Design of an Observer-Based Architecture and Non-Linear Control Algorithm for Cogging Torque Reduction in Synchronous Motors

Pierpaolo Dini and Sergio Saponara
Additional contact information
Pierpaolo Dini: Dipartimento di Ingegneria della Informazione, Università di Pisa, via G. Caruso 16, 56122 Pisa, Italy
Sergio Saponara: Dipartimento di Ingegneria della Informazione, Università di Pisa, via G. Caruso 16, 56122 Pisa, Italy

Energies, 2020, vol. 13, issue 8, 1-20

Abstract: The problem of cogging torque is due to a magnetic behavior, intrinsic to synchronous machines and due to the presence of permanent magnets themselves. Cogging torque is a significant problem when the servo drive is used for applications where high precision in terms of position control is required. In this paper we present a method of cogging torque reduction by means of a control technique based on mathematical modeling of the cogging phenomenon itself in order to exploit this knowledge directly in the controller design. The mathematical model is inserted in the dynamic model of the synchronous machine in order to exploit the feedback linearization, providing an expression of the control law in which the contribution of the deterministic knowledge of the phenomenon is directly present. The cogging phenomenon physically depends on the angular position of the rotor, as well as the deterministic model we use to define the control vector. This makes it interesting and innovative to determine whether the control algorithm can be inserted within a sensor-less architecture, where rotor position and angular velocity measurements are not available. For this purpose, we present the use of an extended Kalman filter (EKF) in the continuous-time domain, discussing the advantages of an observer design based on a dynamic motor model in three-phase and direct-square axes. Results are presented through very accurate simulation for a trajectory-tracking problem, completing with variational analysis in terms of variation of initial conditions between EKF and motor dynamics, and in terms of parametric variation to verify the robustness of the proposed algorithm. Moreover, a computational analysis based on Simulink Profiler is proposed, which provides some indication for possible implementation on an embedded platform.

Keywords: non-linear control; feedback linearization; cogging torque; synchronous permanent magnets motor; state observer; extended Kalman filter; power drive system (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

Downloads: (external link)
https://www.mdpi.com/1996-1073/13/8/2077/pdf (application/pdf)
https://www.mdpi.com/1996-1073/13/8/2077/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:13:y:2020:i:8:p:2077-:d:348387

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().