NDLI: Adaptive torque ripple minimization of permanent magnet synchronous motors for direct drive applications

Content Provider	IEEE Xplore Digital Library
Author	Bogosyan, S.O. Gokasan, M.
Copyright Year	1995
Description	Author affiliation: Dept. of Control & Comput. Eng., Istanbul Tech. Univ., Turkey (Bogosyan, S.O.; Gokasan, M.)
Abstract	The lack of the filtering effect due to gear reduction in a direct-drive system necessitates the consideration of the full dynamics of the system for high performance control. This makes torque ripple a significant problem and its elimination is required for improved performance. In the study, adaptive linearizing control is applied for the solution of the problem in a single-link manipulator driven by a permanent magnet synchronous motor. Two parameterization methods, which were analyzed in terms of stability and robustness in a previous study, are implemented for the linearization of the direct-drive system. Speed and position control experiments are performed for both parameterizing approaches, also taking load torque variations into account and an improved performance is obtained in terms of torque ripple reduction and tracking error. Especially with the guaranteed persistency of excitation of the new parameterization approach, a significant reduction of torque ripple amplitude is achieved in addition to parameter and error convergence under load variations for both speed and position control. The experiments are performed through a DSP32 driven motion controller.
Starting Page	231
Ending Page	237
File Size	733435
Page Count	7
File Format	PDF
ISBN	0780330080
ISSN	01972618
DOI	10.1109/IAS.1995.530306
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-10-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Torque Robust stability Filtering Gears Magnetic separation Position control Control systems Permanent magnets Error correction
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Electrical and Electronic Engineering

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