Sensorless Low Speed PMSM Motor Control with Cogging Torque Compensation

Guziński, Jarosław; Morawiec, Marcin; Krzemiński, Zbigniew; Łuksza, Krzysztof; Strankowski, Patryk; Kouzou, Abdellah

doi:10.1109/sgre46976.2019.9021019

Cited by 4 publications

(1 citation statement)

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“…The authors in [27] used an interesting three-step procedure: first, the series self-inductance area difference method, in consideration of cogging torque produced by a field current, is adopted for identifying the initial position; second, the current pulse injection technique in the commutation point is proposed to detect the commutation moment at low speed; third, the terminal voltages are considered as vectors with a fixed phase difference, and the composed vector is rotated with varying rotor positions. In [28], the authors present sensor-less control of a low-speed permanent magnet synchronous machine with use of modified state observer, for torque ripple and cogging compensation. In [29] is implemented a non-linear control technique based on a continuous time domain EKF sensor-less architecture, comparing various model of the synchronous motor for the observer system design.…”

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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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%