Low-Speed Control for Permanent-Magnet DC Torque Motor Using Observer-Based Nonlinear Triple-Step Controller

Chu, Hongqing; Gao, Bingzhao; Gu, Wanli; Chen, Hong

doi:10.1109/tie.2016.2598298

Cited by 47 publications

(16 citation statements)

References 37 publications

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“…In [19] two different methods for the identification of the cogging torque in three-phase PM motors are presented, so the cogging torque map carried out from these methods is then used in a field-oriented control (FOC) algorithm to mitigate the ripple in speed and torque. In [20] a reduced order non-linear observer is designed to estimate the cogging torque, and the robustness analysis regarding the uncertainties is given for the proposed non-linear observer. A triple-step non-linear method is applied to derive a speed tracking controller, and then the robustness analysis against considered observation errors and lumped uncertainties is completed.…”

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

“…As in [17][18][19][20][21][22], the majority of the works in literature approaches the cogging torque problem in the context of a speed control system, actually the presence of the cogging behaviour creates more problems in position control loop than in the speed one. This is due to the fact that the wavelike trend is more a problem in applications in which is required a high precision in rotor axis positioning.…”

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

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Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Dini

Saponara

2020

Energies

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The problem of cogging torque is due to a magnetic behavior, intrinsic to synchronous machines and due to the presence of permanent magnets themselves. Cogging torque is a significant problem when the servo drive is used for applications where high precision in terms of position control is required. In this paper we present a method of cogging torque reduction by means of a control technique based on mathematical modeling of the cogging phenomenon itself in order to exploit this knowledge directly in the controller design. The mathematical model is inserted in the dynamic model of the synchronous machine in order to exploit the feedback linearization, providing an expression of the control law in which the contribution of the deterministic knowledge of the phenomenon is directly present. The cogging phenomenon physically depends on the angular position of the rotor, as well as the deterministic model we use to define the control vector. This makes it interesting and innovative to determine whether the control algorithm can be inserted within a sensor-less architecture, where rotor position and angular velocity measurements are not available. For this purpose, we present the use of an extended Kalman filter (EKF) in the continuous-time domain, discussing the advantages of an observer design based on a dynamic motor model in three-phase and direct-square axes. Results are presented through very accurate simulation for a trajectory-tracking problem, completing with variational analysis in terms of variation of initial conditions between EKF and motor dynamics, and in terms of parametric variation to verify the robustness of the proposed algorithm. Moreover, a computational analysis based on Simulink Profiler is proposed, which provides some indication for possible implementation on an embedded platform.

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Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

Section: State-of-art On Cogging Torque Reductionmentioning

confidence: 99%

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Dini

Saponara

2020

Energies

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“…Moreover, high-bandwidth observers are sensitive to measurement noise, parameter uncertainty, quantization error of the feedback signal, etc. A Lyapunov observer-based control technique is implemented in [22]. With respect to the other approaches based on a control algorithm, the nonlinear control proposed by us allows for an offline and deterministic projection of the control laws.…”

Section: Review Of State Of the Art For Cogging Torque Reductionmentioning

confidence: 99%

Cogging Torque Reduction in Brushless Motors by a Nonlinear Control Technique

Dini

Saponara

2019

Energies

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This work addresses the problem of mitigating the effects of the cogging torque in permanent magnet synchronous motors, particularly brushless motors, which is a main issue in precision electric drive applications. In this work, a method for mitigating the effects of the cogging torque is proposed, based on the use of a nonlinear automatic control technique known as feedback linearization that is ideal for underactuated dynamic systems. The aim of this work is to present an alternative to classic solutions based on the physical modification of the electrical machine to try to suppress the natural interaction between the permanent magnets and the teeth of the stator slots. Such modifications of electric machines are often expensive because they require customized procedures, while the proposed method does not require any modification of the electric drive. With respect to other algorithmic-based solutions for cogging torque reduction, the proposed control technique is scalable to different motor parameters, deterministic, and robust, and hence easy to use and verify for safety-critical applications. As an application case example, the work reports the reduction of the oscillations for the angular position control of a permanent magnet synchronous motor vs. classic PI (proportional-integrative) cascaded control. Moreover, the proposed algorithm is suitable to be implemented in low-cost embedded control units.

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“…This may not be acceptable in some applications-in particular for low speed regulation. Thus it is not surprising that there have been a tremendous amount of studies for eliminating the cogging disturbance over the course of several decades [7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

“…More recently, under an assumption that the cogging torque can be expressed by a state-space harmonic representation, an observer using feedback motor velocity has been proposed to obtain more accurate speed regulation [7,8,10]. In the research, from the point of view of disturbance rejection, there exists a plant input disturbance equivalent to the cogging torque.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Rejection of Cogging Torque Disturbance for Permanent Magnet Motors

et al. 2017

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Abstract:In order to prove the speed regulation for permanent magnet motor systems, a control method is proposed to reject the disturbance by cogging torque, which arises from the interaction of the rotor magnets with the steel teeth on the stator. Toward this aim, we present a state observer with an internal model which has harmonics of sinusoids, and it follows from the proposed observer that the information of the cogging disturbance is obtained. It shows that the disturbance is efficiently compensated by a suitable additional control input based on the estimated information. Simulation and experimental results with an actual permanent magnet motor verify the effectiveness of the proposed observer-based algorithm.

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Low-Speed Control for Permanent-Magnet DC Torque Motor Using Observer-Based Nonlinear Triple-Step Controller

Cited by 47 publications

References 37 publications

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Cogging Torque Reduction in Brushless Motors by a Nonlinear Control Technique

Observer-Based Rejection of Cogging Torque Disturbance for Permanent Magnet Motors

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