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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >High-Precision Force Control of Short-Stroke Reluctance Actuators with an Air Gap Observer
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High-Precision Force Control of Short-Stroke Reluctance Actuators with an Air Gap Observer

机译：带气隙观察器的短行程磁阻执行器的高精度力控制

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摘要

A short-stroke reluctance actuator linearization scheme that simultaneously achieves high linearity, high bandwidth, and low stiffness is demonstrated. These properties are required in high speed and high precision motion systems. They are achieved by combining various control schemes, namely flux feedforward and analog sensing coil feedback for high bandwidth, Hall probe feedback to stabilize the drift, and an air gap observer together with gain scheduling to reduce the remaining stiffness. Using the presented scheme, the attractive force of the actuator can be controlled with high precision without the need for a position or force sensor. Experiments indicate that a linearization error of 50 mN for second-order 200 N force reference profiles is obtained. This translates into force predictability of 99.98%. Furthermore, absolute actuator stiffness below 500 N/m at force levels of 100 N is achieved, which is comparable to more linear Lorentz actuators.
机译：演示了一种短行程磁阻致动器线性化方案，该方案同时实现了高线性度，高带宽和低刚度。在高速和高精度运动系统中需要这些属性。它们是通过组合各种控制方案来实现的，即高带宽的通量前馈和模拟感测线圈反馈，稳定漂移的霍尔探头反馈以及气隙观察器以及增益调度以减少剩余的刚度。使用提出的方案，可以高精度地控制致动器的吸引力，而不需要位置或力传感器。实验表明，对于二阶200 N力参考曲线，线性误差为50 mN。这意味着力的可预测性为99.98％。此外，在力为100 N的情况下，执行器的绝对刚度低于500 N / m，这与更线性的Lorentz执行器相当。

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