Abstract
Through the structural optimisation, the Halbach array-linear vernier permanent magnet machine (H-LVPMM) offers a higher force with extremely low ripple. However, thrust force ripple is minimised rather than eliminated and it reduces the precision of the control system. The thrust force ripple includes cogging force, end force and electromagnetic thrust ripple. Since the structural optimisation makes three phases balanced, the electromagnetic thrust ripple can be ignored. Here, a disturbance observer is proposed to observe and compensate the thrust force ripple by injecting the correspondent harmonic current into the closed-loop controller in a feedforward method. It leads to second, fourth and sixth harmonic components in the q-axis current. The closed-loop current control with vector proportional and integral (VPI) regulator is applied to guarantee the current tracking accuracy of the harmonic components. Parameters are optimised according to the thrust force ripple harmonics and the open-loop Bode diagram. The impact of thrust ripple is eliminated by the proposed control method. Experimental results show the validity of the disturbance observer and the VPI current controller.
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