LAUSR

The offset voltage variation of current sensors is mainly due to the thermal drift, and it causes torque ripples in current vector-controlled surface permanent magnet synchronous motor (SPMSM) drives. This paper proposes a current offset error compensator for the current vector-controlled SPMSM drives used in robotic applications, wherein dynamic movements frequently occur. The current offset error compensator for this kind of applications should provide a stable performance in estimating current offset errors during dynamic movements. Especially, the current offset error compensator should be able to suppress interferences from outer-loop controllers. In this paper, analysis on a synchronous frame current regulator is performed to see the relation between current commands and measured currents under the current offset error existing condition. The analysis shows that pure current offset error components can be obtained by subtracting low-pass filtered current commands from measured currents in a synchronous reference frame. It means that the interference from current commands in correcting current offset errors can be easily decoupled by the simple subtraction process, and the dynamic control capability of a current offset error compensator could be significantly improved. The dynamic performance of the proposed current offset error compensator is proved through simulations and experiments.