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Aiming at the problem that the anti-disturbance ability of PMLSM is decreased due to force ripple, an improved method based on incremental Kalman filter is proposed to compensate force ripple. First, the state space expression of PMLSM is established, and the incremental Kalman filter is designed accordingly. Compared with the traditional Kalman filter, the calculation amount is obviously reduced with good observation performance. Second, the data of force ripple observed online is used to compensate the feedforward current. Finally, The relevant experiments including the force ripple data collection, observation and compensation and the comparison of observer calculation time are carried out. The experimental results show that the compensation results of the proposed method can effectively improve the running stability of PMLSM.

PMLSM， force ripple， incremental kalman filter，current compensation