Title :
Torque ripple minimization in direct-drive systems
Author :
Aghili, F. ; Buehler, M. ; Hollerbach, J.M.
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
The open-loop torque control of synchronous motors with minimum torque ripple and minimum copper losses is presented. The control problem is viewed as an optimization problem for the nonlinear mapping from desired torque and position to the motor´s phase currents. The performance of the controller to produce virtually ripple-free torque and to enhance the precision of position tracking is demonstrated experimentally
Keywords :
losses; machine control; minimisation; optimal control; robots; synchronous motor drives; torque control; direct-drive systems; minimum copper losses; nonlinear mapping; open-loop torque control; optimization problem; phase currents; position tracking precision; synchronous motors; torque ripple minimization; Automatic control; Brushless DC motors; Commutation; DC motors; Mechanical engineering; Nonlinear magnetics; Open loop systems; Synchronous motors; Table lookup; Torque control;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727294
