Nonlinear electromagnetic force analysis and compensation control of electromagnetic linear actuator

Nonlinear electromagnetic force is a common phenomenon in electromagnetic linear actuators (EMLA). This nonlinearity limits the application in high-precision control systems. For facilitating the controller design, the influencing factors of nonlinear electromagnetic force were analyzed, and the quadratic polynomial with unknown weights was designed to approximate the nonlinear relationship among electromagnetic force, excitation current and displacement. An adaptive integral robust control algorithm based on electromagnetic force compensation (AIRC-FC) was designed, which combined the adaptive control law of electromagnetic force nonlinear compensation, stable feedback and error signal continuous integral robust control. The tracking performance and the adaptability of the EMLA with and without compensation control were analyzed under different loads. The results show that AIRC-FC improve the tracking performance of the EMLA effectively, and maintain high control accuracy under different loads.