Linear motor acceleration estimation method based on grating signals

LI Zhijun; LIU Chengying; MENG Fanwei; ZHOU Kai; ZHANG Zhi

doi:10.16511/j.cnki.qhdxxb.2015.21.008

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Journal of Tsinghua University(Science and Technology) ›› 2015, Vol. 55 ›› Issue (11) : 1258-1263. DOI: 10.16511/j.cnki.qhdxxb.2015.21.008

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Linear motor acceleration estimation method based on grating signals

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Abstract

The performance of linear motor servo systems is greatly degraded by disturbances such as the cutting force, cogging force, and inertia variations. Acceleration control can effectively suppress disturbances, but such control requires accurate acceleration estimates with less phase lag. Optical encoders are widely used for position measurements in linear motor systems, so the acceleration can be easily estimated from the quantized positions. An acceleration estimation method is given here based on the constrained least squares polynomial fitting technique. The curve fitting is based on a least squares analysis of the historical position of the linear motor with the latest position of the linear motor on the resulting curve fit. Theoretical analyses and simulations both confirm that this method has less phase lag than the normal least squares polynomial fitting technique. This method works like a finite impulse response(FIR) filter for the acceleration estimate, which is convenient for real time control systems.

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linear motor / acceleration control / acceleration estimation / constrained least square method

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LI Zhijun, LIU Chengying, MENG Fanwei, ZHOU Kai, ZHANG Zhi. Linear motor acceleration estimation method based on grating signals[J]. Journal of Tsinghua University(Science and Technology). 2015, 55(11): 1258-1263 https://doi.org/10.16511/j.cnki.qhdxxb.2015.21.008

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