Mathematical Model to Predict Thrust Ripple in Double Salient Flux-Modulated Linear Permanent for Five-Axis Gantry Robot Under Field Oriented Control

Abstract

This article proposes a detailed mathematical <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dqn</i> axes dynamic modeling of a double saliency flux modulated permanent magnet linear synchronous motor used as the linear actuator for the five-axis gantry robot system to study thrust ripple characteristics. To derive the model, the machine double saliency is considered by analyzing the effect of the cross-coupling inductances into the dynamic voltage equation in <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dqn</i> axes. The electromagnetic performances such as the electromagnetic thrust and the thrust ripple is formulated to check the maximum limit of the thrust ripple at the initial design stage using the derived model. The whole process is validated using 2-D, 3-D finite element analysis, and manufactured prototype under driving conditions.