Reducing the Cogging Torque Effects in Hybrid Stepper Machines by Means of Resonant Controllers

Arias, A.; Caum, Jesús; Ibarra, Edorta; Griñó, Robert

doi:10.1109/tie.2018.2844786

Cited by 27 publications

(8 citation statements)

References 39 publications

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“…This work instead iteratively optimizes the physical system as a single black box, without limiting the correction to known and modelled characteristics. Torque variations are recognized as a source of noise and vibration [4] among other electromagnetic characteristics of a motor [6], [8] but gaps still remain in the modelling as in [1]. A source of torque variation is angular position accuracy.…”

Section: Waveform Optimizationmentioning

confidence: 99%

“…Instead of requiring precision sensors [2], [4] this work uses a contact microphone to measure vibration of the system in operation. Making the measurement in situ enables optimization under the dynamics of the final system.…”

Section: Waveform Optimizationmentioning

confidence: 99%

“…If not compensated, when placed inside a closed loop controller these variations create resonances. Control systems compensating these resonances in an outer loop have been developed [4], [7] without addressing the causes of the torque variations. As significant vibration energy is harmonically related to the drive frequency, improved drive waveforms can be found that reduce vibration.…”

Section: Introductionmentioning

confidence: 99%

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Reducing Position Errors by Vibration Optimization of Stepper Motor Drive Waveforms

Pillans

2021

IEEE Trans. Ind. Electron.

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Open loop control of stepper motors reduces system cost and complexity for positioning systems. To produce a precise current waveform, a novel open loop control implementation of a hysteresis current controller (HCC) is presented and compared to the existing pulse width modulation (PWM) method. The new method extends the resolution available for a given sampling rate, allowing finer control of the motor current. Applications for precision positioning minimize external disturbances but a real, nonideal, motor introduces vibration and non-uniform motion. Microstepping of the drive waveform approximates a continuous motion to reduce these effects but they are not fully modelled or understood. The proposed current controller is assembled with a hybrid stepper motor to verify the method experimentally. A differential evolution (DE) optimizer is applied with the complete physical system in the loop. To measure vibration, a low cost contact microphone is used, eliminating the requirement for expensive rotational sensors. This method is shown to reduce vibration across different speeds. Comparing the microstep positions of a standard sinusoidal waveform and the waveform optimized to reduce vibration, an improvement in position accuracy is also found.

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Section: Waveform Optimizationmentioning

confidence: 99%

Section: Waveform Optimizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Reducing Position Errors by Vibration Optimization of Stepper Motor Drive Waveforms

Pillans

2021

IEEE Trans. Ind. Electron.

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“…In [8], a valid cogging reduction solution has been proposed through the application of the model predictive control (MPC) technique, which is based on solving optimal problems in an iterative manner, which in addition to being computationally heavy, is linked to the knowledge of the model. In recent papers, the use of resonant controllers has been also proposed for the control of PMSMs, such as in [10][11][12].…”

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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“…Relevant contributions in literature when mechanical quantities are measured can be found in [3], which compares adaptive learning and repetitive learning controls for position reference profiles that are periodic signals with known period, whereas [4] proposes the minimization of the cogging torque and [5] addresses the position-tracking problem. The purpose of this paper is to analyze the performance of FOC, sliding mode control (SMC) adopted in [6] for a PMSM using a sign function which guarantees the stability and induces a sliding motion on the surface, deadbeat predictive current control (DPCC), used in [7] for a permanent magnet synchronous machine and extended as Dahlin controller in [8], and model predictive control (MPC), used in [9] with its finite control set model predictive control (FCS-MPC) variant.…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of Current Control Strategies for Hybrid Stepper Motors

Bernardi

Carfagna

Migliazza

et al. 2022

IEEE Open J. Ind. Electron. Soc.

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Hybrid stepper motors are widespread in industrial automation due to their robustness and high torque performance in low speed range, e.g. 3D printers, pick and place, and generally in many low power positioning applications. In order to increase the efficiency and dynamic performance, current/speed/position closed loop controls are implemented for high performance sensored stepper drives. The main challenge comes from the high number of magnetic poles which these motors feature, increasing the ratio between the fundamental and switching frequency. This paper critically evaluates four current control structures based field oriented control: classic PI regulators, sliding mode control, deadbeat predictive current control and model predictive current control. Simulations and experimental results aim to evaluate the dynamic performance, phase current amplitude and distortion in order to support the critical comparison.

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Reducing the Cogging Torque Effects in Hybrid Stepper Machines by Means of Resonant Controllers

Abstract: Aquesta és una còpia de la versió author's final draft d'un article publicat a la revista [IEEE transactions on industrial electronics].

Cited by 27 publications

References 39 publications

Reducing Position Errors by Vibration Optimization of Stepper Motor Drive Waveforms

Reducing Position Errors by Vibration Optimization of Stepper Motor Drive Waveforms

Cogging Torque Reduction in Brushless Motors by a Nonlinear Control Technique

Performance Analysis of Current Control Strategies for Hybrid Stepper Motors

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