Overview of Thrust Ripple Suppression Technique for Linear Motors

Abstract

Abstract: Direct-drive actuators, linear motors are widely used in many industrial and military applications, particularly in high-end manufacturing due to advantages of high force density, rapid dynamic response, and low thermal losses. Permanent magnet linear synchronous motors (PMLSMs) can dramatically improve the dynamic and static performance of the motion system. However, as one of the most critical sources of error, the thrust ripple of linear motors can deteriorate performance and even excite the mechanical resonance. Thrust ripple suppression technology had received broad interest and has been researched extensively. Therefore, this paper summarizes different types of thrust ripple suppression methods and their principles are analyzed in detail. Firstly, structural optimization methods are introduced to suppress the thrust ripple and increase the precision of the thrust. Secondly, control methods are described to decrease the velocity fluctuation caused by the thrust ripple. Thirdly, a combination of structural design and control method is presented to compensate the ripple, meaning high order harmonic components are eliminated by permanent magnets (PM) skewing technology and low order harmonic are compensated by a linearization observer. Finally, conclusions are made regarding thrust ripple suppression technology and the future trend is proposed.

Key words: Linear motor, thrust ripple, structural optimization, control method

Mingyi Wang, Liyi Li, and Rui Yang. Overview of Thrust Ripple Suppression Technique for Linear Motors[J]. Chinese Journal of Electrical Engineering, 2016, 2(1): 77-84.

References

[1] G. W. McLean, “Review of recent progress in linear motors,” Proc. IEE-B, vol. 135, no. 10, pp. 380-416, Nov. 1988.
[2] R. Hellinger, and P. Mnich, “Linear motor powered transportation history, present status, and future outlook,” Proceedings of the IEEE, vol. 97, no. 11, pp. 1892-1900, Nov. 2009.
[3] L. G. Yan, “The linear motor powered transportation development and application in China,” Proceedings of the IEEE, vol. 97, no. 11, pp. 1872-1880, Nov. 2009.
[4] R. Thornton, M. T. Thompson, B. M. Perreault, and J. R. Fang, “Linear motor powered transportation,” Proceedings of the IEEE, vol. 97, no. 11,pp. 1754-1757, Nov. 2009.
[5] J. R. Fang, D. B. Montgomery, and L. Roderick, “A novel magpipe pipeline transportation system using linear motor drives,” Proceedings of the IEEE, vol. 97, no. 11, pp. 1848- 1855, Nov. 2009.
[6] H. S. Lim, and R. Krishnan, “Ropeless elevator with linear switched reluctance motor drive actuation systems,” IEEE Trans. Ind. Electron., vol. 54, no. 4, pp. 2209-2218, Aug. 2007.
[7] C. T. Liu, and S.Y. Yao, “Electromagnetic field and force analyses of a noncontacting conveyance system for steel mill application,” IEEE Trans. Magn., vol. 38, no. 5, pp. 3318- 3320, Sep. 2002.
[8] C. T. Liu, S. Y. Yao, and S. Y. Lin, “Development of an automatic online gap-detection scheme for levitated industrial steel-plate conveyance system,” IEEE Trans. Ind. Appl., vol. 44, no. 2, pp.517-523, Mar. 2008.
[9] L. Y. Li, M. N. Ma, B. Q. Kou, and Q. Q. Chen, “Analysis and design of moving-magnet-type linear synchronous motor for electromagnetic launch system,” IEEE Trans. Plasma Sci., vol. 39, no. 1, pp. 121-126, Jan. 2011.
[10] B. Q. Kou, L. Y. Li, and C. M. Zhan, “Analysis and optimization of thrust characteristics of tubular linear electromagnetic launcher for space-use,” IEEE Trans. Magn., vol. 45, no. 1, pp.250-255, Jan. 2009.
[11] G. Stumberger, M. T. Aydemir, D. Zarko, and T. A. Lipo, “Design of a linear bulk superconductor magnet synchronous motor for electromagnetic aircraft launch systems,” IEEE Trans. Appl. Superconduct., vol. 14, no. 1, pp.54-62, Mar. 2004.
[12] L. Huang, H. T. Yu, M. Q. Hu, and H. X. Liu, “Study on a long primary flux-switching permanent magnet linear motor for electromagnetic launch systems,” IEEE Trans. Plasma Sci., vol. 41, no. 5, pp.1138-1144, May 2013.
[13] W. C. Gan, and N. C. Cheung. “Development and control of a low-cost linear variable-reluctance motor for precision manufacturing automation,” IEEE/ASME Trans. Mechatronics., vol. 8, no. 3, pp. 326-333, Sep. 2003.
[14] K. S. Low, and M. T. Keck, “Advanced precision linear stage for industrial automation applications,” IEEE Trans. Instrum. Meas., vol. 52, no. 3, pp. 785-789, Jun. 2003. M. Wang et al.: Overview of Thrust Ripple Suppression Technique for Linear Motors 83
[15] R. B. Owen, M. Maggiore, and J. Apkarian. “A highprecision, magnetically levitated positioning stage: toward contactless actuation for industrial manufacturing,” IEEE Contr. Syst., vol. 26, no. 3, pp. 82-95, Jun. 2006.
[16] C. M. M. van Lierop, J. W. Jansen, A. A. H. Damen, and P. P. J. van den Bosch, “Model-based commutation of a longstroke magnetically levitated linear actuator,” IEEE Trans. Ind. Appl., vol. 45, no. 6, pp.1982-1990, Nov. 2009.
[17] X. L. Li, R. Du, B. Denkena, and J. Imiela, “Tool breakage monitoring using motor current signals for machine tools with linear motors,” IEEE Trans. Ind. Electron., vol. 52, no. 5, pp. 1403-1408, Oct. 2005.
[18] M. Galea, G. Buticchi, L. Empringham, and L. de Lillo, “Design of a high-force-density tubular motor,” IEEE Trans. Ind. Appl., vol. 50, no. 4, pp.2523-2532, Jul. 2014.
[19] F. J. Lin, J. C. Hwang, P. H. Chou, and Y. C. Hung, “FPGAbased intelligent-complementary sliding-mode control for PMLSM servo-drive system,” IEEE Trans. Power Electron., vol. 25, no. 10, pp.2573-2587, Oct. 2010.
[20] Y. S. Kung, C. C. Huang, and M. H. Tsai, “FPGA realization of an adaptive fuzzy controller for PMLSM drive,” IEEE Trans. Ind. Electron., vol. 56, no. 8, pp. 2923- 2932, Aug. 2009.
[21] L. Bascetta, P. Rocco, and G. Magnani, “Force ripple compensation in linear motors based on closed-loop positiondependent identification,” IEEE/ASME Trans. Mechatronics., vol. 15, no. 3, pp. 349-359, Jun. 2010.
[22] I. S. Jung, S. B. Yoon, J. H. Shim, and D. S. Hyun, “Analysis of forces in a short primary type and a short secondary type permanent magnet linear synchronous motor,” IEEE Trans. Energy Convers., vol. 14, no. 4, pp. 1265-1270, Dec. 1999.
[23] Y. W. Zhu, D. H. Koo, Y. H. Cho, “Detent force minimization of permanent magnet linear synchronous motor by means of two different methods,” IEEE Trans. Magn., vol. 44, no. 11, pp.4345-4348, Nov. 2008.
[24] Y. W. Zhu, S. M. Jin, K. S. Chung, and Y. H. Cho, “Control-based reduction of detent force for permanent magnet linear synchronous motor,” IEEE Trans. Magn., vol. 45, no. 6, pp.2827-2830, Jun. 2009.
[25] S. M. Jang, S. H. Lee, and I. K. Yoon, “Design criteria for detent force reduction of permanent-magnet linear synchronous motors with Halbach array,” IEEE Trans. Magn., vol. 38, no. 5, pp.3261-3263, Sep. 2002.
[26] Y. W. Zhu, S. G. Lee, K. S. Chung, and Y. H. Cho, “Investigation of auxiliary poles design criteria on reduction of end effect of detent force for PMLSM,”IEEE Trans. Magn., vol. 45, no. 6, pp.2863-2866,Jun. 2009.
[27] W. C. Gan, and L. Qiu, “Torque and velocity ripple elimination of AC permanent magnet motor control systems using the internal model principle,” IEEE/ASME Trans. Mechatronics., vol. 9, no. 2, pp. 436-447, Jun. 2004.
[28] B. Sencer, and E. Shamoto, “Effective torque ripple compensation in feed drive systems based on the adaptive sliding-mode controller,” IEEE/ASME Trans. Mechatronics., vol. 19, no. 6, pp. 1764-1772, Dec. 2014.
[29] J. Wang, W. C. Gan, and L. Qiu, “A gain scheduled controller for sinusoidal ripple elimination of ACPM motor systems”, in Proc. IEEE Med. Conf. Control Autom., 2007, pp. 1-6.
[30] C. G. Jeans, R. J. Cruise, and C. F. Landy, “Methods of detent force reduction in linear synchronous motors,” in Proc. IMEDC, 1999, pp.437-439.
[31] I. S. Jung, J. Hur, and D. S. Hyun, “Performance analysis of skewed PM linear synchronous motor according to various design parameters,” IEEE Trans. Magn., vol. 37, no. 5, pp.3653-3657, Sep. 2001.
[32] J. J. Cai, Q. F. Lu, X. Y. Huang, and Y. Y. Ye, “Thrust ripple of a permanent magnet LSM with step skewed magnets,” IEEE Trans. Magn., vol. 48, no. 11, pp.4666-4669, Nov. 2012.
[33] J. Lee, H. W. Lee, Y. D. Chun, and M. Sunwoo, “The performance prediction of controlled-PMLSM in various design schemes by FEM,” IEEE Trans. Magn., vol. 36, no. 4, pp. 1902-1905, Jul. 2000.
[34] N. Bianchi, S. Bolognani, and A.D.F. Cappello, “Reduction of cogging force in PM linear motors by pole-shifting,” IEE Proc. Electr. Power Appl., vol. 152, no. 3, pp. 703-709, May. 2005.
[35] S. G. Lee, S. A. Kim, S. Saha,Y. W. Zhu, and Y. H. Cho, “Optimal structure design for minimizing detent force of PMLSM for a ropeless elevator,” IEEE Trans. Magn., vol. 50, no. 1, pp. 4001104, Jan. 2014.
[36] C. Y. Liu, H. T. Yu, M. Q. Hu,Q. Liu, and S. G. Zhou, “Detent force reduction in permanent magnet tubular linear generator for direct-driver wave energy conversion,” IEEE Trans. Magn., vol. 49, no. 5, pp.1913-1916, May. 2013.
[37] H. Zhang, B. Q. Kou, Y. X. Jin, and H. L. Zhang, “Investigation of auxiliary poles optimal design on reduction of end effect detent force for PMLSM with typical slot-pole combinations,” IEEE Trans. Magn., vol. 51, no. 11, pp. 8203904, Nov. 2015.
[38] M. Inoue, K. Sato, “An approach to a suitable stator length for minimizing the detent force of permanent magnet linear synchronous motors,” IEEE Trans. Magn., vol. 36, no. 4, pp.1890-1893, Jul. 2000.
[39] Y. T. Xue, J. Z. Fu, and Z. C. Chen, “Thrust ripple optimization and experiment for PMLSM,” Proceedings of CSEE, vol. 25, no. 12, pp. 122-126, Jun. 2005.
[40] K. L. Pan, J. Z. Fu, and Z. C. Chen, “Detent force analysis and reduction of PMLSM,” Proceedings of CSEE, vol. 24, no. 4, pp. 112-115,Apr. 2004.
[41] Y. W. Zhu, and Y. H. Cho, “Thrust ripples suppression of permanent magnet linear synchronous motor,” IEEE Trans. Magn., vol. 43, no. 6, pp.2537-2539, Jun. 2007.
[42] J. Wang, M. Inoue, Y. Amara, and D. Howe. “Coggingforce- reduction techniques for linear permanent-magnet machines,” IEE Proc. Electr. Power Appl., vol. 152, no. 3, pp. 731-738, May. 2005.
[43] K. C. Lim, J. K. Woo, G. H. Kang, J. P. Hong, and G. T. Kim, “Detent force minimization techniques in permanent magnet linear synchronous motors,” IEEE Trans. Magn., vol. 38, no. 2, pp. 1157-1160, Mar. 2002.
[44] H. H. Luo, J. Wu, and W. S. Chang, “Minimizing thrust fluctuation in moving-magnet permanent-magnet brushless linear DC motors,” IEEE Trans. Magn., vol. 43, no. 5, pp.1968-1972, May. 2007.
[45] H. Wang, Z. J. Zhang, and C. Y. Liu, “Detent force analysis and experiment for permanent magnet linear synchronous motor,” Proceedings of the CSEE, vol. 30, no. 15, pp. 58-63, May. 2010.
[46] B. Q. Kou, H. X. Wu, L. Y. Li, and L. L. Zhang, “The thrust characteristics investigation of double-side plate permanent magnet linear synchronous motor for EML,”IEEE Trans. Magn., vol. 45, no. 1, pp.501-505, Jan. 2009.
[47] N. M. Kimoulakis, A. G. Kladas, and J. A. Tegopoulos, “Cogging force minimization in a coupled permanent magnet linear generator for sea wave energy extraction applications,” IEEE Trans. Magn., vol.45, no. 3, pp.1246- 1249, Mar. 2009.
[48] N. R. Tavana, and A. Shoulaie. “Pole-shape optimization of permanent-magnet linear synchronous motor for reduction of thrust ripple,” Energy Convers. Manage., vol. 52, pp. 349- 354, Jul. 2011.
[49] K. Sato, “Thrust ripple reduction in ultrahigh-acceleration moving-permanent-magnet linear synchronous motor,” IEEE Trans. Magn., vol. 48, no. 12, pp.4866-4873, Dec. 2012.
[50] P. van den Braembussche, J. Swevers, H. van Brussel,and P. Vanherck, “Accurate tracking control of linear synchronous motor machine tool axes,” Mechatronics, vol. 6, no. 5, pp. 507-521, 1996.
[51] S. Zhao, and K. K. Tan, “Adaptive feedforward compensation of force ripples in linear motors,” Control Eng. Practice, vol. 13, pp. 1081-1092, 2005.
[52] J. J. Liu, and Y. P. Yang, “Frequency adaptive control technique for rejecting periodic runout,” Control Eng. Practice, vol. 12, pp. 31-40, 2004.
[53] Y. A. R. I. Mohamed, and E. F. EI-Saadany, “A current control scheme with an adaptive internal model for torque ripple minimization and robust current regulation in PMSM drive systems,” IEEE Trans. Energy Convers., vol. 23, no. 1, pp.92-100, Mar. 2008.
[54] W. J. Shi., and D. C. Zhang, “Adaptive robust control of linear motor with ripple force compensation,” in 3rd PACCCS, pp. 1-4, 2011.
[55] A. Baratam, A. M. Karlapudy, and S. Munagala, “Implementation of thrust ripple reduction for a permanent magnet linear synchronous motor using an adaptive feed forward controller,” J. Power Electron., vol. 14, no. 4, pp. 687-694, Jul. 2014.
[56] B. Yao, C. X. Hu, L. Lu, and Q. F. Wang, “Adaptive robust precision motion control of a high-speed industrial gantry with cogging force compensations,” IEEE Trans. Control Syst. Technol., vol. 19, no. 5, pp.1149-1159, Sep. 2011.
[57] K. Cho, J. Kim, S. B. Choi, and S. Oh, “A high-precision motion control based on a periodic adaptive disturbance observer in a PMLSM,”IEEE/ASME Trans. Mechatronics., vol. 20, no. 5, pp. 2458-2471, Oct. 2015.
[58] K. Cho, H. Park, S. Choi, and S. Oh, “Precision motion control based on a periodic adaptive disturbance observer,” in Proc. 38th Annu. Conf. IEEE Ind. Electron. Soc., pp. 3832-3837, 2012.
[59] K. Cho, J. Kim, H. Park, and S. Choi, “Periodic adaptive disturbance observer for a permanent magnet linear synchronous motor,” in Proc. IEEE 51st Annu. Conf. Decision Control, pp. 4684-4689, 2012.
[60] C. S. Ting, and Y. N. Chang, “Observer-based backstepping control of linear stepping motor,” Control Eng. Practice, vol. 21, pp. 930-939, 2013.
[61] T. S. Hwang, J. K. Seok, and D. H. Kim, “Active damping control of linear hybrid stepping motor for cogging force compensation,” IEEE Trans. Magn., vol. 42, no. 2, pp. 329-334, Feb. 2006.
[62] T. S. Hwang, and J. K. Seok, “Observer-based ripple force compensation for linear hybrid stepping motor drives,” IEEE Trans. Ind. Electron., vol. 54, no. 5, pp. 2417-2424, Oct. 2007.
[63] Y. M. Li, and Q. S. Xu, “Design and robust repetitive control of a new parallel-kinematic XY piezostage for micro/nanomanipulation,” IEEE/ASME Trans. Mechatronics, vol.17, no. 6, pp. 1120-1132, Dec. 2012.
[64] S. L. Chen, and T. H. Hsieh, “Repetitive control design and implementation for linear motor machine tool,” Int. J. Mach. Tools Manuf., vol. 47, pp. 1807-1816, 2007.
[65] J. B. Zou, J. J. Li, Y. X. Xu, Y. and Y. Wei, “Repetitive controller for suppression of the speed fluctuation in PMSM used for deep-sea plunger pump,” Trans. China Electrotechnical Society, vol. 26, no. 6, pp. 46-50, Jun. 2011.
[66] S. Hara, Y. Yamamoto, T. Omata, and M. Nakano, “Repetitive control system: a new type servo system for periodic exogenous signals,” IEEE Trans. Automat. Contr., vol. 30, no. 7, pp. 659-668, Jul. 1988.
[67] G. Pipeleers, B. Demeulenaere, J. D. Schutter, and J. Swevers, “Robust high-order repetitive control: optimal performance trade-offs,” Automatica, vol. 44, pp. 2628-2634, 2008.
[68] M. Steinbucha, S. Weiland, and T. Singh, “Design of noise and period-time robust high-order repetitive control, with application to optical storage,” Automatica, vol. 43, pp. 2086-2095, 2007.
[69] J. B. Chu, Y. W. Hu, W. X. Huang, and J. F. Yang, “Suppressing speed ripples of permanent magnetic synchronous motor based on a method,” Trans. China Electrotechnical Society, vol. 24, no. 12, pp. 43-49, Dec. 2009.
[70] P. Mattavelli, L. Tubiana, and M. Zigliotto, “Torque-ripple reduction in PM synchronous motor drives using repetitive current control,” IEEE Trans. Power Electron., vol. 20, no. 6, pp. 1423-1431, Nov. 2005.
[71] T.H. Leea, K. K. Tana, S.Y. Limb, and H. F. Dou, “Iterative learning control of permanent magnet linear motor with relay automatic tuning,” Mechatronics, vol. 10, pp. 169-190, 2000.
[72] K. K. Tan, H. F. Dou, Y. Q. Chen, and T. H. Lee, “High precision linear motor control viarelay-tuning and iterative learning based onzero-phase filtering,” IEEE Trans. Control Syst. Technol., vol. 9, no. 2, pp.244-253, Mar. 2001.
[73] W. Z. Qian, S. K. Panda, and J. X. Xu, “Torque ripple minimization in PM synchronous motors using iterative learning control,” IEEE Trans. Power Electron., vol. 19, no. 2, pp. 272-279, Mar. 2004.
[74] M. Y. Wang, L. Y. Li, and D. H. Pan, “Detent force compensation for PMLSM systems based on structural design and control method combination,” IEEE Trans. Ind. Electron., vol. 62, no. 11, pp.6845-6854, Nov. 2015.