Cogging Torque Ripple Minimization via Position Based Characterization
نویسندگان
چکیده
Smooth motion is critical to some robotic applications such as haptics or those requiring high precision force control. These systems are often direct-drive, so any torque ripple in the motor output must be minimal. Unfortunately, low inherent torque ripple motors are expensive. Low cost brushless DC motors are becoming more prevalent, especially from the hobby RC community. These motors often have the required high torque density; however, they also have significant torque ripple. This paper presents a system that is low cost using a method for anticogging the compensation of cogging torque in low cost, high torque motors. While other methods exist to compensate for current-based torque ripple (mutual or reluctance torque), none have addressed cogging torque, except by adding expensive force sensors. This paper presents two methods that use a position sensor (already present for servo motors) to map cogging torque to rotor position. The map is played back according to position reported from the sensor to cancel the cogging torque. The design and testing of a low cost haptic arm using anticogging shows validation; however, the approach is much broader, and can be applied to any precision force application. Test results on eleven different motors show an average removal of 69% of torque ripple with no added cost in robotic servo applications.
منابع مشابه
TORUS Concept Machines: Pre-Prototyping Assessment for Two Major Topologies
Two different external-rotor-internal-stator TORUS type axial flux PM machines can be derived based on the direction of the flux. In the first type of the TORUS machine, magnet driven flux enters stator and travels circumferentially along the stator core while in the second type the flux enters the stator and travels axially along the machine axis of rotation. The major differences between the ...
متن کاملTorque Ripple Minimization in Hybrid Stepper Motors Using Acceleration Measurements ?
Hybrid stepper motors (HSMs) are commonly used in many cost-sensitive industrial and consumer applications. With the use of micro-stepping techniques, they could theoretically achieve a very high resolution in positioning of mechanical loads, even without position sensors. However, it is well known that HSMs are affected by a large torque ripple, due to cogging and phase unbalancing. This, in t...
متن کاملTorque Ripple Reduction of a Novel Modular Arc-Linear Flux-Switching Permanent-Magnet Motor with Rotor Step Skewing
Abstract: A novel modular arc-linear flux-switching permanent-magnet motor (MAL-FSPM) used for scanning system instead of reduction gearboxes and kinematic mechanisms is proposed and researched in this paper by the finite element method (FEM). The MAL-FSPM combines characteristics of flux-switching permanent-magnet motor and linear motor and can realize the direct driving and limited angular mo...
متن کاملInfluence of Different Rotor Teeth Shapes on the Performance of Flux Switching Permanent Magnet Machines Used for Electric Vehicles
This paper investigated a 12-slot/11-pole flux switching permanent magnet (FSPM) machine used for electric vehicles (EVs). Five novel rotor teeth shapes are proposed and researched to reduce the cogging torque and torque ripple of the FSPM machine. These rotor teeth shapes are notched teeth, stepped teeth, eccentric teeth, combination of notched and stepped teeth, and combination of notched and...
متن کاملSelection and Modeling of PMBLDC Motor for Torque Ripple Minimization
The main objective of this research paper is to deliver the selection criteria of PMBLDC Motor for certain industrial applications. In general, Industries uses large Horsepower (HP) Brushless DC Motors as the special drives. These motors offer low starting currents with high starting torque, and the ability to supply reactive KVA to the plant system if desired. For specific industrial applicati...
متن کامل