A New Linear Motor Force Ripple Compensation Method Based on Inverse Model Iterative Learning and Robust Disturbance Observer

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Methods</td><td class="align_center" rowspan="2">IMILC-RDOB</td><td class="align_center" rowspan="2">IMILC</td><td class="align_center" rowspan="2">DOB</td></tr><tr class="thead"><td class="align_left">Indexes</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Maximum tracking error (<i>μ</i>m)</td><td class="align_center">0.30</td><td class="align_center">0.45</td><td class="align_center">6.75</td></tr><tr><td class="align_left">MA (<i>μ</i>m)</td><td class="align_center">0.0265</td><td class="align_center">0.2482</td><td class="align_center">3.2891</td></tr><tr><td class="align_left">MSD (<i>μ</i>m)</td><td class="align_center">0.1497</td><td class="align_center">0.2493</td><td class="align_center">3.1724</td></tr><tr><td class="align_left">Settling time (ms)</td><td class="align_center">10.4</td><td class="align_center">58.8</td><td class="align_center">0.2</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Performance in uniform velocity section of the three compensation methods.</div>

Complexity

tab5

Table 5

Table 5: A New Linear Motor Force Ripple Compensation Method Based on Inverse Model Iterative Learning and Robust Disturbance Observer 