Modeling, identification, and compensation of pulsating torque inpermanent magnet AC motors
Ferretti, G.; Magnani, G.; Rocco, P.
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 6, Dec 1998 Page(s):912 - 920
Digital Object Identifier 10.1109/41.735335
Summary:Permanent magnet AC motors generate parasitic torque pulsations,
owing to several electromagnetic phenomena, such as imperfections in the
motor and in the associated power inverter. Excitation of the mechanical
resonances on the load side is generally the worst consequence of such
disturbances; speed oscillations arise which may dramatically limit the
performance in high-precision applications. A compact model of the
pulsating torque in sinusoidal permanent magnet motors is presented in
this paper, based on a combination of theoretical analysis and
experimental identification. Online identification algorithms and a
compensation scheme are also outlined. The control scheme autonomously
identifies the parameters of the disturbance model through simple
closed-loop motion experiments. The compensation is then applied as a
modification of the output of the position controller. Experiments
carried out on an industrial robot demonstrate the effectiveness of the
control scheme in suppressing oscillations, both on the motor and on the
load sides
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