Auxiliary Model Compensated RESO-Based Proportional Resonant Thrust Ripple Suppression for PMLSM Drives

Permanent magnet linear synchronous motor (PMLSM) drives suffer from serious thrust ripples caused by the end force, the cogging force, the friction force, etc. The thrust ripple seriously deteriorates the control performance, greatly limits the application, and has become the biggest disadvantage of PMLSM drives. In order to attenuate the complicated thrust ripples and improve the control performance, an auxiliary model compensated resonant extended state observer (AMC-RESO)-based proportional resonant (PR) thrust ripple suppression method is proposed in this article. The detent force, the dominant component of the thrust ripples, is preliminarily suppressed by a PR controller. On this basis, the residual thrust ripples are further estimated and compensated by incorporating the auxiliary model into a RESO. Therefore, the complicated thrust ripples including the dominant detent force and the residual disturbances are minimized to the greatest extent possible. The stability and parameter tuning of the proposed suppression method are also analyzed theoretically. Comparative experiments are carried out on a 750-W PMLSM drive to verify the effectiveness of the proposed AMC-RESO-based PR thrust ripple suppression method.