Noise Analysis and Improvement of a Permanent Magnet Synchronous Motor by Dynamic Error Budgeting

This paper presents the mechatronic analysis and performance estimation for a single axis rotational servo system with direct-drive permanent magnet synchronous motor (PMSM). To identify the dominant noise sources acting in the motor control system, physical modeling together with dynamic error budgeting are applied. The analysis is carried out for two modes of operation, zero velocity and constant velocity. The current sensor is identified as the major noise source. It is experimentally verified, that an improvement of the current measurement system yields an improvement of the position noise by a factor of 6.3.