Speed Ripple Reduction of Direct-Drive PMSM Servo System at Low-Speed Operation Using Virtual Cogging Torque Control Method

Feifei Bu, Zhida Yang, Yu Gao, Zihao Pan, Tianyu Pu, Michele Degano, Chris Gerada

Research output: Journal PublicationArticlepeer-review

13 Citations (Scopus)

Abstract

In this article, a virtual cogging torque (VCT) control method to reduce the speed ripple of direct-drive permanent magnet synchronous machine servo system under low-speed conditions is proposed. Compared with other factors, at low speeds, the cogging torque is the main factor that deteriorates the drive performance, even induces speed oscillations. Especially in this article, due to volume limitation, the cogging torque is designed larger than normal one in order to remove the need of brake. Based on the model of permanent magnet synchronous motor, the cause and effect of the cogging torque are analyzed. Inspired by the characteristic of cogging torque, the VCT control method is proposed and investigated to significantly reduce the speed ripple at low speeds. The main idea of this proposed control method is to produce a proper VCT and continuously move the corresponding virtual stable equilibrium point to drive the rotor smoothly. In addition to the principle of this control method, its analysis and implementation are studied as well. Simulation and experimental results from the prototype demonstrate that the proposed control method is correct and valid, and it is simple and effective to smooth the speed at low-speed operations.

Original languageEnglish
Article number8949446
Pages (from-to)160-174
Number of pages15
JournalIEEE Transactions on Industrial Electronics
Volume68
Issue number1
DOIs
Publication statusPublished - Jan 2021
Externally publishedYes

Keywords

  • Direct-drive servo system
  • low speed
  • permanent magnet synchronous machine
  • speed ripple
  • virtual cogging torque (VCT)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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