Active Vibration Control via Current Injection in Electric Motors
Abstract
:1. Introduction
1.1. Literary Review of “Passive” Vibration Reduction Techniques
- Skewing stator or rotor magnets. This consists of a skew of the stator stack along its entire length with an angle equal to the slot pitch. It is very effective, but it has the disadvantage of increasing costs [22]. Similarly, rotor magnets can be skewed, which decreases the cogging torque, but at lower costs [23,24].
- Fractional-Slot Concentrated-Winding (FSCW). Fragmentation of the winding blocks of each pole into multiple stator caves. This solution provides high power-density, high slot-filling factor, and low cogging torque [25,26,27,28]. Conversely, Integral Slot Concentrated Windings (ISCW), characterized by a higher residual ripple, can also be adopted [29].
- Stator dummy slots, slot bridges/slot openings. Auxiliary slots can only be added to some teeth and for a part of the stator length [30,31]. To minimize the magnetic path differences seen by the magnets, the air gap of the cavities can be hidden by making magnetic bridge connections (shoes) between adjacent teeth, thus minimizing the cogging torque [32]. To minimize the cogging torque, the ratio between the magnetic pole arc and pole pitch must be optimized [33]. The negative effect of slot-bridging is flux leakage, which results in a reduction in average torque.
- Stator geometry optimization. In [36], the dependency between the stator slot depth and the cogging torque was analyzed, showing that increasing stator slot depth by 6.7% allows for a reduction in peak-to-peak cogging torque of 19.7%. Moreover, in [37], vibration noise was reduced by a mechanical modification on the stator teeth and stator yoke thickness to increase the resonant frequency and, thus, improve the overall stiffness and stability of the stator core. Also, in external rotor PMSMs, similar results can be achieved [38].
- External rotor. In [33], the external rotor of a PMSM was designed to achieve the minimum cogging torque.
1.2. Literary Review of Active Vibration Control Systems
1.3. Authors’ Contribution
2. Materials and Methods
2.1. Model of the Motor under Test, Control Strategy and Current Injection Algorithm
2.2. Simulations
2.3. Measurement System
3. Results and Discussion
4. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Nomenclature
Reference acceleration for dB conversion in I.S. | |
Frequency resolution. | |
, | Phase and amplitude of injected current. |
Fr, Ft | Rotor frequency and target frequency to attenuate. |
Sampling frequency. | |
, | Currents on – axes. |
, | Currents on d–q axes. |
, , | Motor currents. |
, | Stator inductance on d–q axes. |
, | Stator magnetic fluxes on d–q axes produced by the d–q currents. |
, | Stator magnetic fluxes on d–q axes produced by rotor magnets. |
Electrical speed. | |
Motor pole pairs. | |
R | Stator resistance. |
Rotor position. | |
Oscillating voltage component with current injection active. | |
, | Voltages on d–q axes. |
, | Voltage and current on q axis with current injection active. |
, | Motor torque and compensating torque with current injection active. |
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Specification | Value |
---|---|
Nominal voltage | 30 V |
Nominal power | 3000 W |
Voltage constant | 8.67 mV/rpm |
Nominal speed | 3500 rpm |
Number of pole pairs | 4 |
Nominal current | 58 A |
Nominal torque | 8.1 Nm |
Stator resistance | 8.2 mΩ |
Stator inductance | 32 µH |
Specification | Value |
---|---|
Type | IEPE |
Sensitivity | 1000 mV/g |
Measurement range | ±5 g peak |
Frequency range | X, Y: 0.4 Hz–6 kHz Z: 0.4 Hz–3 kHz |
Maximum Output Voltage | ±5 V |
Excitation | 18–30 V DC |
Specification | Value |
---|---|
Primary current | 200 A |
Secondary current | 100 mA |
Nominal sensitivity | 0.5 mA/A |
Sensitivity error | ±0.1% |
Frequency bandwidth (−3 dB) | 100 kHz |
Supply voltage (nominal) | ±15 V |
Closed loop (compensated) | Yes |
Specification | Value |
---|---|
Architecture | 24-bit delta-sigma |
Number of channels | 8, simultaneous sampling |
Analog bandwidth | 70 kHz |
Maximum sampling rate | Up to 144 kS/s |
DC accuracy—offset drift | 0.8 µV/°C |
DC accuracy—gain drift | 1.3 ppm/°C |
Serial interface | SPI or frame sync |
(a) 650 rpm | |||||
Modulation index (KINJ) | ) [rad] | ||||
−1.05 | −0.79 | 0 | 0.79 | 1.05 | |
0.05 | −7.5 dB | −10.0 dB | −7.5 dB | −1.0 dB | 0 dB |
0.06 | −5.0 dB | −8.5 dB | −11.5 dB | −1.0 dB | 0.5 dB |
0.07 | −5.0 dB | −8.0 dB | −13.5 dB | −1.5 dB | 0 dB |
0.08 | 0 dB | −2.0 dB | −9.0 dB | −1.0 dB | 0.5 dB |
0.09 | 1.5 dB | 0 dB | −5.0 dB | −1.0 dB | 1.0 dB |
(b) 800 rpm | |||||
Modulation index (KINJ) | ) [rad] | ||||
−1.05 | −0.79 | 0 | 0.79 | 1.05 | |
0.05 | −2.5 dB | −5.0 dB | −11.0 dB | −2.0 dB | 0 dB |
0.06 | −1.5 dB | −4.0 dB | −17.5 dB | −2.5 dB | −0.5 dB |
0.07 | −0.5 dB | −3.0 dB | −29.0 dB | −2.0 dB | 0 dB |
0.08 | 1.5 dB | 0 dB | −13.0 dB | −2.0 dB | 0 dB |
0.09 | 2.0 dB | 0 dB | −8.0 dB | −2.0 dB | 0 dB |
Motor Speed [rpm] | AVC System Condition | Overall Acceleration Level [dB] |
---|---|---|
650 | OFF | 77.2 |
650 | ON | 75.5 |
800 | OFF | 76.3 |
800 | ON | 72.9 |
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Bassani, M.; Pinardi, D.; Toscani, A.; Manconi, E.; Concari, C. Active Vibration Control via Current Injection in Electric Motors. Electronics 2024, 13, 3442. https://doi.org/10.3390/electronics13173442
Bassani M, Pinardi D, Toscani A, Manconi E, Concari C. Active Vibration Control via Current Injection in Electric Motors. Electronics. 2024; 13(17):3442. https://doi.org/10.3390/electronics13173442
Chicago/Turabian StyleBassani, Marco, Daniel Pinardi, Andrea Toscani, Elisabetta Manconi, and Carlo Concari. 2024. "Active Vibration Control via Current Injection in Electric Motors" Electronics 13, no. 17: 3442. https://doi.org/10.3390/electronics13173442