Patent ID: 9205556
Filing Date: 2015-12-08
Classification: G01L,G01R,G05B,H02P

Abstract:
1. A method comprising: causing an electric motor to rotate in a positive direction for one or more revolutions; for given multiple encoder positions of an encoder configured to sense a position of the electric motor, determining a first respective motor winding current applied to the electric motor at the given encoder position to cause the rotation in the positive direction; causing the electric motor to rotate in a negative direction for one or more revolutions; for the given multiple encoder positions of the encoder, determining a second respective motor winding current applied to the electric motor at the given encoder position to cause the rotation in the negative direction; for the given multiple encoder positions of the encoder, determining a respective cogging torque of the electric motor based on a difference between the first respective winding current and the second respective winding current; and storing a cogging torque profile for the electric motor in a database based on the determined respective cogging torque for the given multiple encoder positions of the encoder.