Analysis and modelling of the oscillations of the induced voltage in a dc-motor caused by slotting effects

An extended permanent magnet dc-motor model is set forth including the oscillations of the induced voltage that are caused by slotting effects. The model is used in a hardware in the loop system that easily allows to improve the control strategy of the power split unit in an all-wheel driven automobile. In order to find out which effect causes the ac part of the induced voltage and thus of the current, and how this can be modelled best measurements; an analytical approximation; and FEM calculations were used and the results are compared. The resulting extended model is very accurate and is ideal for situations where the current is of particular interest. Nevertheless, the computational time is just risen moderately. The model´s predictions are compared to experimental results which clearly show the improvement