Torque ripple modeling of a permanent magnet synchronous motor

Rojas, Sebastián V.; Pérez, Marcelo A.; Rodríguez, José; Zelaya, H.

doi:10.1109/icit.2010.5472761

Cited by 15 publications

(9 citation statements)

References 20 publications

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“…It is observed from Fig. 8b that there is a component in the tangential acceleration at ω r , which corresponds to the Earth's gravity, g in (11), the rest of the harmonics (i.e. 6ω r , 18ω r , 30ω r , 36ω r ,..) being produced by torque pulsations of this particular machine.…”

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 92%

“…The signal provided by the accelerometer, a (9) can be split into centripetal a c (x-axis) (10) and tangential a t (yaxis) acceleration (11) components (see Fig. 6 and 7).…”

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

“…Centripetal acceleration is given by (10), being r the distance between the sensor to the center of the shaft, ω r the mechanical angular frequency, g the Earth's gravity, a ch the magnitude of the n th harmonic component of the centripetal acceleration, h the harmonic order of the h th harmonic component and φ ch the phase of the h th harmonic component of the centripetal acceleration. A general expression of the tangential acceleration, a t , is given by (11), where a th is the magnitude of the h th harmonic component of the tangential acceleration, φ th is the phase of the h th harmonic component of the tangential acceleration. The system has been mounted on a 36slot/6poles IPMSM, see Fig.1 and 6.…”

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

“…6ω r , 18ω r , 30ω r , 36ω r ,..) being produced by torque pulsations of this particular machine. After decoupling Earth's gravity form the y-axis acceleration measurements (11) a is proportional to the distance of the accelerometer to the center of the shaft, r, and to the angular acceleration r α (8) being also independent of the rotor speed.…”

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

“…Unfortunately, torque pulsations are intrinsic to the production of average torque, meaning that it cannot be fully eliminated. In addition to machine design, strategies based on feedforward compensation or harmonic decoupling using proper control strategies have been proposed for torque pulsation reduction [11], [17]. Implementation of these methods can be difficult and required a significant commissioning effort, as they require precise measurement of the torque pulsations (e.g.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Wireless Torque Pulsations Measurement System for PMSMs

Martinez

Fernández

Reigosa

et al. 2018

2018 IEEE Energy Conversion Congress and Exposition (ECCE)

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Torque pulsations are one of the major concerns in permanent magnet synchronous machines (PMSMs) operation. Torque pulsations can be mitigated by proper machine design and/or by control. Independently of the means being used, precise measurement of torque pulsation is highly desirable for the validation and improvement of machine designs and control strategies. This paper proposes a non-invasive, wireless vibration measurement system aimed to provide precise estimates of torque pulsations. The system is mounted on the rotor shaft of the PMSM, without including any mechanical coupling, providing on-line torque pulsation measurement and without interfering with the normal operation of the machine. The proposed concept has been validated experimentally. 1

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Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 92%

“…The signal provided by the accelerometer, a (9) can be split into centripetal a c (x-axis) (10) and tangential a t (yaxis) acceleration (11) components (see Fig. 6 and 7).…”

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

Section: Shaft-mounted Torque Pulsation Measurement Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Wireless Torque Pulsations Measurement System for PMSMs

Martinez

Fernández

Reigosa

et al. 2018

2018 IEEE Energy Conversion Congress and Exposition (ECCE)

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show abstract

Identification and definition of acoustic relevant limit values for electric vehicles

et al. 2014

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Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs

Bettega,

Boschetti,

Frade

et al. 2023

Multibody Syst Dyn

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Cable-driven parallel robots are parallel robots where light-weight cables replace rigid bodies to move an end-effector. Their peculiar design allows obtaining large workspaces, high-dynamic handlings, ease of reconfigurability and, in general, low-cost architecture. Knowing the full state variables of a cable robot may be essential to implement advanced control and monitoring strategies and imposes the development of state observers. In this work a general approach to develop nonlinear state observers based on an extended Kalman filter (EKF) is proposed and validated both numerically and experimentally by referring to a cable-suspended parallel robot. The state observer is based on a system model obtained by converting a set of differential algebraic equations into ordinary differential equations through different formulations: the penalty formulation, the Udwadia–Kalaba formulation, and the Udwadia–Kalaba–Phohomsiri formulation, which have been chosen since they can handle the presence of redundant constraints as often happens in cable-driven parallel robots. In the numerical investigation, the EKF is validated simulating encoders heavily affected by quantization errors to demonstrate the filtering capabilities of EKF. In the experimental investigation, a very challenging validation is proposed: only two sensors measuring the rotations of two motors are used to estimate the actual position and velocity of the end-effector. This result cannot be achieved by sole forward kinematics and clearly proves the effectiveness of the proposed observer.

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Torque ripple modeling of a permanent magnet synchronous motor

Cited by 15 publications

References 20 publications

Wireless Torque Pulsations Measurement System for PMSMs

Wireless Torque Pulsations Measurement System for PMSMs

Identification and definition of acoustic relevant limit values for electric vehicles

Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs

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