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Jun 17, 2016, 11:32 PM
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Anti cogging


Finally found the hackaday nugget about anti cogging algorithms.

http://hackaday.com/2016/02/23/anti-...shless-motors/

Not sure why it was written in the form of a research paper with grants, long after Chinese perfected anticogging in their gimbals. At least, it is very math intensive & if it wasn't published, it would have remaned a Chinese secret forever.

A simple algorithm tabulating phase offsets for each angle did indeed make the motor slightly smoother but not perfect. The hall effect sensor was key to developing the anticogging table. It became clear that anticogging was still a science project, not useful in commercial products. Another key was the motor doesn't have any cogging with no current.

Also, any anti cogging based on the current sensors isn't useful because any closed loop is too slow. The needle pointed back to the electronics rather than the motor being the problem.

At least, it made a graph of phase offset vs angle.
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