Master Thesis: Automatic Motor configuration for easy commissioning of robot systems

Placering
Västerås

Master Thesis: Automatic Motor configuration for easy commissioning of robot systems
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This position reports to
R&D Team Lead

Your role and responsibilities
ABB Robotics R&D is located in Västerås, about 100 kilometers west of Stockholm, in Sweden. Together with our colleagues in other R&D centers we develop technologies for future products and services of ABB's core businesses. In the SW R&D team we focus on features that provide higher performance, more flexibility, more cost efficient and easier to use robot systems in both industrial and service robot segments. In this thesis we will investigate how advanced methods for parameter identification of a Permanent Magnet Synchronous Motor (PMSM) can be used to help users automatically configure motor parameters in a robot system. A robot system typically includes a robot with 4 to 7 motors which are pre-configured from the factory. In addition, it is possible to have extra motors that can control grippers, conveyors, rotation tables, etc, synchronized with the robot. To be able to control the connected additional motors several parameters need to be known and configured. In this project the idea is to use, and to further develop, available methods from literature to automatically identify key motor parameters such as, the number of pole pairs, stator resistance, stator inductances, and the motor constant. In addition, parameters like rotor inertia, friction and load inertia could also be considered. As an extension or alternative, it is also possible to investigate sensor-less control strategies for PMSM motors and the possibility to calibrate the position sensor offset relative to the rotor based on hybrid control scheme developed at ABB. The proposed methods are implemented in a simulation model of the motor and drive in MATLAB/Simulink and as a second step deployment of can also be done on a real system, together with the R&D team. Details: • Start: January 2025 • 30 ECTS per student • Suitable for 1 student • On site ABB Robotics (Finnslätten) in Västerås Your responsibilities: • Conduct a literature review on methods for automatic motor configuration and parameter identification • Evaluate and develop the proposed methods in the simulation environment • Implement and test the methods in practice on the motor and drive • Write a high-quality technical report

Qualifications for the role

• Motivated to solve real world problems using state-of-the-art methods
• Background in motor modeling and control
• Good knowledge of Matlab/Simulink and C/C++
• Good interpersonal skills

More about us
Recruiting Manager: Niklas Durinder, ([email protected]), Joakim Lindgren ([email protected]) and Simon Lundberg ([email protected]) will answer your questions. Please note that we can only accept applications submitted through our online career portal. Applications via e-mail will have to be deleted and not processed due to data privacy requirements. Positions are filled continuously. Apply with your CV, academic transcripts and a cover letter in English. We value people from different backgrounds. Could this be your story? Apply today or visit www.abb.com to read more about us and learn about the impact of our solutions across the globe. #MyABBStory #Li-onsite

Locations
Västerås, Sweden