Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM
Abstract
:Featured Application
Abstract
1. Introduction
2. Position-Based Repetitive Torque Observer and Compensation Strategy
2.1. Disturbance Torque Observer
2.2. Principle of Position-Based Repetitive Controller
2.3. Realization of PBR-TOB
2.4. Torque Compensation Strategy
2.4.1. Online Compensation with Cogging Torque Table Learning Strategy
- Control the motor to a specific speed.
- After the PBR-TOB operates to steady state, SW1 is switched on to compensate the torque command online.
- If the compensate effect is not satisfied, one can adjust the cutoff frequency of the learning filter and the bandwidth of PBR-TOB.
- After the closed loop reaches steady state, SW2 is switched on to get an offline compensate table.
- According to Equations (12) and (13), the motor speed must be satisfied.
- The lower the speed, the higher the cogging torque resolution.
- The steady-state speed error is maximum.
2.4.2. The Offline Compensation Strategy
3. Experiments
3.1. Hardware Specification and Setup
3.2. Experiment Design
- ◆
- In order to verify the accuracy of the online cogging torque compensation, the procedures are conducted in the following steps:
- Control the motor speed to rated speed under no load condition.
- Decrease the speed command to find the most appropriate operation speed.
- Apply the online torque compensation with the cogging torque learning strategy and compare the SSSE before and after compensation.
- Compare the observed cogging torque with the HIL cogging torque model.
- ◆
- In order to verify the accuracy of offline cogging torque compensation, the procedures are conducted in the following steps.
- Control the motor speed to the most appropriate operation speed and apply the offline torque compensation strategy.
- Verify the offline compensation, which can lower the noise compared with online compensation.
- Decrease the speed command to lower controllable speed and verify the speed performance.
- ◆
- As for the rated load condition, the procedures are conducted in the following steps.
- Control the motor speed to obtain the most appropriate operational speed under the rated load condition.
- Apply the offline torque compensation and compare the SSSE before and after compensation.
- Decrease the speed command to lower controllable speed and then verify the speed performance.
3.3. Experiment Results of HIL Emulation
3.4. Experiment Results of Physical Motor Platform
4. Conclusions
- (1)
- Based on the field-oriented control structure, a new observer structure is created to estimate the cogging torque. The proposed observer utilizes the position-based repetitive controller (PBRC) as an internal model in a model reference disturbance observer (MRDOB) to enhance the accuracy of cogging torque estimation.
- (2)
- An incremental encoder is used directly to realize the position-based delay in the PBRC, and a further practical method is introduced to realize the proposed observer with DSP memory array.
- (3)
- Online and offline compensation strategies are proposed, and the position-based forgetting factor and position-based average concept are utilized respectively to reduced noise and uncertainty of the observed information.
- (4)
- The proposed observer and compensation strategies are further verified with HIL emulation and experimental results under no load and rated load conditions. The results show that the cogging torque can be well estimated and the speed ripple can be reduced significantly.
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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PMSM Spec. | Value |
---|---|
Rated Power | |
DC Voltage | |
Rated Current | |
Rated Torque | |
Rated Speed | |
Back Electromotive Force (EMF) const. | |
Poles Number |
Driver Spec. | Value |
---|---|
Rated Output Power | |
Rated Output Current | |
Rated Input Current | |
Rated Input Voltage | |
Carrier Frequency |
Brake Spec. | Value |
---|---|
Rated Output Torque | |
Max. Speed | |
Max. Power | |
Poles Number |
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Share and Cite
Wu, C.-J.; Tsai, M.-C.; Cheng, L.-J. Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM. Appl. Sci. 2020, 10, 96. https://doi.org/10.3390/app10010096
Wu C-J, Tsai M-C, Cheng L-J. Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM. Applied Sciences. 2020; 10(1):96. https://doi.org/10.3390/app10010096
Chicago/Turabian StyleWu, Chun-Ju, Mi-Ching Tsai, and Lon-Jay Cheng. 2020. "Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM" Applied Sciences 10, no. 1: 96. https://doi.org/10.3390/app10010096
APA StyleWu, C.-J., Tsai, M.-C., & Cheng, L.-J. (2020). Design and Implementation of Position-Based Repetitive Control Torque Observer for Cogging Torque Compensation in PMSM. Applied Sciences, 10(1), 96. https://doi.org/10.3390/app10010096