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Lumped disturbance compensation using extended Kalman filter for permanent magnet linear motor system

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  • Control Theory and Applications
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Abstract

In this paper, an extended Kalman filter is designed and applied to a feed-forward based lumped disturbance compensator which consists of position dependent functions for a permanent magnet linear synchronous motor system. In our previous research, a lumped disturbance model including the force ripple and the Coulomb friction force was developed and utilized as a feed-forward controller. To improve the performance of that model, following two studies are conducted. First, an initial position estimator is designed to create synchronization between the model and real disturbance. This step is necessary because almost all linear motor systems are equipped with an incremental encoder for position measurement. Second, to cancel out a slight variation in real disturbance, an adaptive controller in the form of coefficients adaptation is designed. These two studies are combined by a sixth order extended Kalman filter. To make a comparison, a recursive least squares filter and disturbance observer and its modified version are prepared. The effectiveness of the proposed scheme is verified by the overall disturbance shape, RMS position error and FFT analysis on the position error.

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Authors and Affiliations

  1. School of Mechanical Engineering, KAIST, 291 Daehak-ro (373-1 Guseongdong), Yuseong-gu, Daejeon, 305-701, Korea

    Jonghwa Kim, Kwanghyun Cho & Seibum Choi

Authors
  1. Jonghwa Kim
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  2. Kwanghyun Cho
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  3. Seibum Choi
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Corresponding author

Correspondence to Seibum Choi.

Additional information

Recommended by Associate Editor Xiaojie Su under the direction of Editor Yoshito Ohta. This research was supported by the MSIP (Ministry of Science, ICT&Future Planning), Korea, under the CITRC (Convergence Information Technology Research Center) support program (NIPA-2014-H0401-14-1001) supervised by the NIPA (National IT Industry Promotion Agency) and the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No.2010-0028680).

Jonghwa Kim received his B.S. degree in materials engineering from Hokkaido University, Sapporo, Japan, the M.S. degree in mechanical engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2009. His research interests include control theory and its application.

Kwanghyun Cho received his B.S. degree in electrical engineering form Kyungpook National University, Daegu, Korea, his M.S.and Ph.D. degrees in mechanical engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2014. His research interests include high precision motion control.

Seibum Choi received his B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, an M.S. degree in mechanical engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, and a Ph.D. degree in control from the University of California, Berkeley, CA, USA, in 1993. His research interests include vehicle dynamics and control and fuel-saving technology.

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Kim, J., Cho, K. & Choi, S. Lumped disturbance compensation using extended Kalman filter for permanent magnet linear motor system. Int. J. Control Autom. Syst. 14, 1244–1253 (2016). https://doi.org/10.1007/s12555-014-0400-1

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  • DOI: https://doi.org/10.1007/s12555-014-0400-1

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