Abstract
Although active magnetic guides (AMG) can obtain an infinite static stiffness and high damping using sophisticated multi-degree-of-freedom control, still a non-negligible dynamic compliance is inherent. This is especially true when high controller gains cannot be achieved due to spill over effects. Several approaches are known to overcome this problem, repetitive control and frequency estimation being two of them. Both have drawbacks concerning flexibility, robustness and compensation quality. This paper proposes a smart frequency identification and compensation scheduling algorithm along with tracking compensation oscillators to cancel arbitrary periodic disturbances. The proposed algorithm has been implemented and tested on an AMG. The introduced smartness provides a very robust behavior and leads to an infinite steady state stiffness.
