Force sensorless control with voice coil motor (VCM) is thought to be challenging because its thrust constant fluctuation characteristic and the flexible flat cable connected to the moving coil degrade the estimation accuracy. Modeling methods of thrust constant fluctuation have been proposed in previous studies. However, these methods were time consuming, easily affected by friction, and did not consider cable disturbance. This article presents an identification and compensation methodology for nonlinear internal disturbances in a VCM to accomplish precise force control with a linear VCM stage. In this article, a novel compensator is constructed on basis of these deterioration mechanisms. To realize the compensator, the deteriorations had to be obtained. To that end, a novel approach to identify the parameter fluctuation and cable restoring force is developed, and the compensator is applied to sensorless force control. The proposed approaches are verified through experiments using the prototype of a linear VCM stage.

中文翻译：

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考虑推力恒定波动和扁平电缆恢复力的干扰抑制精确力控制

音圈电机 (VCM) 的无力传感器控制被认为具有挑战性，因为其推力恒定波动特性和连接到动圈的柔性扁平电缆会降低估计精度。推力恒定波动的建模方法已在先前的研究中提出。但这些方法费时、易受摩擦影响，且未考虑电缆干扰。本文介绍了 VCM 中非线性内部扰动的识别和补偿方法，以通过线性 VCM 级实现精确的力控制。在本文中，基于这些劣化机制构建了一种新型补偿器。为了实现补偿器，必须获得劣化。为此，开发了一种识别参数波动和电缆恢复力的新方法，并将补偿器应用于无传感器力控制。通过使用线性 VCM 级原型的实验验证了所提出的方法。