Cogging Torque Estimation for Sensorless PMSM

Benjamin Phillip Saunders; Greg Heins; Friso De Boer; Mark Thiele

doi:10.1109/ICElMach.2012.6350307

Cogging Torque Estimation for Sensorless PMSM

Benjamin Phillip Saunders, Greg Heins, Friso De Boer, Mark Thiele

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper published in Proceedings › peer-review

12 Citations (Scopus)

Abstract

A major issue for mass produced permanent magnet synchronous motors (PMSM) is the minimization of acoustic noise. A significant source of this noise is cogging torque. Design related cogging torque that does not vary between motors can be compensated by a predetermined control scheme. However cogging torque caused by variation in the manufacturing process will vary from motor to motor and thus needs to be compensated online on a motor by motor basis. While schemes have been published for cogging torque compensation for motors with encoders, to date no schemes have been proposed for use with sensorless drives (without position sensors). As sensorless drives make up a large proportion of the mass produced PMSM market, online estimation and compensation of cogging torque without position feedback deserves investigation. The success of a compensation scheme will be based on the accuracy of the cogging torque estimation. This paper presents a scheme for estimating the dominant cogging torque harmonics using a back-EMF estimator sensorless controller. Experimental results show that over the expected range of system variation in viscous friction, the estimate will vary by less than 20%. Analysis shows that if this estimate was used in an iterative cogging torque cancellation scheme then the critical harmonics would be reduced to less than 10% in 2 iterations.

Original language	English
Title of host publication	Proceedings 2012 XXth International Conference on Electrical Machines
Editors	GA Capolini, C Henaux, A Boglietti, B Nogared
Place of Publication	Red Hook, New York USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	2949-2954
Number of pages	6
Edition	ISBN 2 - 978-1-4673-0143-5
ISBN (Print)	978-1-4673-0142-8
DOIs	https://doi.org/10.1109/ICElMach.2012.6350307
Publication status	Published - 2012
Event	International Conference on Electrical Machines (ICEM 2012 20th) - Palais des CongrÃ¨s et des Expositions de Marseille, France, Marseille, France Duration: 2 Sept 2012 → 5 Sept 2012 Conference number: 2012 (20th)

Conference

Conference	International Conference on Electrical Machines (ICEM 2012 20th)
Abbreviated title	ICEM
Country/Territory	France
City	Marseille
Period	2/09/12 → 5/09/12

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This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ICElMach.2012.6350307

Cite this

Saunders, B. P., Heins, G., De Boer, F., & Thiele, M. (2012). Cogging Torque Estimation for Sensorless PMSM. In GA. Capolini, C. Henaux, A. Boglietti, & B. Nogared (Eds.), Proceedings 2012 XXth International Conference on Electrical Machines (ISBN 2 - 978-1-4673-0143-5 ed., pp. 2949-2954). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICElMach.2012.6350307

Saunders, Benjamin Phillip ; Heins, Greg ; De Boer, Friso et al. / Cogging Torque Estimation for Sensorless PMSM. Proceedings 2012 XXth International Conference on Electrical Machines. editor / GA Capolini ; C Henaux ; A Boglietti ; B Nogared. ISBN 2 - 978-1-4673-0143-5. ed. Red Hook, New York USA : IEEE, Institute of Electrical and Electronics Engineers, 2012. pp. 2949-2954

@inproceedings{67d22bfd494449a7b7ba8b39d7f01c27,

title = "Cogging Torque Estimation for Sensorless PMSM",

abstract = "A major issue for mass produced permanent magnet synchronous motors (PMSM) is the minimization of acoustic noise. A significant source of this noise is cogging torque. Design related cogging torque that does not vary between motors can be compensated by a predetermined control scheme. However cogging torque caused by variation in the manufacturing process will vary from motor to motor and thus needs to be compensated online on a motor by motor basis. While schemes have been published for cogging torque compensation for motors with encoders, to date no schemes have been proposed for use with sensorless drives (without position sensors). As sensorless drives make up a large proportion of the mass produced PMSM market, online estimation and compensation of cogging torque without position feedback deserves investigation. The success of a compensation scheme will be based on the accuracy of the cogging torque estimation. This paper presents a scheme for estimating the dominant cogging torque harmonics using a back-EMF estimator sensorless controller. Experimental results show that over the expected range of system variation in viscous friction, the estimate will vary by less than 20%. Analysis shows that if this estimate was used in an iterative cogging torque cancellation scheme then the critical harmonics would be reduced to less than 10% in 2 iterations. ",

keywords = "Back-emf, Cogging torque, Permanent magnet synchronous machines, Sensor less control, Torque ripples, Electric machinery, Permanent magnets, Synchronous motors, Torque, Estimation",

author = "Saunders, {Benjamin Phillip} and Greg Heins and {De Boer}, Friso and Mark Thiele",

year = "2012",

doi = "10.1109/ICElMach.2012.6350307",

language = "English",

isbn = "978-1-4673-0142-8",

pages = "2949--2954",

editor = "GA Capolini and C Henaux and A Boglietti and B Nogared",

booktitle = "Proceedings 2012 XXth International Conference on Electrical Machines",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States",

edition = "ISBN 2 - 978-1-4673-0143-5",

note = "International Conference on Electrical Machines (ICEM 2012 20th), ICEM ; Conference date: 02-09-2012 Through 05-09-2012",

}

Saunders, BP, Heins, G, De Boer, F & Thiele, M 2012, Cogging Torque Estimation for Sensorless PMSM. in GA Capolini, C Henaux, A Boglietti & B Nogared (eds), Proceedings 2012 XXth International Conference on Electrical Machines. ISBN 2 - 978-1-4673-0143-5 edn, IEEE, Institute of Electrical and Electronics Engineers, Red Hook, New York USA, pp. 2949-2954, International Conference on Electrical Machines (ICEM 2012 20th), Marseille, France, 2/09/12. https://doi.org/10.1109/ICElMach.2012.6350307

Cogging Torque Estimation for Sensorless PMSM. / Saunders, Benjamin Phillip; Heins, Greg; De Boer, Friso et al.
Proceedings 2012 XXth International Conference on Electrical Machines. ed. / GA Capolini; C Henaux; A Boglietti; B Nogared. ISBN 2 - 978-1-4673-0143-5. ed. Red Hook, New York USA: IEEE, Institute of Electrical and Electronics Engineers, 2012. p. 2949-2954.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper published in Proceedings › peer-review

TY - GEN

T1 - Cogging Torque Estimation for Sensorless PMSM

AU - Saunders, Benjamin Phillip

AU - Heins, Greg

AU - De Boer, Friso

AU - Thiele, Mark

N1 - Conference code: 2012 (20th)

PY - 2012

Y1 - 2012

N2 - A major issue for mass produced permanent magnet synchronous motors (PMSM) is the minimization of acoustic noise. A significant source of this noise is cogging torque. Design related cogging torque that does not vary between motors can be compensated by a predetermined control scheme. However cogging torque caused by variation in the manufacturing process will vary from motor to motor and thus needs to be compensated online on a motor by motor basis. While schemes have been published for cogging torque compensation for motors with encoders, to date no schemes have been proposed for use with sensorless drives (without position sensors). As sensorless drives make up a large proportion of the mass produced PMSM market, online estimation and compensation of cogging torque without position feedback deserves investigation. The success of a compensation scheme will be based on the accuracy of the cogging torque estimation. This paper presents a scheme for estimating the dominant cogging torque harmonics using a back-EMF estimator sensorless controller. Experimental results show that over the expected range of system variation in viscous friction, the estimate will vary by less than 20%. Analysis shows that if this estimate was used in an iterative cogging torque cancellation scheme then the critical harmonics would be reduced to less than 10% in 2 iterations.

AB - A major issue for mass produced permanent magnet synchronous motors (PMSM) is the minimization of acoustic noise. A significant source of this noise is cogging torque. Design related cogging torque that does not vary between motors can be compensated by a predetermined control scheme. However cogging torque caused by variation in the manufacturing process will vary from motor to motor and thus needs to be compensated online on a motor by motor basis. While schemes have been published for cogging torque compensation for motors with encoders, to date no schemes have been proposed for use with sensorless drives (without position sensors). As sensorless drives make up a large proportion of the mass produced PMSM market, online estimation and compensation of cogging torque without position feedback deserves investigation. The success of a compensation scheme will be based on the accuracy of the cogging torque estimation. This paper presents a scheme for estimating the dominant cogging torque harmonics using a back-EMF estimator sensorless controller. Experimental results show that over the expected range of system variation in viscous friction, the estimate will vary by less than 20%. Analysis shows that if this estimate was used in an iterative cogging torque cancellation scheme then the critical harmonics would be reduced to less than 10% in 2 iterations.

KW - Back-emf

KW - Cogging torque

KW - Permanent magnet synchronous machines

KW - Sensor less control

KW - Torque ripples

KW - Electric machinery

KW - Permanent magnets

KW - Synchronous motors

KW - Torque

KW - Estimation

U2 - 10.1109/ICElMach.2012.6350307

DO - 10.1109/ICElMach.2012.6350307

M3 - Conference Paper published in Proceedings

SN - 978-1-4673-0142-8

SP - 2949

EP - 2954

BT - Proceedings 2012 XXth International Conference on Electrical Machines

A2 - Capolini, GA

A2 - Henaux, C

A2 - Boglietti, A

A2 - Nogared, B

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - Red Hook, New York USA

T2 - International Conference on Electrical Machines (ICEM 2012 20th)

Y2 - 2 September 2012 through 5 September 2012

ER -

Saunders BP, Heins G, De Boer F, Thiele M. Cogging Torque Estimation for Sensorless PMSM. In Capolini GA, Henaux C, Boglietti A, Nogared B, editors, Proceedings 2012 XXth International Conference on Electrical Machines. ISBN 2 - 978-1-4673-0143-5 ed. Red Hook, New York USA: IEEE, Institute of Electrical and Electronics Engineers. 2012. p. 2949-2954 doi: 10.1109/ICElMach.2012.6350307

Cogging Torque Estimation for Sensorless PMSM

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