A high order periodic adaptive learning compensator for cogging effect in PMSM position servo system

In this paper, a simulation model of PMSM position servo system is presented briefly first, we then propose a high order periodic adaptive learning compensation (HO-PALC) method for cogging effect on PMSM position and velocity servo tasks. The cogging force is considered as a position-dependent disturbance that is periodic. The key idea of the implemented cogging disturbance compensation method is to use past information of more than one position period along the state axis to update the current adaptation learning law. Simulation results are presented to illustrate the effectiveness of the high order periodic adaptive cogging compensation scheme. Furthermore, the advantage of the HO-PALC is demonstrated through comparing with the first order periodic adaptive learning compensation.