Abstract

Many researches have been focused on optimal designs of a po Ie shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed for reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

• Keywords: Cogging torque(코깅 토크),Servo motor(서보 모터),Adaptive control(적응 제어)