Adaptive robust control for electromagnetic linear actuator with improved LuGre model

In order to improve the tracking performance and disturbances rejection capability of electromagnetic linear actuators under dynamic friction, an adaptive robust control method with improved LuGre model is proposed. The dynamic model of high power density electromagnetic linear actuator with the improved LuGre dynamic friction model was established. The nonlinear observer was used to estimate the unmeasured internal state of the dynamic friction model, and the parameter adaptive was used to reduce the influence of parameter uncertainty. An adaptive robust control method combining friction compensation adaptive control law, stable feedback and robust control was designed. The stability of the proposed control system was proved. The influence law of control parameters on performance was researched based on pearson correlation coefficient. The motion control performance and disturbance rejection ability of e-lectromagnetic linear actuators under different control algorithms were compared and analyzed. Simulation and test results show that the nonlinear gain kai and ks2 are the key parameters affecting the control performance. The proposed control method effectively overcomes the influence of nonlinear friction, system parameter uncertainty and disturbance, with higher control accuracy and faster response comparing with PID control and robust control. © 2022 Editorial Department of Electric Machines and Control. All rights reserved.