In-depth learning of cogging/detenting torque through experiments and simulations

The necessity of in-depth learning of cogging/detent torque mainly for undergraduates is discussed with particular attention to methods and tools. The experimental tools developed include a cogging-torque tester, variable-skew rotors for a DC motor, and a three-phase hybrid stepping motor with special rotor construction that eliminates certain harmonic components of cogging torque. Two pieces of software are presented for use in the class and laboratory to supplement the experimental setups. One is a motion simulator for a watch stepping motor to demonstrate the notion of detent torque. The other is for quick computation of the cogging torque, primarily to investigate pole-and-slot number combinations for various pole-arc to pole-pitch ratios. The latter can be used to see the effects of construction asymmetry on the amplitude and frequency of the cogging-torque. The usage of these tools and software is discussed from the viewpoint of engineering education. The major conclusion is that the variable skew rotor is very suited to in-depth learning of cogging torque concepts, but the supplemental use of the computation software is invaluable for gaining still deeper insight into this subject.