Identification and compensation of friction and force ripple in PMSLM based on the time-domain analysis of relay feedback

This study aims to propose a novel identification method to accurately estimate linear and nonlinear dynamics in permanent magnet synchronous linear motor (PMSLM) based on the time-domain analysis of relay feedback.

A mathematical model of the PMSLM-based servo-mechanical system was first established, incorporating the aforementioned nonlinearities. The model’s velocity response was derived by analyzing its behavior as a first-order system under arbitrary input. To induce oscillatory dynamics, an ideal relay with artificially introduced dead-time components was then integrated into the servo-mechanism. Depending on the oscillations and the time-domain analysis, nonlinear formulas were deduced according to the velocity response of the servo-mechanism. Afterwards, the unknown model parameterscan be solved onaccount of the cost function which utilizes the discrepancy between nominal position characteristics and temporary position characteristics, both of which are extracted from the oscillations. The proposed recognition method was validated through a two-stage process: (1) numerical simulation and calculation, followed by (2) real-time experimental verification on a direct-drive servo platform. Subsequently, leveraging the identification results, a novel control strategy was developed and its tracking performance was benchmarked against conventional control schemes.

Simulation results demonstrate that the proposed method achieves estimation accuracy within 8%. Building on this, a novel control strategy is developed by incorporating both friction pulsation and force pulsation identification results into the feedforward compensator. Comparative experiments reveal that this strategy significantly enhances tracking and positioning performance over traditional control schemes. In a word, this new identification method can be used in different process control and servo control systems. Moreover, parameter auto-tuning, feed forward compensation or disturbance observer can be investigated based on the obtained information to improve the system stability and control accuracy.

It is of great significance for the performance improvement of rail transit motor control equipment, such as electro-mechanical braking systems. By enhancing the efficiency of motor control, the performance of the product will be more outstanding.