Mapping and correction of torque ripple in brushless electric motors

触觉反馈是物理设备与用户交流的最直接方式。它会引发一种 大脑的原始部分，比听觉或视觉刺激处理得更快。因为人类有很高的 对物理刺激的敏感性，触觉设备的力输出中的微小差异是可以感知的，并且可以 干扰预期的反馈。 电动马达使用磁场作为一种手段，将触觉力量传递给用户。因为磁场是 在本质上是高度非线性的，赋予电机所有位置一致的可预测力 这是一项艰巨的任务。现代技术通常使用昂贵的机械和电气解决方案来 这个问题。这样的解决方案在消费者市场上很少可行，使得触觉反馈系统只能 在工业上表现突出。如果触觉控制器的成本降低，价值增加，世界上更多的人 可以在各种应用程序中利用这种强大的反馈。 为了在降低触觉控制器成本的同时增加触觉控制器的触感，将搭建一个测试平台 它可以映射各种马达的力输出。这些数据将保存到微控制器中，该微控制器将使用 它与位置传感器信息一起，以平稳、线性的方式控制电机的扭矩。 这种方法不同于常见的整流技术，因为它采用基于逻辑的分配系统 基于实证检验结果，而不是基于高度简化的基于波形的配电系统 电磁学理论。

Haptic feedback is the most direct way that a physical device can communicate with a user. It triggers a primitive part of the brain that processes faster than auditory or visual stimulation. Since humans have a high sensitivity to physical stimulation, small discrepancies in force output of haptic devices are perceivable and can interfere with the intended feedback. Electric motors employ magnetic fields as a mean to impart haptic forces onto users. Since magnetic fields are highly non-linear in nature, imparting predictable forces that are consistent for all positions of the motor has been a difficult task. Modern techniques commonly employ expensive mechanical and electrical solutions to this problem. Such solutions are rarely feasible in the consumer market, making haptic feedback systems only prominent in industry. If the cost were reduced and value was increased of haptic controllers, more of the world could take advantage of this powerful feedback for a variety of applications. In order to increase the tactile feeling of haptic controllers while reducing their cost, a test bench will be built that can map the force output of a variety of motors. This data will be saved into a microcontroller that will use it along with position sensor information to control the motor in a smooth, linear fashion with respect to torque. This method differs from common commutation techniques as it employs a logic-based distribution system based on empirical test result, rather than a wave-form-based distribution system based on highly simplified electro-magnetic theory.