Method and arrangement for reducing the torque ripple of a DC motor

1. A method of reducing torque ripple of a brushless DC motor with a stator and a rotor, and a motor control unit that controls the motor in a polyphase manner, and a data memory to store correction data for a control current of the motor, the correction data being a function of an angle of rotation of the rotor and impressed on the control current to control the motor, the method comprising:

determining currents that hold the rotor in each of a plurality of positions, the plurality of positions determined by a position sensor;

deriving position-dependent reference current data from the currents for the plurality of positions of the rotor, wherein deriving the position-dependent reference current data comprises eliminating one or more position-dependent reference current data from the position-dependent reference current data for at least one position of the rotor when the one or more position-dependent reference current data exceed or drop below given boundary limits,

determining median values of the position-dependent reference current data for the plurality of position of the rotor;

forming a tunnel relative to the determined median values over the plurality of positions, wherein the tunnel is a fixed distance around each of the median values;

calculating average values from the position-dependent reference current data located within the tunnel;

storing in the data memory the average values as the position-dependent reference current data together with respective positions of the rotor; and

impressing the position-dependent reference current data from the data memory onto the control current of the motor to generate a corrected control current in association with the respective positions, enabling the motor control unit to control the motor in a manner that the torque ripple of the motor is reduced or canceled during operation of the motor.

2. The method according to claim 1 , wherein the method further comprises controlling the motor by vector regulation, the vector regulation comprising:

generating first phase currents of the motor using a performance electronic system from pulse-width-modulated voltages derived by an inverted Park transformation from a two-phase control current, wherein a phase of the two-phase control current includes the corrected control current; and

returning second phase currents in a feedback circuit via a Clark transformation and a Park transformation onto the two-phase control current.

3. The method according to claim 1 , wherein the method comprises varying impression of the position-dependent reference current data onto the control current as a function of rotational speed of the rotor using a position predictor regulator.

4. The method according to claim 1 , wherein the method comprises using the brushless DC motor in an articulation of a robot to reduce or cancel the torque ripple.

5. An arrangement to reduce torque ripple of a brushless DC motor with a stator and a rotor, and a motor control unit that controls the motor in a polyphase manner, and a data memory to store correction data for a control current of the motor, the correction data being a function of an angle of rotation of the rotor and impressed on the control current to control the motor, the arrangement comprising:

a position sensor to detect a plurality of positions of the rotor;

at least two current sensors to detect phase currents of the rotor;

a controller configured to determine from the phase currents detected by the sensors currents that hold the rotor in each of the plurality of positions determined by the position sensor; and

a processor configured to:

derive position-dependent reference current data from the currents for the plurality of positions of the rotor, wherein in deriving the position-dependent reference current data the processor is configured to eliminate one or more position-dependent reference current data from the position-dependent reference current data for at least one position of the rotor when the one or more position-dependent reference current data exceed or drop below given boundary limits;

determine median values of the position-dependent reference current data for the plurality of position of the rotor;

form a tunnel relative to the determined median values over the plurality of positions, wherein the tunnel is a fixed distance around each of the median values;

calculate average values from the position-dependent reference current data located within the tunnel;

store in the data memory the average values as the position-dependent reference current data together with respective positions of the rotor; and

impress the position-dependent reference current data from the data memory onto the control current of the motor to generate a corrected control current in association with the respective positions enabling the motor control unit to control the motor in a manner that the torque ripple of the motor is reduced or canceled during operation of the motor.

6. The arrangement according to claim 5 , wherein the motor control unit controls the motor by vector regulation, the vector regulation of the motor control unit comprising:

a transmission module to convert a two-phase control current from a static 2-phase system to a rotating 2-phase system, wherein a phase of the two-phase control current includes the corrected control current;

a performance electronic system to convert the rotating 2-phase system to three-phase currents to control the rotor;

a transformation module to convert three-phase currents of the rotor into a rotating 2-phase system; and

a transformation module for converting the rotating 2-phase system into a static 2-phase system whose current values are coupled back onto the two-phase control current.

7. The arrangement according to claim 6 , wherein the performance electronic system comprises:

a module to provide pulse width modulation of the rotating 2-phase system into phase voltages; and

a circuit to amplify the phase voltages and generate the three-phase currents to control the rotor.

8. The arrangement according to claim 5 , wherein the arrangement comprises a position predictor regulator to determine a new position of the rotor associated with an original position determined by the position sensor from speed of the rotor and angular resolution of the position sensor so that the processor impresses the position-dependent reference current data of the original position on the control current at the new position of the rotor as a function of the speed of the rotor.

9. The arrangement according to claim 5 , wherein the brushless DC motor is used in an articulation of a robot to reduce or cancel the torque ripple.