For the primary permanent magnet linear flux-switching permanent magnet (LFSPM) machine,the position-dependent cogging force caused by double salient structure,friction and parameters uncertainties have impacts on its servo performance.A new repetitive control strategy based on the nonlinear feedback is proposed.Firstly,a repetitive controller (RC) is designed to compensate the thrust ripple arising from the cogging force.Then,the nonlinear feedback controller (NFC) is added into,to compensate the thrust fluctuation caused by friction and parameters uncertainties.Meanwhile,the convergence error gradually decreases with the increasing of periodic numbers.The global asymptotic stability is thereby ensured.Finally,experimental evaluations of the proposed scheme are carried out on A&D5435 LFSPM drive platform.The test of the LFSPM machine control system has verified the proposed scheme.%针对初级永磁型磁通切换直线(LFSPM)电机,研究其定动子双凸极结构引起的与位移相关的定位力、摩擦力及参数变化等不确定性对伺服系统的影响,提出一种基于非线性反馈的重复控制策略.首先,在分析LFSPM电机定位力的基础上,通过设计重复控制器对定位力引起的推力波动进行抑制;随后设计非线性反馈控制器,对因摩擦力及参数变化等不确定性因素引起的推力波动进行补偿,同时使逼近误差随周期数的累加而呈现减小的趋势,保证了系统的全局渐近稳定性.最后,通过A&D5435半实物系统搭建了控制模型,实验结果表明,该控制方案有效抑制了因定位力及其他不确定因素引起的推力波动.
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