Modeling, identification, and compensation of pulsating torque in permanent magnet AC motors

Ferretti, Gianni; Magnani, G.; Rocco, Paolo

doi:10.1109/41.735335

Cited by 85 publications

(39 citation statements)

References 11 publications

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“…This class of noise signals has been studied and modeled in the last twenty years (see [1], [2], [3]). Effective compensation strategies have been proposed or introduced, either in the form of closed-loop adaptive control or in the form of predictive feed-forward compensation.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control techniques and feed forward compensation of periodic disturbances in industrial manipulators

Bottero

Gerio

Perna

et al. 2014

2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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This paper considers the compensation for periodic torque disturbances, characteristic of electrical permanent magnet motors. These disturbances are sinusoidal with known but rapidly varying frequencies. The compensation is obtained as a two stage adaptive controller. The final compensator is obtained as a pure predictive feed forward compensation that includes an internal model of the disturbance. The disturbance's internal model identification is obtained applying a closed loop, adaptive feed forward control algorithm. The stability and robustness properties of the overall adaptive compensation technique are validated by experimental tests on industrial manipulators.

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Section: Introductionmentioning

confidence: 99%

Adaptive control techniques and feed forward compensation of periodic disturbances in industrial manipulators

Bottero

Gerio

Perna

et al. 2014

2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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“…Mattavelli, Tubiana, and Zigliotto (2005) propose the application of repetitive techniques to the current control in a field-oriented PMSM drive, where the q-axis current reference has been modified to achieve constant torque. Ferretti, Magnani, and Rocco (1998) present a compact model of the pulsating torque in a PMSM. An offline identification is proposed for the pulsating torque, to be used for suppressing the oscillations.…”

Section: Introductionmentioning

confidence: 99%

“…An offline identification is proposed for the pulsating torque, to be used for suppressing the oscillations. In Ferretti, Magnani, and Rocco (1999), the technique of Ferretti et al (1998) is extended to cope with variable motor speed using an adaptive compensator. Degobert et al (2006), Ruderman, Ruderman, and Bertram (2013) and also Yepes et al (2010) propose controllers that eliminate ripples of the mutual torque, using an IMP-based controller whose resonant frequencies are adjusted online according to the motor velocity.…”

Section: Introductionmentioning

confidence: 99%

Adaptive internal model-based suppression of torque ripple in brushless DC motor drives

Mandel¹

2015

Systems Science & Control Engineering

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Permanent-magnet synchronous motors (PMSMs) are widely used as high-performance variable-speed drives. Ripple in the electric torque of such motors is often a source of vibration and tracking errors, especially at low speeds. We study the torque characteristics of PMSMs and propose a method to minimize the torque ripple. First, we establish a detailed model for the motor and present a Fourier analysis of the torque ripple, caused by the non-sinusoidal back electro-motive force (BEMF) and the cogging torque, where the main conclusion is that the frequencies present in the torque disturbance are integer multiples of six times the electric frequency. The resulting model is highly nonlinear. We propose an adaptive controller based on the internal model principle, where the resonant frequencies of the controller and the associated gains change according to the motor speed. This is achieved by replacing the time variable by the motor angle, which simplifies the nonlinear model. Our approach is passivity based and will work also for complex mechanical loads and several resonant frequencies. Simulation and experimental results are given to verify the new controller. We compare the performance of our adaptive algorithm with the well-known one from [Canudas de Wit, C., & Praly, L. (2000). Adaptive eccentricity compensation. IEEE Trans. Control Syst. Technol. 8,[757][758][759][760][761][762][763][764][765][766]. We find that it performs similarly in simple configurations, and it works also when the motor is part of a more complex system, for example, when the motor is connected to a load via a very flexible shaft.

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“…In [4] a model of friction in harmonic drives as a function of wave generator position and a model of motor torque ripple as a function of the rotor position [17], [18] Basically, the speed responses exhibit the dynamics of a first order system with superposition of oscillations. The Fourier spectra of the speed plots reveal harmonics whose frequencies are proportional to the motor speed: these harmonics can be ascribed to the motor and gearbox induced torque ripple.…”

Section: Introductionmentioning

confidence: 99%

On the use of Torque Disturbance Observers in 2-mass systems with application to a robotic joint

Magnani

Rocco

Bascetta

et al. 2013

2013 IEEE International Conference on Mechatronics (ICM)

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Two-mass systems with elastic behaviour have long been studied to provide solutions for vibration suppression. Imperfections in the torque delivered by the commonly adopted brushless motor, as well as pulsating disturbances originating in the transmission system (e.g. in the gearbox), generate disturbances on the motor side that can compromise the overall performance of the system. Torque Disturbance Observer (TDO) is a quite effective method to estimate and then compensate for such disturbances, but the application to an elastic system can yield loss of performance on the load side, as discussed in the present paper. Making reference to a joint of the space robotic arm DEXARM, endowed with a measurement of the transmittion torque, a modified TDO system is then proposed. Experimental validation of the modified TDO scheme performed on the DEXARM joint is finally discussed

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Modeling, identification, and compensation of pulsating torque in permanent magnet AC motors

Cited by 85 publications

References 11 publications

Adaptive control techniques and feed forward compensation of periodic disturbances in industrial manipulators

Adaptive control techniques and feed forward compensation of periodic disturbances in industrial manipulators

Adaptive internal model-based suppression of torque ripple in brushless DC motor drives

On the use of Torque Disturbance Observers in 2-mass systems with application to a robotic joint

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