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Robust Position Controller Design for High-precision Permanent Magnet Linear Synchronous Motor

Guo Qingding Zhou Yue Guo Wei (Shenyang Polytechnic University)  
This paper presents a robust position controller for a high-precision micro-feed fermanent magnet linear synchronous motor(PMLSM) servo system. At first, the nonlinear friction factor model is achieved through a stationary experiment, the friction compensator is fed forward to compensate nonlinear friction. Then, the mass, viscous frictional factor and disturbance force are estimated by the proposed estimator, composed of a recursive least-square (RLS) estimator and a disturbance observer. IP position controller is designed to match tracking specifications and suppression disturbance. The observed disturbance force is fed forward to increase the robustness of the system.
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