TMDSHVMTRINSPIN: C2000 Motorware Cogging Compensation

Hi,

Cogging torque is typically worse at motor start-up and low speeds. Vibration compensation is used for a different purpose, i.e. non-linear loads for a 360 degree rotation, common in compressor motor applications. Feed-forward methods can be used for Vibration compensation implementations, but I'm not certain if that could help with cogging as well.

Section 14 of SPRUHJ1 may offer some guidance. Also sharing the older E2E below on a similar topic.

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/367970/instaspin-torque-control 

Best,

Kevin

Thanks for the response. Cogging compensation is typically used for increasing smoothness in certain motors. Probably something we will have to attempt ourselves.

https://www.roboticsproceedings.org/rss10/p42.pdf

Jay

Hi Jay,

The article you shared is interesting. It talks about measuring / developing a torque profile of the motor over 360 degree rotation, which can be similarly used for vibration compensation routines. 

Jay Cosper said:

Probably something we will have to attempt ourselves.

The Motorware / InstaSPIN may have some pieces that are helpful, but I don't think there's a full solution.

Best,

Kevin

Thanks, good to know!