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Force ripple modeling and suppression in permanent magnet linear synchronous motors

ZHANG Mingchao, YIN Wensheng, ZHU Yu(Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China)  
A force ripple based on velocity and position was developed to study how to suppress force ripples in iron-core linear motors to improve the dynamic and static performance of ultra-precision stages. The harmonic components contained in the force ripple were calculated based on the relationship between the force ripple and trajectory tracking error. A force ripple model was then developed with a feedforward compensator. Tests indicate that this method efficiently reduces force ripples at various velocities. The moving standard deviation of tracking error is reduced to 40% and the steady-state tracking error of the ultra-precision stage is significantly improved.
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