Abstract
This paper puts forward a new load estimation method in time domain for PMLM servo loop tuning. This method takes advantage of the symmetry of cogging force distribution and identifies the friction force in constant velocity phase. Experiments have been carried out on a PMLM actuated vibration stage to validate the method. It’s discovered that it’s better to take an average of two estimations as the true value with movement range by 0.25 pitch’s difference so that cogging effect could be eliminated. Moreover, movement range is better to be greater than 1 pitch. Motor force constant should be calibrated according to its actual output.
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