLYSjWmrrNGVSdEw3ikhiHAGuGtpKLTqqF8ABiBVCq7ZlVssOmGpayWXD5uhm8h1SfD-4XOpdPKQwvqwZAANBFBUjBRNlU8w5ua4eku9N-qqB1MdA6z-BjprbSZPNxv26_i_4BsaZdbw</recordid><startdate>20240901</startdate><enddate>20240901</enddate><creator>Ge, Wenqing</creator><creator>Xu, Haoli</creator><creator>Tan, Cao</creator><creator>Yu, Peng</creator><creator>Li, Dengtong</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>KR7</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0009-0006-7610-115X</orcidid><orcidid>https://orcid.org/0000-0002-0863-0010</orcidid></search><sort><creationdate>20240901</creationdate><title>High precision control of direct-drive permanent magnet linear motor with adaptive friction compensation</title><author>Ge, Wenqing ; Xu, Haoli ; Tan, Cao ; Yu, Peng ; Li, Dengtong</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c264t-95e2868ce82365f38b7060ae0147b2d685f28914110c5587dd3c86f137bd646b3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Adaptive algorithms</topic><topic>Adaptive control</topic><topic>Adaptive systems</topic><topic>Algorithms</topic><topic>Compensation</topic><topic>Control algorithms</topic><topic>Control stability</topic><topic>Control theory</topic><topic>Disturbances</topic><topic>Electric motors</topic><topic>Error analysis</topic><topic>Feedforward control</topic><topic>Friction</topic><topic>Low speed</topic><topic>Nonlinear control</topic><topic>Nonlinearity</topic><topic>Parameter estimation</topic><topic>Parameter robustness</topic><topic>Parameter uncertainty</topic><topic>Permanent magnets</topic><topic>Robust control</topic><topic>Root-mean-square errors</topic><topic>Stability</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ge, Wenqing</creatorcontrib><creatorcontrib>Xu, Haoli</creatorcontrib><creatorcontrib>Tan, Cao</creatorcontrib><creatorcontrib>Yu, Peng</creatorcontrib><creatorcontrib>Li, Dengtong</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>Journal of vibration and control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ge, Wenqing</au><au>Xu, Haoli</au><au>Tan, Cao</au><au>Yu, Peng</au><au>Li, Dengtong</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>High precision control of direct-drive permanent magnet linear motor with adaptive friction compensation</atitle><jtitle>Journal of vibration and control</jtitle><date>2024-09-01</date><risdate>2024</risdate><volume>30</volume><issue>17-18</issue><spage>4069</spage><epage>4079</epage><pages>4069-4079</pages><issn>1077-5463</issn><eissn>1741-2986</eissn><abstract>To improve the control precision and stability of Direct-Drive Permanent Magnet Linear Motor (DPMLM) with frictional nonlinearity and uncertain disturbances at a low speed, an adaptive robust integral sign error control algorithm based on friction compensation of dual nonlinear observer is proposed in this study. 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| ispartof | Journal of vibration and control, 2024-09, Vol.30 (17-18), p.4069-4079 |
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| language | eng |
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| subjects | Adaptive algorithms Adaptive control Adaptive systems Algorithms Compensation Control algorithms Control stability Control theory Disturbances Electric motors Error analysis Feedforward control Friction Low speed Nonlinear control Nonlinearity Parameter estimation Parameter robustness Parameter uncertainty Permanent magnets Robust control Root-mean-square errors Stability |
| title | High precision control of direct-drive permanent magnet linear motor with adaptive friction compensation |
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